diff --git a/phaseK/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--rztqpz5.json b/phaseK/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--rztqpz5.json new file mode 100644 index 0000000000000000000000000000000000000000..dacfbc8b37eff1003aca3ee772628dd7e3efecc5 --- /dev/null +++ b/phaseK/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-privileged--rztqpz5.json @@ -0,0 +1,595 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-assembling-gift-baskets-i00-privileged--rztqpz5", + "taskKey": "behavior-1k/assembling_gift_baskets", + "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668", + "outcome": { + "success": 0, + "reward": 0.625, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 7701, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 7851, + "fallen": 0, + "final_reward": 0.625, + "q_score": 0.625, + "replay_wall_s": 4059.5, + "replay_timeout_s": 6334.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.702, + "peak_memory_gb": 21.858, + "peak_processes": 47, + "peak_disk_gb": 2.049, + "peak_cpus": 8.05, + "peak_pids": 355, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-assembling-gift-baskets-i00-privileged--rztqpz5.mp4", + "duration_s": 261.7, + "fps": 30.0, + "frames": 7851, + "sha256": "b562fee4cfcc49243a91461eee7a0523a675e9c96708156003ab17b691cb9743" + }, + "state": null, + "progress": { + "method": "log", + "denominator": 16, + "base": 0, + "peak": 10, + "final": 10, + "nodes": { + "candles_in_baskets_1": { + "method": "log", + "intervals": [ + [ + 38.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 38.5, + "log_step": 72, + "text_zh": "推断：第1个蜡烛入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 38.5 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "candles_in_baskets_2": { + "method": "log", + "intervals": [ + [ + 113.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 113.9, + "log_step": 176, + "text_zh": "推断：第2个蜡烛入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 113.9 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "candles_in_baskets_3": { + "method": "log", + "intervals": [ + [ + 188.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 188.1, + "log_step": 211, + "text_zh": "推断：第3个蜡烛入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 188.1 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "candles_in_baskets_4": { + "method": "log", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.625 只允许 10 个目标关系成立，log 的 INSIDE 清单只有 3 个蜡烛在篮内；视频最后约 48 s 只见底盘行驶与失败的夹取，无新放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：第4支蜡烛被夹起后在篮4处碰撞使篮子移位，蜡烛落到篮外（log step 204）；后续尝试的是第3支（视频约 188 s）。" + } + ] + }, + "cookies_in_baskets_1": { + "method": "log", + "intervals": [ + [ + 28.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.3, + "log_step": 70, + "text_zh": "推断：第1个饼干入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 28.3 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "cookies_in_baskets_2": { + "method": "log", + "intervals": [ + [ + 129.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 129.6, + "log_step": 181, + "text_zh": "推断：第2个饼干入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 129.6 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "cookies_in_baskets_3": { + "method": "log", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.625 只允许 10 个目标关系成立，log 的 INSIDE 清单只有 2 个饼干在篮内；视频最后约 48 s 只见底盘行驶与失败的夹取，无新放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：log step 215-232 尝试从桌/地上夹取饼干4、饼干3并放入，未成功入篮。" + } + ] + }, + "cookies_in_baskets_4": { + "method": "log", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.625 只允许 10 个目标关系成立，log 的 INSIDE 清单只有 2 个饼干在篮内；视频最后约 48 s 只见底盘行驶与失败的夹取，无新放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：log step 211-232 尝试饼干4，未入篮。" + } + ] + }, + "cheeses_in_baskets_1": { + "method": "log", + "intervals": [ + [ + 59.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.8, + "log_step": 78, + "text_zh": "推断：第1个奶酪入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 59.8 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "cheeses_in_baskets_2": { + "method": "log", + "intervals": [ + [ + 153.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 153.8, + "log_step": 189, + "text_zh": "推断：第2个奶酪入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 153.8 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "cheeses_in_baskets_3": { + "method": "log", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.625 只允许 10 个目标关系成立，log 的 INSIDE 清单只有 2 个奶酪在篮内；视频最后约 48 s 只见底盘行驶与失败的夹取，无新放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：log step 224-230 夹取地上的奶酪1，三次夹爪合拢都未形成辅助抓取（DIRECT_HELD None）。" + } + ] + }, + "cheeses_in_baskets_4": { + "method": "log", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.625 只允许 10 个目标关系成立，log 的 INSIDE 清单只有 2 个奶酪在篮内；视频最后约 48 s 只见底盘行驶与失败的夹取，无新放入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：奶酪2/奶酪1 的夹取尝试未成功。" + } + ] + }, + "bows_in_baskets_1": { + "method": "log", + "intervals": [ + [ + 49.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 49.4, + "log_step": 74, + "text_zh": "推断：第1个蝴蝶结入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 49.4 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "bows_in_baskets_2": { + "method": "log", + "intervals": [ + [ + 167.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 167.2, + "log_step": 191, + "text_zh": "推断：第2个蝴蝶结入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 167.2 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "bows_in_baskets_3": { + "method": "log", + "intervals": [ + [ + 213.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 213.3, + "log_step": 222, + "text_zh": "推断：第3个蝴蝶结入篮。log 的 SNAPSHOT 动作计数（由 log step 记录）÷30 Hz 得视频时间约 213.3 s（已在视频约 112–114 s 的腕部相机见蜡烛入篮处核对映射）；评分 q=0.625=10/16 与 INSIDE 清单（蜡烛3、饼干2、奶酪2、蝴蝶结3）一致。头部相机难以直接看清每个放入瞬间，故时间精度约数秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察/推断：agent 的脚本控制单侧二指夹爪辅助抓取物品并送入篮（log 记录 FAST_HELD / PLACED）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：轮式底盘载着夹爪所持物品在桌与篮之间驱动。" + } + ] + }, + "bows_in_baskets_4": { + "method": "log", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：评分器 q_score=0.625 只允许 10 个目标关系成立，log 的 INSIDE 清单只有 3 个蝴蝶结在篮内；视频最后约 48 s 只见底盘行驶与失败的夹取，无新放入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.625, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + }, + { + "name": "goal_held_steps", + "value": null, + "unit": "control_step", + "threshold": 30, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cheeses_in_baskets_3", + "t": 221.0, + "log_step": 224, + "where": "操作中", + "evidence_zh": "推断：log step 224、227、230 三次对地上的奶酪1下抓，均 DIRECT_HELD None（SNAPSHOT 6625/6690/6756 动作，÷30 ≈ 视频 221–225 s），agent 随后转去做其他物品（log step 232）而从未修复。篮3、篮2 所缺的奶酪、饼干、蜡烛均未再放入。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 221.0, + "log_step": 224, + "evidence_zh": "观察/推断：log step 224-230 的 TCP 到位但夹爪未抓住贴地的薄奶酪（下降停在约 4 cm 高、奶酪被推偏，agent 自述 log step 226、228），辅助抓取从未附着。视频此段为头部/腕部相机低角度画面，细节有限。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述（log step 228）奶酪宽约 9.7 cm、朝向与手腕不对齐，指尖被地面/奶酪顶住；同类问题在奶酪4（log step 183-187）曾靠对齐朝向解决，说明抓取朝向/高度设计不当。", + "source_zh": "agent 自述 / 日志" + } + ], + "gap_zh": "无状态日志；各放入时刻由 log 的动作计数 ÷30 推得，仅在视频约 112–114 s 处核对，头部相机看不清多数放入。log 显示最后交付的 7701 动作之后的盆2尝试（底盘翻倒）不在图中。破坏点在多个未完成步（饼干4、奶酪1、盆2）中选了有明确日志证据的奶酪1。", + "unmet": { + "candles_in_baskets_1": true, + "candles_in_baskets_2": true, + "candles_in_baskets_3": true, + "candles_in_baskets_4": false, + "cookies_in_baskets_1": true, + "cookies_in_baskets_2": true, + "cookies_in_baskets_3": false, + "cookies_in_baskets_4": false, + "cheeses_in_baskets_1": true, + "cheeses_in_baskets_2": true, + "cheeses_in_baskets_3": false, + "cheeses_in_baskets_4": false, + "bows_in_baskets_1": true, + "bows_in_baskets_2": true, + "bows_in_baskets_3": true, + "bows_in_baskets_4": false + } + }, + "summary_zh": "任务设计无特殊问题。图示的 7701 动作回放得到 10/16 个目标关系（蜡烛3、饼干2、奶酪2、蝴蝶结3，q=0.625，对应视频约 28–213 s），未成功组装四篮，终验未达。断在第3块奶酪：agent 的脚本对地上奶酪1三次夹取均未形成抓取，之后底盘多次倾倒/受阻，其余6件未放入；各节点时间主要来自 log 动作计数推算。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间由 log 动作计数÷30 推得且在 113.9 s 处核对到蜡烛入篮；q=0.625=10/16 与 final=10 一致；断点（奶酪1多次抓取失败）、没建立接触/抓取和接触设计 的标注有日志支持，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:51:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--rztqpz5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-assembling-gift-baskets-i00-privileged--rztqpz5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "53b09bbb222d8dd0458ea5917c95a69366782e3f8e59f7e2360b4fba7fd2d21d", + "video_sha256": "b562fee4cfcc49243a91461eee7a0523a675e9c96708156003ab17b691cb9743", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--omxfbru.json b/phaseK/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--omxfbru.json new file mode 100644 index 0000000000000000000000000000000000000000..bcf0e2d56e049e163dab68b88574ff59e65a308e --- /dev/null +++ b/phaseK/behavior-1k/assembling_gift_baskets/trajectories/behavior-assembling-gift-baskets-i00-standard--omxfbru.json @@ -0,0 +1,639 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-assembling-gift-baskets-i00-standard--omxfbru", + "taskKey": "behavior-1k/assembling_gift_baskets", + "dag_sha256": "f73b438e440ce63d6355e3a4ab58c371398e747ffe1fac3b44b09c6c3fb40668", + "outcome": { + "success": 0, + "reward": 0.75, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 16982, + "sim_steps": 17132, + "physics_steps": 68528, + "steps": 9885, + "elapsed_s": 6388.0, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.75, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-assembling-gift-baskets-i00-standard--omxfbru.mp4", + "duration_s": 571.1, + "fps": 10.0, + "frames": 5711, + "sha256": "46210c67989e1c8a21f487535438ba13bbb15267f9d7f9347eee423eef8ee1af" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 16, + "base": 0, + "peak": 12, + "final": 12, + "nodes": { + "candles_in_baskets_1": { + "method": "visual", + "intervals": [ + [ + 30, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30, + "log_step": 117, + "text_zh": "观察：视频约 30 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见蜡烛已在第 1 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蜡烛后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "candles_in_baskets_2": { + "method": "visual", + "intervals": [ + [ + 160, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 160, + "log_step": 225, + "text_zh": "观察：视频约 160 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见蜡烛已在第 2 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蜡烛后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "candles_in_baskets_3": { + "method": "visual", + "intervals": [ + [ + 315, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 315, + "log_step": 306, + "text_zh": "观察：视频约 315 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见蜡烛已在第 3 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蜡烛后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "candles_in_baskets_4": { + "method": "visual", + "intervals": [ + [ + 515, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 515, + "log_step": 387, + "text_zh": "观察：视频约 515 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见蜡烛已在第 4 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蜡烛后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cookies_in_baskets_1": { + "method": "visual", + "intervals": [ + [ + 100, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 100, + "log_step": 192, + "text_zh": "观察：视频约 100 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见饼干已在第 1 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住饼干后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cookies_in_baskets_2": { + "method": "visual", + "intervals": [ + [ + 210, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 210, + "log_step": 238, + "text_zh": "观察：视频约 210 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见饼干已在第 2 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住饼干后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cookies_in_baskets_3": { + "method": "visual", + "intervals": [ + [ + 425, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 425, + "log_step": 353, + "text_zh": "观察：视频约 425 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见饼干已在第 3 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住饼干后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cookies_in_baskets_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频约 556-570 s 夹爪夹着饼干在第4只篮上方，未见放入；推断：q=0.75 上限 12/16，该项未计入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住饼干后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cheeses_in_baskets_1": { + "method": "visual", + "intervals": [ + [ + 70, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 70, + "log_step": 158, + "text_zh": "观察：视频约 70 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见奶酪已在第 1 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住奶酪后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cheeses_in_baskets_2": { + "method": "visual", + "intervals": [ + [ + 187, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 187, + "log_step": 230, + "text_zh": "观察：视频约 187 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见奶酪已在第 2 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住奶酪后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cheeses_in_baskets_3": { + "method": "visual", + "intervals": [ + [ + 375, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 375, + "log_step": 345, + "text_zh": "观察：视频约 375 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见奶酪已在第 3 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住奶酪后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "cheeses_in_baskets_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频约 524-571 s 机器人正处理第4只篮（地面篮）的奶酪；末尾帧未见确认放入且评分器总分 q=0.75 上限 12/16，推断未达成（奶酪可能已落入篮但受总分约束不计）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住奶酪后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "bows_in_baskets_1": { + "method": "visual", + "intervals": [ + [ + 135, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 135, + "log_step": 204, + "text_zh": "观察：视频约 135 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见蝴蝶结已在第 1 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蝴蝶结后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "bows_in_baskets_2": { + "method": "visual", + "intervals": [ + [ + 245, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 245, + "log_step": 243, + "text_zh": "观察：视频约 245 s（按 5 s 间隔抽帧估计，误差约 ±5 s）腕部画面可见蝴蝶结已在第 2 只篮内、夹爪已松开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蝴蝶结后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "bows_in_baskets_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频约 475 s 腕部画面可见红蝴蝶结落在第3只篮内，但评分器 q_score=0.75（最多12/16条目标字面量）而画面可见放入共13件，故不给本节点；推断：蝴蝶结松散，包围盒中心可能未判入篮（无状态日志，不确定）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人单臂二指夹爪夹住蝴蝶结后送入藤篮（腕部视角可见夹持与放入）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在桌与篮之间移动承载手臂。" + } + ] + }, + "bows_in_baskets_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频 571.1 s 结束前没有第4个蝴蝶结被抓取或放入篮；log step 416 仍在测距定位蝴蝶结。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.75, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + }, + { + "name": "goal_held_steps", + "value": null, + "unit": "control_step", + "threshold": 30, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cookies_in_baskets_4", + "t": 556, + "log_step": 412, + "where": "操作中", + "evidence_zh": "观察：视频 524-548 s 为奶酪送入第4只地面篮，556-570 s 为饼干悬在该篮上方（篮内可见蜡烛），571.1 s 视频结束时仍在放置，第4只篮未完成；log step 416（agent 最后一条）仍在做蝴蝶结定位。评分器 q=0.75，目标字面量 12/16。缺失的4项（cookies_4、cheeses_4、bows_3、bows_4）中哪项先失败由总分无法判定；断点选第4只篮仅因视频末尾仍在该篮作业。" + }, + "unmet": { + "candles_in_baskets_1": true, + "candles_in_baskets_2": true, + "candles_in_baskets_3": true, + "candles_in_baskets_4": true, + "cookies_in_baskets_1": true, + "cookies_in_baskets_2": true, + "cookies_in_baskets_3": true, + "cookies_in_baskets_4": false, + "cheeses_in_baskets_1": true, + "cheeses_in_baskets_2": true, + "cheeses_in_baskets_3": true, + "cheeses_in_baskets_4": false, + "bows_in_baskets_1": true, + "bows_in_baskets_2": true, + "bows_in_baskets_3": false, + "bows_in_baskets_4": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，且视频主要是腕部近景，看不清第4只篮及此前各物的精确入篮判定；视频末尾前没有可见的具体失误（只见未完成），故不给现象和根因。另外视觉可见放入约13件而 q_score 只允许12件，哪一件未被评分器计入无法确定（暂记第3个蝴蝶结）。节点时间由 5 s 间隔抽帧估计，未用状态日志。 运行在 7200 s 墙钟上限被截断（run.json time_limit_s=7200, wall_s=7202, step 416 t≈7187 s），不把超时作为现象或根因；视频无可见的具体失误，故现象/根因层留空。" + }, + "summary_zh": "观察：机器人依次装满第1、2只篮（蜡烛、奶酪、饼干、蝴蝶结），第3只篮装入蜡烛、奶酪、饼干和蝴蝶结（视频约 475 s），并在约 515 s 将蜡烛放入第4只地面篮；视频 571.1 s 结束时仍在放第4只篮的饼干，未完成（q=0.75，12/16）。推断：节点按总分上限记 蜡烛4/饼干3/奶酪3/蝴蝶结2，共12/16，其中第3个蝴蝶结为按总分调整，不确定；视觉可见放入应有13件。无状态日志，时间为抽帧估计；未给现象和根因。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点总体与 q=0.75(12/16) 吻合，视频末尾确见机器人仍在处理第4只篮（饼干在篮上方），断点在第4只篮可接受；但 cookies_in_baskets_4 的证据文字写成“奶酪”、断点证据同时写“夹住奶酪”与“夹着饼干”，自相矛盾；缺失的是哪一件无法由总分确定。运行在 7200 s 墙钟上限被截断（run.json time_limit_s=7200, wall_s=7202）。", + "n_issues": 3, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点与 q=0.75（12/16）一致，断点选在视频末尾仍在作业的第4只篮，因 7200 s 墙钟截断而现象/根因留空并有 gap_zh，未发现需改动的内容错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-assembling-gift-baskets-i00-standard--omxfbru/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-assembling-gift-baskets-i00-standard--omxfbru/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-assembling-gift-baskets-i00-standard--omxfbru/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-assembling-gift-baskets-i00-standard--omxfbru/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f29227f177ac832ab4ed3dd507281884b717189416fb8e5a1483fcd7d8879644", + "video_sha256": "46210c67989e1c8a21f487535438ba13bbb15267f9d7f9347eee423eef8ee1af", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok.json b/phaseK/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok.json new file mode 100644 index 0000000000000000000000000000000000000000..c6be25e49636655c192c2eb156503382662a58af --- /dev/null +++ b/phaseK/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok.json @@ -0,0 +1,328 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok", + "taskKey": "behavior-1k/boxing_books_up_for_storage", + "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 15604, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 15567, + "sim_steps": 15604, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 2341.5, + "replay_timeout_s": 11602.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 0, + "agent_sim_steps": 15604, + "agent_records": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 14.96, + "peak_memory_gb": 22.222, + "peak_processes": 79, + "peak_disk_gb": 0.794, + "peak_cpus": 8.12, + "peak_pids": 685, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok.mp4", + "duration_s": 520.134, + "fps": 30.0, + "frames": 15604, + "sha256": "6aa16469e6e254af3a70f0dee965176836ae17642c1fa74ca3b53d306d635dd1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 6, + "final": 6, + "nodes": { + "books_in_box_1": { + "method": "visual", + "intervals": [ + [ + 518.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518.9, + "text_zh": "推断：到达时刻无法由画面或状态确定（无状态日志，箱内被遮挡）；仅知不晚于评分器 goal_first_step=15567 → 视频 518.9 s（六本同时合格），故此处仅作上界，真实入箱时刻更早。final=true 由 goal=1、q_score=1.0 约束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪辅助抓取并夹住书，搬到箱上方松开；推断：底盘移动携书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶过楼梯绕行，携书至储物箱。" + } + ] + }, + "books_in_box_2": { + "method": "visual", + "intervals": [ + [ + 518.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518.9, + "text_zh": "推断：到达时刻无法由画面或状态确定（无状态日志，箱内被遮挡）；仅知不晚于评分器 goal_first_step=15567 → 视频 518.9 s（六本同时合格），故此处仅作上界，真实入箱时刻更早。final=true 由 goal=1、q_score=1.0 约束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪辅助抓取并夹住书，搬到箱上方松开；推断：底盘移动携书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶过楼梯绕行，携书至储物箱。" + } + ] + }, + "books_in_box_3": { + "method": "visual", + "intervals": [ + [ + 518.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518.9, + "text_zh": "推断：到达时刻无法由画面或状态确定（无状态日志，箱内被遮挡）；仅知不晚于评分器 goal_first_step=15567 → 视频 518.9 s（六本同时合格），故此处仅作上界，真实入箱时刻更早。final=true 由 goal=1、q_score=1.0 约束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪辅助抓取并夹住书，搬到箱上方松开；推断：底盘移动携书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶过楼梯绕行，携书至储物箱。" + } + ] + }, + "books_in_box_4": { + "method": "visual", + "intervals": [ + [ + 518.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518.9, + "text_zh": "推断：到达时刻无法由画面或状态确定（无状态日志，箱内被遮挡）；仅知不晚于评分器 goal_first_step=15567 → 视频 518.9 s（六本同时合格），故此处仅作上界，真实入箱时刻更早。final=true 由 goal=1、q_score=1.0 约束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪辅助抓取并夹住书，搬到箱上方松开；推断：底盘移动携书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶过楼梯绕行，携书至储物箱。" + } + ] + }, + "books_in_box_5": { + "method": "visual", + "intervals": [ + [ + 518.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518.9, + "text_zh": "推断：到达时刻无法由画面或状态确定（无状态日志，箱内被遮挡）；仅知不晚于评分器 goal_first_step=15567 → 视频 518.9 s（六本同时合格），故此处仅作上界，真实入箱时刻更早。final=true 由 goal=1、q_score=1.0 约束。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪辅助抓取并夹住书，搬到箱上方松开；推断：底盘移动携书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶过楼梯绕行，携书至储物箱。" + } + ] + }, + "books_in_box_6": { + "method": "visual", + "intervals": [ + [ + 518.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 518.9, + "text_zh": "观察：评分器 goal_first_step=15567，视频 15567/30=518.9 s 六本书同时合格；推断：最后一本入箱不晚于此刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左臂二指夹爪辅助抓取并夹住书，搬到箱上方松开；推断：底盘移动携书。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶过楼梯绕行，携书至储物箱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：评分器 success=1、q_score=1.0，六本书全部入箱并保持30步（goal_first_step 15567 → 视频 518.9 s）。无状态日志，各本书的实际入箱时刻无法由画面确定，books_in_box_1..5 的区间起点仅为上界 518.9 s（推断），不是到达时间；最终全部为真由评分器约束。log 步号与视频时刻无换算，未引用。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "成功运行，终值 6/6 与评分器一致；但第1–5本入箱时刻（242/335/390/446/480 s）和所引 log_step 没有证据支撑，却以“观察”写入。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，6/6 终值由评分器 goal=1、q_score=1.0 约束；入箱时刻仅作上界 518.9 s 并标为推断，与第一轮修订一致，validator 通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:07:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-privileged--gd2o4ok/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5313c88f544ab32f832e945bff2c958080c92ebc6f94680d1736dd1dbcad88f7", + "video_sha256": "6aa16469e6e254af3a70f0dee965176836ae17642c1fa74ca3b53d306d635dd1", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--kogymkx.json b/phaseK/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--kogymkx.json new file mode 100644 index 0000000000000000000000000000000000000000..157c66722d119cfa59b4427ff8cd306aaa0e1350 --- /dev/null +++ b/phaseK/behavior-1k/boxing_books_up_for_storage/trajectories/behavior-boxing-books-up-for-storage-i00-standard--kogymkx.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-boxing-books-up-for-storage-i00-standard--kogymkx", + "taskKey": "behavior-1k/boxing_books_up_for_storage", + "dag_sha256": "76db041904d6c71deaf5630b11d4770a7e16737353ec5f92529e02566a0a7d6b", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 23918, + "sim_steps": 24068, + "physics_steps": 96272, + "steps": 7009, + "elapsed_s": 6946.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.16666666666666666, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-boxing-books-up-for-storage-i00-standard--kogymkx.mp4", + "duration_s": 802.3, + "fps": 10.0, + "frames": 8023, + "sha256": "25e19c228fb21a437d9dc981e35388613a3658090f624bc8f20e54a316ade431" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "books_in_box_1": { + "method": "visual", + "intervals": [ + [ + 468.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 468.0, + "log_step": 326, + "text_zh": "观察：视频 410-445 s 夹爪仍持深色书，约 468 s 起箱口附近可见书躺在箱内一角（腕部相机，画面小且模糊）；468 s 为估计，约 445-480 s 区间，依据是持书画面结束之后；推断：与 agent log step 326 自述“第一本书已放入箱内”及评分 q=1/6 相符，至多1本。log step 为 agent 会话步号，与视频时刻无映射。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住书并送往储物箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在书柜与箱之间移动，携书行驶" + } + ] + }, + "books_in_box_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 585, + "text_zh": "观察：视频约 480 s 起反复抓取第二本书（黄/蓝书），夹爪多次闭合落空、书被推动（agent log step 351-409）；540 s 后腕部相机见黄书在夹爪内，agent log step 581-585 自述书被夹持搬运至箱前、尚未放入；q=1/6 推断只有1本在箱内。视频时间与 agent log step 无对应，两个时钟不转换。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住书并送往储物箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在书柜与箱之间移动，携书行驶" + } + ] + }, + "books_in_box_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频中未见第3本书入箱；q=1/6 限定最多1本。" + } + ] + }, + "books_in_box_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频中未见第4本书入箱；q=1/6 限定最多1本。" + } + ] + }, + "books_in_box_5": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频中未见第5本书入箱；q=1/6 限定最多1本。" + } + ] + }, + "books_in_box_6": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频中未见第6本书入箱；q=1/6 限定最多1本。" + } + ] + } + }, + "constraints": {}, + "intervals_note": null + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "books_in_box_2", + "t": null, + "where": "操作中", + "evidence_zh": "观察：视频约 480 s 起机器人多次用夹爪夹第二本书，闭合落空（agent 自述 log step 351、358、407 空夹，属会话叙述）；推断：此阶段已修复——agent log step 581-585 自述夹爪闭合后保持 0.0216 m 开度、书随提起与搬运保持在夹爪中，step 585 到达箱前暂留点；视频 540 s 后腕部相机见黄书在夹爪内。最终未达的直接判据是第2本入箱：携书至箱前仍未放入就结束（log step 585 为 agent log 步号，不对应视频时刻）。早期空夹不作断点现象，时限不作原因。", + "log_step": 585 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；视频为多相机拼接且箱内常被遮挡。携书搬运后未放入的具体可见现象（位姿、保持或放置）帧上无法判定，故现象与根因留空，早期空夹已修复，不作断点现象。第1本入箱时间约 468 s 为估计（依据：视频 410-445 s 夹爪仍持书，之后箱口附近可见书，故取区间约 445-480 s 之后的估计）。视频 802 s 与 agent 会话 7200 s（log step 的 t 为会话墙钟）两个时钟未转换、无对应。", + "unmet": { + "books_in_box_1": true, + "books_in_box_2": false, + "books_in_box_3": false, + "books_in_box_4": false, + "books_in_box_5": false, + "books_in_box_6": false + } + }, + "summary_zh": "观察：本次尝试仅完成第1本书入箱（视频约 468 s，估计区间约 445-480 s；q=1/6 支持至多1本），其余5本未入箱。推断：第2本书多次空夹后抓取已修复（agent log step 581-585 书被夹持搬运至箱前），最终携书未能放入；具体失败现象帧上无法判定，现象与根因留空。第1本入箱的精确时间因遮挡无法逐帧核实。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "进度（1/6，q=1/6）与第1本入箱基本可信；但断点现象“没建立接触”与证据自相矛盾：同一份证据写明最后一次抓住了书并搬运到 log step 585，说明抓取已被修复，之后是在搬运/放置途中被时限截断。需重写断点现象与根因，并把无法对应的时钟写清。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "进度1/6与q=1/6一致；断点books_in_box_2、现象/根因留空并写明gap_zh，符合证据（帧上无法判定放置失败的具体现象，视频多相机小画面）。第一轮问题已按建议处理，未发现新的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--kogymkx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--kogymkx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--kogymkx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-boxing-books-up-for-storage-i00-standard--kogymkx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e2747f5376b55dbd85e7d5905f618bb9b8fc49a2f071072c67a0b2e735155bc2", + "video_sha256": "25e19c228fb21a437d9dc981e35388613a3658090f624bc8f20e54a316ade431", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b.json b/phaseK/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b.json new file mode 100644 index 0000000000000000000000000000000000000000..27507ddf40ea604f15d52864ff2e7b80d86f8e3a --- /dev/null +++ b/phaseK/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b.json @@ -0,0 +1,321 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-boxing-food-after-dinner-i00-privileged--ege7s2b", + "taskKey": "behavior-1k/boxing_food_after_dinner", + "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6000, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 6150, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2207.3, + "replay_timeout_s": 5200.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.13, + "peak_memory_gb": 12.947, + "peak_processes": 79, + "peak_disk_gb": 2.655, + "peak_cpus": 8.06, + "peak_pids": 431, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-boxing-food-after-dinner-i00-privileged--ege7s2b.mp4", + "duration_s": 205.0, + "fps": 30.0, + "frames": 6150, + "sha256": "ff7ebc2c3d55d7d2736f69c303107e61f28743fbed5bfdf440a7912d49e16ec3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 66.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 66.0, + "log_step": 393, + "text_zh": "观察：视频 66 s 起橱柜下方柜门离开柜体；视频 68、72、76 s 可见柜门张开、内有白色盒；85、95 s 柜门已重新关闭、夹爪停在把手旁。推断：事件节点在约 66 s 达成，随后门回落；时间有数秒不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓柜门把手，底盘辅助移动开门（log step 389-401 的重复抓取尝试）；观察到柜门被拉开但反复回落。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在开门过程中移动并支撑机械臂。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": 435, + "text_zh": "观察：视频 150-204 s 头部相机朝向天花板与水槽区，未见冰箱门张开；agent 末条自述只尝试了橱柜取盒，未涉及冰箱。推断：未完成。" + } + ] + }, + "tacos_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 204.0, + "log_step": 435, + "text_zh": "观察：视频 30-204 s 两只盘与塔可始终留在台面（视频 30 s、60 s、120 s、180 s 均可见盘在台面），保鲜盒未被取出（agent 自述“tupperware was not extracted”，log step 435）；评分器 q_score=0、goal=0。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "tacos_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 204.0, + "log_step": 435, + "text_zh": "观察：视频 30-204 s 两只盘与塔可始终留在台面（视频 30 s、60 s、120 s、180 s 均可见盘在台面），保鲜盒未被取出（agent 自述“tupperware was not extracted”，log step 435）；评分器 q_score=0、goal=0。" + } + ] + }, + "box_in_fridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 204.0, + "log_step": 435, + "text_zh": "观察：视频 30-204 s 两只盘与塔可始终留在台面（视频 30 s、60 s、120 s、180 s 均可见盘在台面），保鲜盒未被取出（agent 自述“tupperware was not extracted”，log step 435）；评分器 q_score=0、goal=0。" + } + ] + }, + "plates_on_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 204.0, + "log_step": 435, + "text_zh": "观察：视频 30-204 s 两只盘与塔可始终留在台面（视频 30 s、60 s、120 s、180 s 均可见盘在台面），保鲜盒未被取出（agent 自述“tupperware was not extracted”，log step 435）；评分器 q_score=0、goal=0。" + } + ] + }, + "plates_on_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 204.0, + "log_step": 435, + "text_zh": "观察：视频 30-204 s 两只盘与塔可始终留在台面（视频 30 s、60 s、120 s、180 s 均可见盘在台面），保鲜盒未被取出（agent 自述“tupperware was not extracted”，log step 435）；评分器 q_score=0、goal=0。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 204.0, + "log_step": 435, + "text_zh": "观察：视频 30-204 s 两只盘与塔可始终留在台面（视频 30 s、60 s、120 s、180 s 均可见盘在台面），保鲜盒未被取出（agent 自述“tupperware was not extracted”，log step 435）；评分器 q_score=0、goal=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "tacos_in_box_1", + "t": 100.0, + "where": "操作中", + "evidence_zh": "观察：视频 68-76 s 柜门张开可见白盒；85、95 s 柜门已重新关闭、夹爪在把手旁；之后未见盒被取出，两盘塔可仍在台面，q_score=0。", + "log_step": 415 + }, + "phenomena": [ + { + "t": 90.0, + "evidence_zh": "观察：视频 68-76 s 柜门张开，85 s、95 s 柜门已回落关闭，夹爪停在把手旁未再拉开，取盒通道重新被挡。推断（agent 自述，非视频观察）：开门的辅助抓取未保持住，日志 held None。", + "cat": "接触", + "item": "没保持住" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "evidence_zh": "观察：视频显示门张开后回落。推断（agent 自述，视频不可见）：柜门角度在运动中衰减、抓取射线未命中；无法区分抓取设计与反馈控制，是否有可行替代未知。", + "source_zh": "日志", + "alt_feasible": "未知" + } + ], + "gap_zh": "观察：无状态日志，视频为头/腕三视图拼接，柜内细节分辨率低；105-200 s 头部相机不见柜内，盒是否可达不可由视频确认；射线未命中为 agent 自述。", + "unmet": { + "tacos_in_box_1": false, + "tacos_in_box_2": false, + "box_in_fridge": false, + "plates_on_sink_1": false, + "plates_on_sink_2": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：视频约 66 s 橱柜门被打开，68-76 s 可见白盒，85 s 前门回落关闭，此后未见盒被取出，两盘与塔可留在台面，q_score=0。1/8 节点达成，断点为塔可装盒（取盒阶段）。缺口：无状态日志，视频分辨率低，根因为 agent 自述推断。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "cabinet_opened 约 66 s 达成（视频 68/72/76 s 可见柜门张开、内有白色盒）基本成立；但视频 85、95 s 柜门已重新关上，夹爪停在把手旁，说明 100 s 前后的重试对象是柜门而不是保鲜盒，保鲜盒从未可达。断点、contact_actual 和证据文字把它写成了‘抓保鲜盒’，且引用了视频看不到的‘105-200 s 盒子未离开柜子’。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第一轮修改后标签与视频一致：cabinet_opened 约 66 s 达成，门随后回落，断点 tacos_in_box_1，没保持住 + 抓取和接触设计（alt_feasible 未知），agent 自述已标为推断；未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-boxing-food-after-dinner-i00-privileged--ege7s2b/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9029bb3bc4a3a0786dd8b065bb6d8ea52da5a11cc04a63b74c3232d3ff4b879b", + "video_sha256": "ff7ebc2c3d55d7d2736f69c303107e61f28743fbed5bfdf440a7912d49e16ec3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--4serntq.json b/phaseK/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--4serntq.json new file mode 100644 index 0000000000000000000000000000000000000000..162a3d62d9ae30ad9ad3c342589e9733a9da8c02 --- /dev/null +++ b/phaseK/behavior-1k/boxing_food_after_dinner/trajectories/behavior-boxing-food-after-dinner-i00-standard--4serntq.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-boxing-food-after-dinner-i00-standard--4serntq", + "taskKey": "behavior-1k/boxing_food_after_dinner", + "dag_sha256": "e8d426fd30e04edebad1d25c44ec0cecb6d3f45ff17585b7f91cdb42b93d8ef7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 7895, + "sim_steps": 8045, + "physics_steps": 32180, + "steps": 2449, + "elapsed_s": 5639.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.244, + "peak_processes": 9, + "peak_disk_gb": 0.431, + "peak_cpus": 1.7, + "peak_pids": 154, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-boxing-food-after-dinner-i00-standard--4serntq.mp4", + "duration_s": 268.2, + "fps": 10.0, + "frames": 2682, + "sha256": "f18df0b95317bec65a1efed2235c8e12df0edfe11b4dd6106ff5ec1fdd341a63" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪多次夹住水槽下橱柜拉手/门边（闭合 38 mm、25 mm，log step 210、341）后打滑，柜门未开；一次拉开的是洗碗机抽屉而非装保鲜盒的橱柜（log step 344，仅 agent 自述）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘贴着橱柜前沿，支撑双臂作业，并在 log step 485 用底盘整体后拉。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ] + }, + "tacos_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪抓起台面上的一个塔可（log step 176-183），视频末帧仍握着，未入盒。" + } + ] + }, + "tacos_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ] + }, + "box_in_fridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ] + }, + "plates_on_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "左臂下压时误掀翻第二只盘，塔可掉落（log step 312，agent 自述；候选名“误碰”）；盘未被抓起。" + } + ] + }, + "plates_on_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 267.5, + "log_step": 497, + "text_zh": "观察：视频末帧（267.5 s）右腕相机仍抓着一个塔可，左腕相机对着柜面，未见保鲜盒、冰箱门或水槽中的盘；agent 终报 done=False（log step 497）。该节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 213, + "where": "操作中", + "evidence_zh": "观察：agent 自述左夹爪在多个橱柜把手处反复打滑、柜门未开（log step 213、246、388、481），直到结束（log step 497）也没找到保鲜盒；视频末帧右手仍握塔可，无盒、无开启的冰箱门。推断：保鲜盒所在橱柜是第一个未完成且从未修复的步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅 268.2 s（头/腕部相机、画面压缩），而 agent 会话约 6700 s 的操作，视频只覆盖会话的一小段；无状态日志，无法确认橱柜把手接触细节与打滑原因，故现象与根因留空（不以 agent 自述定因）。另：agent 自述用 /app/output/gen.py 记录，时间映射未知，未做 log→视频换算。", + "unmet": { + "tacos_in_box_1": false, + "tacos_in_box_2": false, + "box_in_fridge": false, + "plates_on_sink_1": false, + "plates_on_sink_2": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：8 个节点均未达成；agent 抓起一个塔可后始终握着，另一塔可被左臂误掀盘后掉到地上（log step 312，agent 自述），橱柜把手多次抓取打滑、没找到保鲜盒，冰箱未开，盘未入水槽。断点在打开橱柜（操作中）。证据缺口：无状态日志，视频只有 268 s，现象与根因无法确认。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "8 个节点均未达成与视频一致：全程可见右夹爪握着一个塔可，未见保鲜盒、开启的冰箱门或水槽中的盘；断点取 cabinet_opened、现象与根因留空并写明 gap_zh，在无状态日志、视频仅覆盖会话一小段的情况下是保守且可接受的。未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:51:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--4serntq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-boxing-food-after-dinner-i00-standard--4serntq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd52aea8d7b89c8df5f30f97a7d9d0b35ee555227eddceb053e19309234e2a81", + "video_sha256": "f18df0b95317bec65a1efed2235c8e12df0edfe11b4dd6106ff5ec1fdd341a63", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--hzg9ffk.json b/phaseK/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--hzg9ffk.json new file mode 100644 index 0000000000000000000000000000000000000000..f2ed8dfcd551bfafad4977c132c47c50ced05785 --- /dev/null +++ b/phaseK/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-privileged--hzg9ffk.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-bringing-in-wood-i00-privileged--hzg9ffk", + "taskKey": "behavior-1k/bringing_in_wood", + "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7", + "outcome": { + "success": 0, + "reward": 0.3333333333333333, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 4269, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4419, + "fallen": 0, + "final_reward": 0.3333333333333333, + "q_score": 0.3333333333333333, + "replay_wall_s": 1554.5, + "replay_timeout_s": 4046.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_records": 39, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 18.389, + "peak_memory_gb": 16.83, + "peak_processes": 79, + "peak_disk_gb": 3.198, + "peak_cpus": 8.1, + "peak_pids": 676, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-bringing-in-wood-i00-privileged--hzg9ffk.mp4", + "duration_s": 147.3, + "fps": 30.0, + "frames": 4419, + "sha256": "73cde8deb2f66aedb44496703fe36826e47ca4a4ff0a58c9388459da03e5b1c2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "corridor_door_opened": { + "method": "visual", + "intervals": [ + [ + 9.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.0, + "log_step": 181, + "text_zh": "观察：视频 0-6 s 头部相机只见关闭的门板；约 6-9 s 机器人夹爪拉动把手，门扇转开，能看见内侧木纹走廊地板（与参考视频一致）；其后门一直开着（视频 30-70 s 仍可见敞开的门扇）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人一只夹爪握住门把手拉开门扇（视频约 6-60 s 夹爪停在把手处）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘支承并在开门时微调位置。" + } + ] + }, + "plywoods_on_corridor_1": { + "method": "visual", + "intervals": [ + [ + 126.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 126.0, + "log_step": 183, + "text_zh": "观察：视频约 74-121 s 左夹爪夹住一块板，穿过门进入走廊（左腕相机见棕色板条在手中）；约 124-126 s 板脱手落在木纹走廊地面，夹爪空出。推断：松手后板留在走廊地板上，对应 q=1/3（评分器字段 q_score 0.333）与 agent 自述“sheet 3 scores”（log step 183，仅作旁证）。释放时刻因腕相机遮挡有约 2 s 不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪夹住胶合板，从花园携带穿过门到走廊后放下。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘携板行驶穿过门口。" + } + ] + }, + "plywoods_on_corridor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 147.0, + "log_step": 205, + "text_zh": "观察：视频 126-147.3 s 机器人空手退回花园，花园瓷砖上仍有板条（视频 120 s、146 s 可见），走廊内只有一块板；评分器 q_score=1/3，最多一块板满足，故第2块 final false。" + } + ] + }, + "plywoods_on_corridor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 147.0, + "log_step": 205, + "text_zh": "观察：同上，视频结束时仍只有一块板在走廊；q=1/3 限定最多一块。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "plywoods_on_corridor_2", + "where": "转场", + "t": 126.0, + "log_step": 184, + "evidence_zh": "观察：视频 126-147.3 s 机器人放下第一块板后空手退回花园，视频结束时第2块板仍在花园，从未被拾起。log step 184/205 agent 称右臂搬运在门口卡住，最终提交的 4269 步轨迹“只放置 sheet 3”；这是 agent 会话叙述，仅作旁证。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 126.0, + "log_step": null, + "evidence_zh": "观察：视频 126-147.3 s 机器人放下第1块板后空手退回花园，未靠近或抓取剩余板；视频 120 s、146 s 花园瓷砖上两块板始终未被触碰。已评分轨迹（4269 步）里第2块板的搬运步骤没启动，其前置（门、第1块板）已达成，并非被前置挡住。" + } + ], + "root_causes": [], + "gap_zh": "现象为没尝试（已评分轨迹在第1块板放好后结束，第2块板的抓取从未启动）；原因：已评分轨迹内无证据（会话中的门口碰撞/翻倒，log step 170、197，属未提交的会话尝试；agent 保存前缀是交付选择，不能当原因，不能由没尝试反推），故根因留空。无状态日志，节点时间来自视频；释放时刻约有 ±2 s 不确定。", + "unmet": { + "plywoods_on_corridor_1": true, + "plywoods_on_corridor_2": false, + "plywoods_on_corridor_3": false + } + }, + "summary_zh": "观察：已评分轨迹（视频 147.3 s）先拉开走廊门（约 9 s），再携一块板入走廊并在约 126 s 放下，之后空手退回花园就结束；q_score=1/3，共 4 个节点中 2 个达成。断点在第2块板（转场）：现象为没尝试（第2、3块板的搬运从未启动）。缺口：无状态日志，根因无已评分轨迹内的证据，留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点时间和 q=1/3 与视频一致（门约 9 s 拉开；板约 124-126 s 放在走廊地板），断点步骤选第2块板也对。但 failure.phenomena 留空不对：已评分轨迹在第1块板放好后即终止，第2块板的抓取从未启动，这正是“没尝试”（FAIL-13/FAIL-22）；gap_zh 把它当成“无可观察现象”是错的。根因应保持为空并在 gap_zh 说明（不能从没尝试反推）。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间、q=1/3、断点（第2块板，转场）和“没尝试”现象与视频一致；根因留空并有 gap_zh 说明，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--hzg9ffk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--hzg9ffk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--hzg9ffk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-privileged--hzg9ffk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "73e111f0fe6760586f08dc23f438bc0a8cfc1e000c6063da500e5feb5d4dcfdd", + "video_sha256": "73cde8deb2f66aedb44496703fe36826e47ca4a4ff0a58c9388459da03e5b1c2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--wvynm2y.json b/phaseK/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--wvynm2y.json new file mode 100644 index 0000000000000000000000000000000000000000..cf8a187f843a16b756d0fd1fa1e1f1fdef5112da --- /dev/null +++ b/phaseK/behavior-1k/bringing_in_wood/trajectories/behavior-bringing-in-wood-i00-standard--wvynm2y.json @@ -0,0 +1,228 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-bringing-in-wood-i00-standard--wvynm2y", + "taskKey": "behavior-1k/bringing_in_wood", + "dag_sha256": "54359bd2d9d51967b98ef078e09c231542698021d39d112e7af391cea06ee0e7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 896, + "sim_steps": 896, + "physics_steps": 3584, + "steps": 289, + "elapsed_s": 510.2, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.239, + "peak_processes": 9, + "peak_disk_gb": 0.792, + "peak_cpus": 1.58, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-bringing-in-wood-i00-standard--wvynm2y.mp4", + "duration_s": 29.9, + "fps": 10.0, + "frames": 299, + "sha256": "5f33815ca862672b3f0131f3c03a4d1bc071858a44b13d7373f7275a60079e93" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "corridor_door_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.9, + "log_step": 66, + "text_zh": "观察：视频 0-29.9 s 机器人只在走廊/花园铺砖上行驶后翻倒，视频中从未出现夹爪接触门或胶合板，也没有板落在走廊木纹地板上；评分器 q_score=0。" + } + ] + }, + "plywoods_on_corridor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.9, + "log_step": 66, + "text_zh": "观察：视频 0-29.9 s 机器人只在走廊/花园铺砖上行驶后翻倒，视频中从未出现夹爪接触门或胶合板，也没有板落在走廊木纹地板上；评分器 q_score=0。" + } + ] + }, + "plywoods_on_corridor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.9, + "log_step": 66, + "text_zh": "观察：视频 0-29.9 s 机器人只在走廊/花园铺砖上行驶后翻倒，视频中从未出现夹爪接触门或胶合板，也没有板落在走廊木纹地板上；评分器 q_score=0。" + } + ] + }, + "plywoods_on_corridor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 29.9, + "log_step": 66, + "text_zh": "观察：视频 0-29.9 s 机器人只在走廊/花园铺砖上行驶后翻倒，视频中从未出现夹爪接触门或胶合板，也没有板落在走廊木纹地板上；评分器 q_score=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plywoods_on_corridor_1", + "t": 18.0, + "where": "转场", + "evidence_zh": "观察：视频约 0-16 s 机器人底盘驶过铺砖走道，约 18 s 起头部相机画面翻转，之后只见地砖和天空，机器人侧翻不再恢复，直至视频 29.9 s 结束；agent 自述“robot fell over”（log step 66，评分器的失败原因）。机器人从未到达木板或门，故断点是空手寻找并前往第一块板的途中。", + "log_step": 59 + }, + "phenomena": [ + { + "t": 18.0, + "log_step": 59, + "evidence_zh": "观察：视频约 18-29.9 s 画面翻转并持续倒伏；log step 59 的位姿轨迹显示底盘在鹅卵石带边缘开始倾倒，log step 60-65 三次倒车恢复均失败。", + "cat": "全身", + "item": "平衡" + } + ], + "root_causes": [ + { + "evidence_zh": "推断：log step 56-59 agent 自述在深度图判断空间后仍驱动底盘越过鹅卵石带凸起边缘而倾倒，是驾驶命令导致翻倒；证据不足以细分子类（未验证感知误差）。", + "source_zh": "agent 自述 / 视频", + "cat": "控制", + "item": "控制" + } + ], + "gap_zh": "无状态日志，板和门的位置不可见；头部相机画面大部分被机器人本体遮挡，仅凭视频无法确认倾倒的具体原因。", + "unmet": { + "plywoods_on_corridor_1": false, + "plywoods_on_corridor_2": false, + "plywoods_on_corridor_3": false + } + }, + "summary_zh": "观察：视频 29.9 s 内机器人只在花园走道与鹅卵石带上行驶，约视频 18 s 起翻倒且未恢复，从未接触门或胶合板，4 个节点均未达成（q_score=0）。断点是前往第一块板的转场途中的平衡丧失，根因推断为驾驶控制（证据有限）。证据缺口：无状态日志，视角遮挡。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "4个节点均未达成（q_score=0，视频中无门/板接触）与证据一致；断点为前往/寻找第一块板途中的倾倒（全身·平衡），根因为推断的控制，标注为推断且 conf 偏低，合理。视频约12.5 s起已见画面倾斜/天空，18 s仅为粗略锚点，不构成错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:51:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-standard--wvynm2y/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-in-wood-i00-standard--wvynm2y/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "878cbc988a6bb6d349283c78a8bd5c25da50ef3462d5c629f25fe69ee8a351dc", + "video_sha256": "5f33815ca862672b3f0131f3c03a4d1bc071858a44b13d7373f7275a60079e93", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--atrynxs.json b/phaseK/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--atrynxs.json new file mode 100644 index 0000000000000000000000000000000000000000..7adc6569a646f6babdec5c365fc3f334fe2d9fe6 --- /dev/null +++ b/phaseK/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-privileged--atrynxs.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-bringing-paper-to-recycling-i00-privileged--atrynxs", + "taskKey": "behavior-1k/bringing_paper_to_recycling", + "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2362, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 2512, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 884.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_records": 34, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-bringing-paper-to-recycling-i00-privileged--atrynxs.mp4", + "duration_s": 83.734, + "fps": 30.0, + "frames": 2512, + "sha256": "e3c3796ddebd0d71965663680e628a44ef8b26fe0ad0ce34bc296c8a1e1a84db" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "garden_access_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频 0-83.7 s 的头部相机多数时间被灰白墙面/门板占满，腕部相机只见夹爪靠近门把手（约视频 26-80 s），没有一帧能判断门板是否让出通行开口。无状态日志、无示范视频。agent 自述门开约 68° 后又被最后一次穿越推回关闭（log step 286、291），只是 agent 说法，不作为节点值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：腕部视角可见夹爪靠近/套住门把手；是否带动门板无法确认。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移向门并在最后一次穿越中顶门（log step 291 自述），视频不可直接核对。" + } + ] + }, + "bin_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程未见机器人到达花园或回收桶，也未见纸袋/报纸被抓起；评分器 goal=0、q_score=0。agent 自述机器人从未进入花园（log step 294）。" + } + ] + }, + "sack_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程未见机器人到达花园或回收桶，也未见纸袋/报纸被抓起；评分器 goal=0、q_score=0。agent 自述机器人从未进入花园（log step 294）。" + } + ] + }, + "newspaper_in_bin": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程未见机器人到达花园或回收桶，也未见纸袋/报纸被抓起；评分器 goal=0、q_score=0。agent 自述机器人从未进入花园（log step 294）。" + } + ] + }, + "bin_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：桶盖初始关闭（DAG 说明），机器人从未到达花园开桶，故关闭状态全程保持；q_score 不计起始即成立的条件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "garden_access_opened", + "t": null, + "log_step": 291, + "where": "操作中", + "evidence_zh": "观察：全程画面停留在门附近（头部相机被门板遮挡，腕部夹爪在门把手处），从未进入花园；agent 自述最后一次穿越把门推回关闭、机器人停在墙边（log step 291、294）。推断：卡在开门并穿门这一步，未修复。" + }, + "unmet": { + "sack_in_bin": false, + "newspaper_in_bin": false, + "bin_closed": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "头部相机被门板遮挡，无状态日志，无法从画面判断门是否打开、穿越为何失败（被挡、位姿或轨迹），故现象和根因留空，不采信 agent 自述。" + }, + "summary_zh": "观察：机器人全程停留在花园门附近，未进入花园，袋子、报纸未动，桶未开，三个目标节点均未达成（bin_closed 仅因初始即关闭而保持）。断点在打开花园通道/穿门一步；因门板遮挡视野，门是否曾开无法从画面确认（unknown），失败原因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频（头部相机多被灰白墙面占满，腕部相机只见地板/夹爪）和无状态日志都无法判断门是否打开或穿越为何失败；节点 unknown、三个目标节点 false（评分器 goal=0、q_score=0）、断点置于 garden_access_opened、现象和根因留空并写 gap_zh，均与可采信证据一致。未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:52:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--atrynxs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-paper-to-recycling-i00-privileged--atrynxs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "765506cc9a6b522016b0dd7bb6d7f9586e3dc4d537bcb50f424273b596ce4160", + "video_sha256": "e3c3796ddebd0d71965663680e628a44ef8b26fe0ad0ce34bc296c8a1e1a84db", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--smxbyak.json b/phaseK/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--smxbyak.json new file mode 100644 index 0000000000000000000000000000000000000000..0b7aea3ad5f752cbf7f25753b9f3e66c71e938fe --- /dev/null +++ b/phaseK/behavior-1k/bringing_paper_to_recycling/trajectories/behavior-bringing-paper-to-recycling-i00-standard--smxbyak.json @@ -0,0 +1,308 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-bringing-paper-to-recycling-i00-standard--smxbyak", + "taskKey": "behavior-1k/bringing_paper_to_recycling", + "dag_sha256": "f10e79f3a36c744bfddfbc499bf81dd39eacc607be9e79bee316e6f39b1ed067", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 5628, + "sim_steps": 5628, + "physics_steps": 22512, + "steps": 3141, + "elapsed_s": 2378.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.229, + "peak_processes": 9, + "peak_disk_gb": 0.308, + "peak_cpus": 1.42, + "peak_pids": 122, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-bringing-paper-to-recycling-i00-standard--smxbyak.mp4", + "duration_s": 187.7, + "fps": 10.0, + "frames": 1877, + "sha256": "8ddedb068c75134f15d68522bd639b8e8066cf8f5a9cbd2a61d63cfcf55a109e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "garden_access_opened": { + "method": "visual", + "intervals": [ + [ + 85.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 85.0, + "log_step": 145, + "text_zh": "观察：视频约 84-86 s 右视角门扇滑开、开口出现（80 s 门仍封住），此后一直可见开口；机器人右手握住滑动门把手横向拉动，左手夹着纸袋。推断：sim_time_s（控制步/30 Hz，终态 187.6 s）与视频时间（187.7 s）一致，开口时间约 85 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手夹爪握住滑动门把手并横向拉动门扇；左手同时夹着纸袋" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到门边并侧移对准把手" + } + ] + }, + "bin_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 187.0, + "log_step": 236, + "text_zh": "观察：全程视频未出现回收桶（机器人从未到达花园），也无桶盖打开画面；该节点判为未达成。" + } + ] + }, + "sack_in_bin": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 187.0, + "log_step": 236, + "text_zh": "观察：视频中无袋子进入回收桶的画面，回收桶始终未出现；评分器 q_score=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手夹爪夹住纸袋口沿并抬起携带，后因卡在门框处被松开（log step 146）" + } + ] + }, + "newspaper_in_bin": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 187.0, + "log_step": 236, + "text_zh": "观察：视频中无报纸进入回收桶的画面，回收桶始终未出现；评分器 q_score=0。" + } + ] + }, + "bin_closed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 187.0, + "log_step": 236, + "text_zh": "观察：回收桶未出现在任何画面中，未做关桶；评分器 q_score=0、success=0，节点判为未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "sack_in_bin", + "t": 86.0, + "where": "操作中", + "evidence_zh": "观察：约 86 s（sim=视频）携带的纸袋楔在门框，左臂饱和，agent 松开纸袋（log step 146），袋子掉在地上，此后未再拾回（step 165 起仅找袋、转而拓宽门并空手过门槛）。约 180 s 倒地（step 236 robot fell over）是评分器结束事件，仅作提及。", + "log_step": 146 + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 86.0, + "log_step": 146, + "evidence_zh": "观察：携带纸袋经门框时袋子楔在门框、左臂关节饱和（log step 146），袋子被松开掉到地上（sim 86.4 s=视频约 86 s）；约 180 s 倒地为评分器结束事件，不另计。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "推断：门只开约35-60 cm（log step 181/208 自述），仍带着纸袋穿过窄门导致袋子楔住（step 143-146），应先开宽门或先送袋/调整抓袋姿态；此后放弃纸袋，空手过门槛倾倒为次要证据。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志，视频为三路相机拼接且大部分画面被机械臂遮挡，门开启时间和倒地时刻为估计；服务读数 sim_time_s 与视频时间一致（终态 187.6 s vs 187.7 s），松开纸袋约 86 s（log step 146），倒地约 180 s 均按 sim 时间=视频时间标注。", + "unmet": { + "sack_in_bin": false, + "newspaper_in_bin": false, + "bin_closed": false + } + }, + "summary_zh": "观察：机器人夹起纸袋，用右手拉开推拉花园门（约 85 s），约 86 s 纸袋在门框处楔住被松开掉地，此后未拾回；最终约 180 s 底盘越过门槛侧翻（评分器 robot fell over，结束事件）。5 个节点中仅花园门打开达成。主要缺口：无状态日志，时间为视觉估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "整体结论（仅花园门达成、纸袋掉落、过门槛倾倒）成立；但花园门开启时间标为约视频 95 s 偏晚约 10 s，且“视频与会话时间无法换算”的说法不对：服务读数 sim_time 与视频时长几乎一致（5628 控制步/30 Hz≈187.6 s，视频 187.7 s，终态 sim_time 187.6）。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "进度节点（仅花园门约 85 s 达成，其余未达成）与 final=1 成立。但断点锚在最终倒地（约 180 s）不对：纸袋在约 86 s（sim=视频）卡在门框被松开掉在地上，此后再未拾回，是第一个失败且从未修复的环节；倒地是评分器的结束事件，且发生在已放弃纸袋之后。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "三项 accept 均已在 prev/trajectory.json 中完整应用，与 log step 146 及视频一致。", + "n_issues": 0, + "n_checks": 3 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "三项 accept 均已在 prev/trajectory.json 中完整应用，与 log step 146 及视频一致。", + "checks_ok": "3/3", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-bringing-paper-to-recycling-i00-standard--smxbyak/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-bringing-paper-to-recycling-i00-standard--smxbyak/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-bringing-paper-to-recycling-i00-standard--smxbyak/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-bringing-paper-to-recycling-i00-standard--smxbyak/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-bringing-paper-to-recycling-i00-standard--smxbyak/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-bringing-paper-to-recycling-i00-standard--smxbyak/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "36eade13cdebf97acf13bb73ab12e5f403c0cdcdba2846a8263244c947008c04", + "video_sha256": "8ddedb068c75134f15d68522bd639b8e8066cf8f5a9cbd2a61d63cfcf55a109e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-privileged--7sykbas.json b/phaseK/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-privileged--7sykbas.json new file mode 100644 index 0000000000000000000000000000000000000000..d1cdebb98726ef7b32b69de158d7422885f268af --- /dev/null +++ b/phaseK/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-privileged--7sykbas.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-bringing-water-i00-privileged--7sykbas", + "taskKey": "behavior-1k/bringing_water", + "dag_sha256": "3864732e01c7ce934c7d19614f5eeca13a009f2abd487cee4665fe01c39f6329", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 10923, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 10739, + "sim_steps": 10923, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 3010.8, + "replay_timeout_s": 8482.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.427, + "peak_memory_gb": 13.85, + "peak_processes": 79, + "peak_disk_gb": 1.869, + "peak_cpus": 8.09, + "peak_pids": 626, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-bringing-water-i00-privileged--7sykbas.mp4", + "duration_s": 364.1, + "fps": 30.0, + "frames": 10923, + "sha256": "09e6c179596f14be51a75ce35eb383b20effbf9a5ea13cbd13d8155fa66e071e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 40, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 40, + "log_step": null, + "text_zh": "观察：视频约 40 s 起冰箱门向外打开，可见内侧搁板，此后一直保持打开直到结尾前关闭（门开启时间取自 12 s 间隔拼图，精度约 ±6 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪拉开冰箱门（据画面推断）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移到冰箱前" + } + ] + }, + "bottles_on_table_1": { + "method": "visual", + "intervals": [ + [ + 115, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 115, + "log_step": null, + "text_zh": "观察：视频约 111-121 s 手腕画面中瓶子在客厅白色茶几上放下；推断：第1瓶约 115 s 到达茶几（精度约 ±5 s）。评分器 success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住瓶身取出并搬运；底盘驱动搬运" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动搬运时承载机器人" + } + ] + }, + "bottles_on_table_2": { + "method": "visual", + "intervals": [ + [ + 331, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 331, + "log_step": null, + "text_zh": "观察：约 322-329 s 腕部相机仍见瓶，约 332 s 起腕部无瓶，336 s 头部见客厅，344-352 s 机器人回到冰箱前、门仍开；推断：第2瓶约 331 s 放到茶几（精度约 ±4 s）。评分器 success=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住瓶身取出并搬运；底盘驱动搬运" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动搬运时承载机器人" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 40 + ], + [ + 358, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 358, + "log_step": null, + "text_zh": "观察：开局冰箱关闭（0-40 s），约 40 s 打开，352-355 s 门仍开，约 356-358 s 门合上；推断：关闭约 358 s，与评分器 goal_first_step 10739 ≈ 357.97 s 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "夹爪/手臂把冰箱门推回（据画面推断）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在冰箱前" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：视频全程约 364 s，机器人开冰箱（约 40 s）、两趟把两瓶水搬到客厅茶几（约 115 s、331 s）并关冰箱（约 358 s），评分器 success=1、q=1.0，4/4 节点完成。无状态日志，节点时间由视频估计（精度约 ±4-6 s）。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "成功运行，4/4节点与成功结果一致；但第2瓶上茶几的时间(352 s)与画面矛盾：约322-330 s腕部仍持瓶，约332 s起瓶离手，336 s机器人在客厅，340 s起已回到冰箱前（348-352 s冰箱门仍开着，356-359 s关门），所以352 s茶几上两瓶的说法不成立。冰箱关闭时间约357-359 s，写360 s偏晚约2-3 s。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，4/4节点与评分器一致；第1轮指出的第2瓶与关冰箱时间已修正，冰箱约40 s打开、第1瓶约115 s到茶几与帧相符，接触标签合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-privileged--7sykbas/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-privileged--7sykbas/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-privileged--7sykbas/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-privileged--7sykbas/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "55c4676840e29f463658748c9644b30bc984bf1270007aeccd9c2f48d172c3c1", + "video_sha256": "09e6c179596f14be51a75ce35eb383b20effbf9a5ea13cbd13d8155fa66e071e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-standard--qsehiur.json b/phaseK/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-standard--qsehiur.json new file mode 100644 index 0000000000000000000000000000000000000000..1d32cdd5474a5c4161d5497317789ddf8033c2c2 --- /dev/null +++ b/phaseK/behavior-1k/bringing_water/trajectories/behavior-bringing-water-i00-standard--qsehiur.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-bringing-water-i00-standard--qsehiur", + "taskKey": "behavior-1k/bringing_water", + "dag_sha256": "3864732e01c7ce934c7d19614f5eeca13a009f2abd487cee4665fe01c39f6329", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 22909, + "sim_steps": 23059, + "physics_steps": 92236, + "steps": 4316, + "elapsed_s": 6655.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.271, + "peak_processes": 9, + "peak_disk_gb": 0.465, + "peak_cpus": 1.22, + "peak_pids": 120, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-bringing-water-i00-standard--qsehiur.mp4", + "duration_s": 768.7, + "fps": 10.0, + "frames": 7687, + "sha256": "1afd9937e21dfbe89606f73bf850998a63b5d7353121729f1fcdbfa3dac5a900" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 540.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 540.0, + "log_step": null, + "text_zh": "观察：视频约 500-540 s 腕部画面出现被拉开的门板，540 s 可见冰箱内侧搁板与红色物品；768 s 门仍处打开。推断：约 540 s 前后已开门，更早时刻因画面昏暗不能确认（约数）；730 s 后为再次拉门（agent log step 410-424 自述门曾回弹）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住冰箱把手向外拉开门（log step 422-424 自述，视频 730 s 后可见门开）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到冰箱前" + } + ] + }, + "bottles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 768.0, + "log_step": 429, + "text_zh": "观察：视频全程未见夹爪取出或握持水瓶；茶几桌面上未见瓶子，视频中的绿色物为烤箱指示灯。q_score=0。" + } + ] + }, + "bottles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 768.0, + "log_step": 429, + "text_zh": "观察：视频全程未见夹爪取出或握持水瓶；茶几桌面上未见瓶子，视频中的绿色物为烤箱指示灯。q_score=0。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 540.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 768.0, + "log_step": null, + "text_zh": "观察：开局冰箱关闭；视频约 540 s 起门已被拉开，至 768 s 未关闭（开门时刻为约数）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bottles_on_table_1", + "where": "探索", + "t": 540.0, + "log_step": 429, + "evidence_zh": "观察：约 540 s 门开后机器人一直在冰箱前查看内部，768 s 内未取出任何瓶子；agent 自述（log step 350、428-429）内部深度只见后墙标记，找不到瓶子。" + }, + "phenomena": [], + "gap_zh": "画面昏暗、无状态日志；开门时刻约 540 s（约数）。agent 自述找不到瓶子，视频未见夹爪接近瓶子，故不判没建立接触；是否为感知问题证据不足，根因留空。", + "root_causes": [], + "unmet": { + "bottles_on_table_1": false, + "bottles_on_table_2": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：视频 768.7 s 内机器人约 540 s 前后拉开冰箱门并在冰箱前查看内部，未取出任何瓶子，q_score=0，两瓶上茶几均未达成，冰箱终态未关闭。断点在第1瓶取出步骤（探索），无可确认现象，根因证据不足。缺口：画面昏暗、无状态日志，开门时间为约数。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "fridge_opened 的时间 730 s 明显偏晚：视频约 500-550 s 已可见门板被拉开、内侧搁板，agent 在 log step 219-350（约 sim 时间同期）已在搜索冰箱内部；fridge_closed 区间结束点随之错误。现象“没建立接触”仅靠 agent 自述（step 219 说的是绿色瓶盖/上层搁板的抓取，并非对水瓶），视频未显示任何接触水瓶的尝试，证据不足。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "抽查视频 300-767 s 的帧：约 540 s 前后出现被拉开的门板与内侧画面，768 s 未见瓶子被取出或放上茶几，与标注一致；q_score=0，两瓶节点 false 合理。现象和根因留空并附 gap_zh，因为只有 agent 自述支持感知问题，这个处理可以接受。画面昏暗，我只抽查了稀疏帧，没有逐段核对。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-standard--qsehiur/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-standard--qsehiur/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-standard--qsehiur/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-bringing-water-i00-standard--qsehiur/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0ab4278fd64f511c8fcb903bdd89203efeb0e155c3f3ef14d9ae3579c6a31b68", + "video_sha256": "1afd9937e21dfbe89606f73bf850998a63b5d7353121729f1fcdbfa3dac5a900", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--kfrcrru.json b/phaseK/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--kfrcrru.json new file mode 100644 index 0000000000000000000000000000000000000000..a19b687a2316deb566ba7ce36a6cbe61aab179a0 --- /dev/null +++ b/phaseK/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-privileged--kfrcrru.json @@ -0,0 +1,374 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-can-meat-i00-privileged--kfrcrru", + "taskKey": "behavior-1k/can_meat", + "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 2517, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 2667, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1533.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.586, + "peak_memory_gb": 12.91, + "peak_processes": 79, + "peak_disk_gb": 2.724, + "peak_cpus": 8.05, + "peak_pids": 594, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-can-meat-i00-privileged--kfrcrru.mp4", + "duration_s": 88.9, + "fps": 30.0, + "frames": 2667, + "sha256": "7aab2e306d2d15ccc8bf570f8a93f66e4ae29345cdfc84157e59c829f30eff2a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": null, + "peak": null, + "final": 5, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频只显示头部相机和腕部相机，门把手处的夹爪接触不清晰；视频中门未见打开（agent 会话内的门角读数不属于回放，不采信）。" + } + ] + }, + "jars_opened_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ] + }, + "jars_opened_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ] + }, + "sausages_in_jars_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ] + }, + "sausages_in_jars_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ] + }, + "sausages_in_jars_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ] + }, + "sausages_in_jars_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 87.5, + "log_step": 420, + "text_zh": "观察：视频全程（每 5 s 抽帧及 87.5 s 末帧）橱柜门板始终合拢，未见门打开、罐盖翻开或香肠入罐；评分器 success=0、q_score=0。" + } + ] + }, + "jars_closed_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 87.5, + "log_step": 418, + "text_zh": "观察：视频 0-88.9 s 橱柜门始终关闭（视频 87.5 s 帧仍为合上的灰色柜门），没有罐被取出或掉出；初态即成立，到结束未被破坏。log step 418 agent 自述两罐与四根香肠仍在初始位置（仅作旁证）；q_score=0 与初态条件不计分一致。" + } + ] + }, + "jars_closed_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 87.5, + "log_step": 418, + "text_zh": "观察：视频 0-88.9 s 橱柜门始终关闭（视频 87.5 s 帧仍为合上的灰色柜门），没有罐被取出或掉出；初态即成立，到结束未被破坏。log step 418 agent 自述两罐与四根香肠仍在初始位置（仅作旁证）；q_score=0 与初态条件不计分一致。" + } + ] + }, + "jars_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 87.5, + "log_step": 418, + "text_zh": "观察：视频 0-88.9 s 橱柜门始终关闭（视频 87.5 s 帧仍为合上的灰色柜门），没有罐被取出或掉出；初态即成立，到结束未被破坏。log step 418 agent 自述两罐与四根香肠仍在初始位置（仅作旁证）；q_score=0 与初态条件不计分一致。" + } + ] + }, + "jars_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 87.5, + "log_step": 418, + "text_zh": "观察：视频 0-88.9 s 橱柜门始终关闭（视频 87.5 s 帧仍为合上的灰色柜门），没有罐被取出或掉出；初态即成立，到结束未被破坏。log step 418 agent 自述两罐与四根香肠仍在初始位置（仅作旁证）；q_score=0 与初态条件不计分一致。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 87.5, + "log_step": 418, + "text_zh": "观察：视频 0-88.9 s 橱柜门始终关闭（视频 87.5 s 帧仍为合上的灰色柜门），没有罐被取出或掉出；初态即成立，到结束未被破坏。log step 418 agent 自述两罐与四根香肠仍在初始位置（仅作旁证）；q_score=0 与初态条件不计分一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "where": "操作中", + "t": 55, + "log_step": 410, + "evidence_zh": "观察：视频 0-88.9 s 柜门始终未打开；约 16-45 s 头相机大幅倾斜、朝下并拍到旋转的窗户，约 46 s 后恢复正对橱柜（不下平衡结论：fallen=0，无状态日志）；约 55 s 之后画面（55/65/80 s）几乎不变，手臂不再有动作，未见推拉把手。第一步未完成，后续步骤均未开始。agent 日志 step 410-414 的门角读数来自被停止的 fallback 会话，仅作旁证，不是交付轨迹的观察。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 55, + "log_step": 414, + "evidence_zh": "观察：回放视频全程柜门未被拉开，约 55 s 后手臂静止；推断：交付轨迹未包含成功的开门接触（夹爪未建立对把手的有效接触），无状态日志，仅为推断。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，头部/腕部相机看不清把手处接触；根因无法由视频或评分器判定：agent 日志里的 IK/seed 说法来自会话内测试，不是回放证据，故不设根因（也不排除规划或抓取设计等其他解释）。", + "unmet": { + "sausages_in_jars_1": false, + "sausages_in_jars_2": false, + "sausages_in_jars_3": false, + "sausages_in_jars_4": false, + "jars_closed_1": true, + "jars_closed_2": true, + "jars_in_cabinet_1": true, + "jars_in_cabinet_2": true, + "cabinet_closed": true + } + }, + "summary_zh": "观察：视频 88.9 s 内橱柜门始终关闭，没有打开柜门、开罐或装香肠，success=0、q_score=0；约 16-45 s 头相机大幅倾斜后恢复，约 55 s 后手臂静止。五个初态成立的节点（两罐在柜内、两罐关闭、柜门关闭）保持为真，其余七个未达成。断点为第一步打开橱柜；根因无法由视频/评分器判定（无状态日志），留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（柜门未开、五个初态节点为真）与视频一致；但断点证据和现象把 agent 在被停止的 fallback 会话里的读数（门只动 0.0199）当成已交付轨迹/回放的事实，视频后 30 s 手臂静止、并无推门动作；且视频 16-45 s 出现大幅倾斜/朝下的头相机画面，标注完全未提。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第二轮已按上轮意见修正：节点值与视频一致（柜门全程关闭，五个初态节点为真），现象只标推断，根因留空并有gap_zh，未采信会话读数。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-privileged--kfrcrru/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-privileged--kfrcrru/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-privileged--kfrcrru/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-privileged--kfrcrru/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6c1a1680d0a9f163f4edf9d96eaede8e64771e7590a0edefed0d9e275af98ce8", + "video_sha256": "7aab2e306d2d15ccc8bf570f8a93f66e4ae29345cdfc84157e59c829f30eff2a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--venvi8s.json b/phaseK/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--venvi8s.json new file mode 100644 index 0000000000000000000000000000000000000000..5f7ff43f23c603b4ee5a1e2b68715f7977cbb52b --- /dev/null +++ b/phaseK/behavior-1k/can_meat/trajectories/behavior-can-meat-i00-standard--venvi8s.json @@ -0,0 +1,393 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-can-meat-i00-standard--venvi8s", + "taskKey": "behavior-1k/can_meat", + "dag_sha256": "f3528823deacaae41ee48f35af2dbb099ba817ce76d5ff2cd5f1d48523bc2056", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 17288, + "sim_steps": 17438, + "physics_steps": 69752, + "steps": 7148, + "elapsed_s": 6686.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-can-meat-i00-standard--venvi8s.mp4", + "duration_s": 581.3, + "fps": 10.0, + "frames": 5813, + "sha256": "0c45b44b84fa0a5bd060d5ce7397deea11274ad4b75d0c1071c4313189167ef3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 4, + "peak": 5, + "final": 5, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 383.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 383.0, + "log_step": null, + "text_zh": "观察：视频 380 s 中间面板柜门合着，384 s 柜门已开、柜内可见带搭扣的罐；开门发生在约 380-384 s 之间（区间起点取 383 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "agent 自述抓握门下沿（log step 232-256），但 380-384 s 的帧里夹爪与门沿的接触看不清，仅为推断（自述），不作观察。" + } + ] + }, + "jars_opened_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560.0, + "log_step": null, + "text_zh": "观察：视频 392 s 及之后可见罐盖仍合着，没有任何帧显示罐盖翻离罐口；评分 q_score=0（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 在末段尝试用夹爪抓罐盖前沿（log step 293-329），frames 未见抓住。" + } + ] + }, + "jars_opened_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560.0, + "log_step": null, + "text_zh": "观察：视频 392 s 及之后可见罐盖仍合着，没有任何帧显示罐盖翻离罐口；评分 q_score=0（评分器字段）。" + } + ] + }, + "sausages_in_jars_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560.0, + "log_step": null, + "text_zh": "观察：视频中香肠始终在砧板上或未进罐；q_score=0，罐盖从未打开。" + } + ] + }, + "sausages_in_jars_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560.0, + "log_step": null, + "text_zh": "观察：视频中香肠始终在砧板上或未进罐；q_score=0，罐盖从未打开。" + } + ] + }, + "sausages_in_jars_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560.0, + "log_step": null, + "text_zh": "观察：视频中香肠始终在砧板上或未进罐；q_score=0，罐盖从未打开。" + } + ] + }, + "sausages_in_jars_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560.0, + "log_step": null, + "text_zh": "观察：视频中香肠始终在砧板上或未进罐；q_score=0，罐盖从未打开。" + } + ] + }, + "jars_closed_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：罐盖从开局到视频结束都没被打开（392 s 帧中罐盖合着），罐一直闭合；该条件开局即成立，q_score 不计。" + } + ] + }, + "jars_closed_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：罐盖从开局到视频结束都没被打开（392 s 帧中罐盖合着），罐一直闭合；该条件开局即成立，q_score 不计。" + } + ] + }, + "jars_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：罐开局在柜内；视频末段一只罐位置似被碰动（agent 自述罐移到 x≈4.10，log step 329），但帧中仍在橱柜层板上，未见离开柜体。" + } + ] + }, + "jars_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：罐开局在柜内；视频末段一只罐位置似被碰动（agent 自述罐移到 x≈4.10，log step 329），但帧中仍在橱柜层板上，未见离开柜体。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 580.0, + "log_step": null, + "text_zh": "观察：柜门打开后一直未关；前置节点（香肠入罐）未达成，该节点不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "jars_opened_1", + "t": 560.0, + "log_step": 305, + "where": "操作中", + "evidence_zh": "观察：视频 392 s 柜门已开、罐盖合着；之后至视频结束（581.3 s）机器人反复对着罐盖/柜门调整夹爪，罐盖始终未翻开。agent 自述夹爪顶在玻璃门前而非罐上、罐被碰偏（log step 305、329）。" + }, + "unmet": { + "sausages_in_jars_1": false, + "sausages_in_jars_2": false, + "sausages_in_jars_3": false, + "sausages_in_jars_4": false, + "jars_closed_1": true, + "jars_closed_2": true, + "jars_in_cabinet_1": true, + "jars_in_cabinet_2": true, + "cabinet_closed": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 560.0, + "log_step": 329, + "evidence_zh": "观察：视频 392 s 后夹爪多次靠近罐/柜门，但没有一帧显示夹爪抓住或拨开罐盖；agent 自述夹爪顶在玻璃前而非罐盖（log step 305）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断：夹爪位置与罐盖反复对不上（agent 用深度图多次重定位，log step 293-329），基座已贴柜台，操作空间受限；具体子类不明。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "头部/腕部相机视角混乱，开柜门的准确时刻与罐是否被推动无法精确定位；无状态日志。" + }, + "summary_zh": "观察：graded 视频 581.3 s 内只做到打开橱柜（视频约 392 s 前已开，时刻不确定），罐盖始终没打开，四根香肠一根也没入罐，q_score=0。断在打开第1只罐（操作中）：夹爪反复对不准罐盖，没建立接触。无状态日志，开门精确时刻与罐位移是主要缺口。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "总体判断（只做到开柜、罐盖始终合着、q=0）与视频一致，但 cabinet_opened 的时刻可以从帧里收窄到视频约 382-384 s，文件写成 392 s 且称无法定位；该节点的 contact_actual 仅凭 agent 自述。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "与视频一致：约 384-392 s（视频时间）柜门已开、罐可见，之后至 581 s 罐盖始终合着，q_score=0，断点在 jars_opened_1 合理；没有可证明的错误，根因子类不明已标 alt_feasible 未知。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-standard--venvi8s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-standard--venvi8s/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-standard--venvi8s/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-can-meat-i00-standard--venvi8s/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fcad38726bfffecb837650d73bb0dec8442e3347e6ca71dc286d77de8e2af9fa", + "video_sha256": "0c45b44b84fa0a5bd060d5ce7397deea11274ad4b75d0c1071c4313189167ef3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "gap_zh": "头部/腕部相机视角混乱，开门接触方式（抓/勾/推）与罐是否被推动无法确认；无状态日志。" +} diff --git a/phaseK/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--4pwdh4r.json b/phaseK/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--4pwdh4r.json new file mode 100644 index 0000000000000000000000000000000000000000..5d4654911472631377f990d4e9a61655303a4303 --- /dev/null +++ b/phaseK/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-privileged--4pwdh4r.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-canning-food-i00-privileged--4pwdh4r", + "taskKey": "behavior-1k/canning_food", + "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 1, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 151, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1556.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 18, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.991, + "peak_memory_gb": 13.275, + "peak_processes": 47, + "peak_disk_gb": 0.934, + "peak_cpus": 8.07, + "peak_pids": 407, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-canning-food-i00-privileged--4pwdh4r.mp4", + "duration_s": 5.034, + "fps": 30.0, + "frames": 151, + "sha256": "eab4e1cae134b12c38ebae4554c5732ba41d683ebf387c50f4ffb36d8caa90a1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s（含最后一秒）画面静止，无开门、切割、装碗动作；评分 q_score=0、goal=0。" + } + ] + }, + "cabinet_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s（含最后一秒）画面静止，无开门、切割、装碗动作；评分 q_score=0、goal=0。" + } + ] + }, + "steak_diced": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s（含最后一秒）画面静止，无开门、切割、装碗动作；评分 q_score=0、goal=0。" + } + ] + }, + "pineapple_diced": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s（含最后一秒）画面静止，无开门、切割、装碗动作；评分 q_score=0、goal=0。" + } + ] + }, + "steak_bowl_filled": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s（含最后一秒）画面静止，无开门、切割、装碗动作；评分 q_score=0、goal=0。" + } + ] + }, + "pineapple_bowl_filled": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s（含最后一秒）画面静止，无开门、切割、装碗动作；评分 q_score=0、goal=0。" + } + ] + }, + "bowls_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 画面几乎静止，只见桌台与地面，机器人没有动作，门与碗未被碰触；推断：DAG 说明该关系初始成立（柜内两碗、冰箱橱柜关闭）且全程无人改变，故自 0 起成立（柜内与门板不在视野内，依 DAG 初始条件）。" + } + ] + }, + "bowls_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 画面几乎静止，只见桌台与地面，机器人没有动作，门与碗未被碰触；推断：DAG 说明该关系初始成立（柜内两碗、冰箱橱柜关闭）且全程无人改变，故自 0 起成立（柜内与门板不在视野内，依 DAG 初始条件）。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 画面几乎静止，只见桌台与地面，机器人没有动作，门与碗未被碰触；推断：DAG 说明该关系初始成立（柜内两碗、冰箱橱柜关闭）且全程无人改变，故自 0 起成立（柜内与门板不在视野内，依 DAG 初始条件）。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 画面几乎静止，只见桌台与地面，机器人没有动作，门与碗未被碰触；推断：DAG 说明该关系初始成立（柜内两碗、冰箱橱柜关闭）且全程无人改变，故自 0 起成立（柜内与门板不在视野内，依 DAG 初始条件）。" + } + ] + } + }, + "constraints": {}, + "base": null, + "peak": null + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1, + "direction": "higher_better" + }, + { + "name": "filled_particle_volume_fraction", + "value": null, + "unit": "fraction", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "goal_object_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "success_consecutive_control_steps", + "value": 0, + "unit": "control_steps", + "threshold": 30, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 0, + "where": "首步前", + "evidence_zh": "观察：交付的轨迹只有1个动作（n_actions=1，agent 自述其为“初始回退”，log 最后一步），视频 0-5.0 s 机器人静止，冰箱未开。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "unmet": { + "steak_diced": false, + "pineapple_diced": false, + "steak_bowl_filled": false, + "pineapple_bowl_filled": false, + "bowls_in_cabinet_1": true, + "bowls_in_cabinet_2": true, + "fridge_closed": true, + "cabinet_closed": true + }, + "gap_zh": "现象层与根因层均为空：agent 未交付有效轨迹（DECISIONS D23 Now (a)），不据 session 或超时自述标现象/原因；无状态日志，冰箱/橱柜/碗不在视野内，初始成立的节点依 DAG 初始条件推断。" + }, + "summary_zh": "观察：交付的是单动作回退轨迹，视频 0-5.0 s 机器人静止，未开冰箱、未切菜、未装碗；仅初始成立的碗在柜内与门关闭状态保持（依 DAG 初始条件推断，不在视野内）。断点为开冰箱（首步前）。无状态日志，现象与根因无证据，留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点（初始成立的4个节点自0起、其余未达）、断点（fridge_opened，首步前）和时间均无误；唯一问题：无交付运行的现象层按 DECISIONS D23 的 Now 应为空 + gap_zh，不应标“没尝试”（该判断来自 agent 自述与 n_actions=1 的回退轨迹，agent 在 session 中实际已试过开冰箱/橱柜）。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第1轮修改已落实：现象/根因为空并有 gap_zh，节点与断点（fridge_opened，首步前）与视频静止画面一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:07:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-canning-food-i00-privileged--4pwdh4r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-canning-food-i00-privileged--4pwdh4r/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-canning-food-i00-privileged--4pwdh4r/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-canning-food-i00-privileged--4pwdh4r/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "77823f149f79e76a91e23463a997673c6efeb65920cb3042448e2b2b5eb0be7a", + "video_sha256": "eab4e1cae134b12c38ebae4554c5732ba41d683ebf387c50f4ffb36d8caa90a1", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--piquzi5.json b/phaseK/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--piquzi5.json new file mode 100644 index 0000000000000000000000000000000000000000..141f68f52fbb66ce2e94b03aa6739a746d07ecd8 --- /dev/null +++ b/phaseK/behavior-1k/canning_food/trajectories/behavior-canning-food-i00-standard--piquzi5.json @@ -0,0 +1,363 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-canning-food-i00-standard--piquzi5", + "taskKey": "behavior-1k/canning_food", + "dag_sha256": "79f4ae898ca53c66f1426df6e0cf977ab188a121892679dbdd743d829b8da565", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14943, + "sim_steps": 15093, + "physics_steps": 60372, + "steps": 4593, + "elapsed_s": 6477.6, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-canning-food-i00-standard--piquzi5.mp4", + "duration_s": 503.2, + "fps": 10.0, + "frames": 5032, + "sha256": "b1fa1fba948714707c31f31eabb8fbb85d9b7c04dd1dbde8d8cc249566beac21" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 2, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 415.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 415.0, + "log_step": null, + "text_zh": "观察：视频 415-430 s 头部相机可见黑色冰箱上门板被拉开露出内腔；约 445-455 s 门一度合上，465 s 起再次张开并保持到视频结束 503 s。推断：首次打开约 415 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "窄开夹爪勾住冰箱上门凹槽把手拉开（log step 360-402 自述，视频 395-430 s 可见手在门边）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘后退配合拉门" + } + ] + }, + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 312.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 312.0, + "log_step": 309, + "text_zh": "观察：视频 20-30 s 机器人仍在导航，白色为关闭的柜门/墙面，不是打开的内腔；视频 304-316 s 白色柜门摆开（316 s 画面被白门占满）。log step 309“door swinging outward”、313 门已开、318“opened white door reveals a red-lined cabinet”。推断：约视频 312 s 打开（±5 s）；红色是橱柜内衬。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪收窄后夹住竖直把手拉开白色橱柜门（log step 260-313，机器人起初误认为是冰箱），随后底盘后退（step 313）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到橱柜前" + } + ] + }, + "steak_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.0, + "log_step": null, + "text_zh": "观察：视频 60-400 s 机器人多次尝试抓刀、开橱柜、找冰箱；未见任何食材取出或切开。log step 491 自述食物抓取未收敛。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "曾尝试抓握砧板上的刀（log step 90-102，刀未抬起）；食材从未被取出" + } + ] + }, + "pineapple_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.0, + "log_step": null, + "text_zh": "观察：全程视频未见菠萝相关动作成果；最后一次夹取食物未成功，最终释放刀具（log step 491），无切丁/装碗。" + } + ] + }, + "steak_bowl_filled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.0, + "log_step": null, + "text_zh": "观察：全程视频未见牛排丁碗相关动作成果；最后一次夹取食物未成功，最终释放刀具（log step 491），无切丁/装碗。" + } + ] + }, + "pineapple_bowl_filled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.0, + "log_step": null, + "text_zh": "观察：全程视频未见菠萝丁碗相关动作成果；最后一次夹取食物未成功，最终释放刀具（log step 491），无切丁/装碗。" + } + ] + }, + "bowls_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.0, + "log_step": null, + "text_zh": "观察：全程视频未见碗入柜相关动作成果；最后一次夹取食物未成功，最终释放刀具（log step 491），无切丁/装碗。" + } + ] + }, + "bowls_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 503.0, + "log_step": null, + "text_zh": "观察：全程视频未见碗入柜相关动作成果；最后一次夹取食物未成功，最终释放刀具（log step 491），无切丁/装碗。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 415.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 480.0, + "log_step": null, + "text_zh": "观察：冰箱初始关闭至约 415 s 被拉开；约 445-455 s 被机器人推回后又重开，视频末尾（495-503 s）门张开，故 final 为 false。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 312.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 312.0, + "log_step": 309, + "text_zh": "观察：橱柜初始关闭，视频约 312 s（log step 309-318）才被拉开，之后未见关闭。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "steak_diced", + "t": 480.0, + "log_step": 491, + "where": "操作中", + "evidence_zh": "观察：冰箱开门后视频 440-503 s 机器人去取食物时推回冰箱门，重开后仍未取出食物；log step 483 夹取菠萝试验、491 自述“食物抓取未收敛”。牛排、菠萝均未切丁。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 480.0, + "log_step": 491, + "evidence_zh": "观察：log step 483 对菠萝做夹取试验、step 491 自述食物抓取未收敛；视频至 503 s 未见食物被提起。夹爪是否闭合在食物上无法由画面确认，按未建立有效接触记；q_score=0。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，视频为三路拼接小画面，节点时间为视觉估计（±5-10 s）；根因证据不足（日志只显示 step 429 把反光当食物、step 462 推关冰箱门、step 483 夹取未提起，不足以定类别），根因留空。", + "unmet": { + "steak_diced": false, + "pineapple_diced": false, + "steak_bowl_filled": false, + "pineapple_bowl_filled": false, + "bowls_in_cabinet_1": false, + "bowls_in_cabinet_2": false, + "fridge_closed": false, + "cabinet_closed": false + } + }, + "summary_zh": "观察：在视频 503 s 内，机器人约 312 s 打开橱柜、约 415 s 打开冰箱，但从未取出或切开牛排/菠萝，未装碗、未放碗入柜，冰箱最终张开。断在牛排切丁步骤（取食物阶段，抓取未成功，log step 483/491），根因证据不足而留空。缺口：无状态日志，时间为视觉估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "cabinet_opened 的时间严重错误：视频 25 s 时门尚未打开（白色物体是关着的白柜门/墙面，红色是台面后挡板），视频约 304-316 s 白色柜门才摆开，与 log step 309/313/318（开门、露出红衬内腔）一致；因此 cabinet_closed 区间也要改。根因“控制”的证据只靠“进度慢”，不被支持。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "第1轮问题已修正；节点时间、breakpoint（牛排切丁，取食物阶段）与空根因加 gap_zh 均与可见画面和 log 一致，未发现需改内容的错误。三路小画面难以细判，冰箱开合时间为视觉估计。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:23:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun3/runs/behavior-canning-food-i00-standard--piquzi5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-canning-food-i00-standard--piquzi5/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-canning-food-i00-standard--piquzi5/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun3/runs/behavior-canning-food-i00-standard--piquzi5/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "316bbefc025a35831dbd92d2401a46935c7a5f71f72da77633493c350960bc92", + "video_sha256": "b1fa1fba948714707c31f31eabb8fbb85d9b7c04dd1dbde8d8cc249566beac21", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--uzga59p.json b/phaseK/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--uzga59p.json new file mode 100644 index 0000000000000000000000000000000000000000..38914455e69367bfcb6c7ba6fd0ea6d3b32ffa4b --- /dev/null +++ b/phaseK/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-privileged--uzga59p.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-carrying-in-groceries-i00-privileged--uzga59p", + "taskKey": "behavior-1k/carrying_in_groceries", + "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 5873, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 6023, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2692.3, + "replay_timeout_s": 5115.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 29, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.893, + "peak_memory_gb": 12.042, + "peak_processes": 48, + "peak_disk_gb": 1.594, + "peak_cpus": 8.06, + "peak_pids": 412, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-carrying-in-groceries-i00-privileged--uzga59p.mp4", + "duration_s": 200.767, + "fps": 30.0, + "frames": 6023, + "sha256": "d540499c18edfc73a47b042053fcb2fffd3700d0d4c8a3d8b4f93d934af906e8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "garage_passage_opened": { + "method": "visual", + "intervals": [ + [ + 46, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 46, + "log_step": null, + "text_zh": "观察：视频 36-43 s 机器人面对关闭的木门；视频 46 s 腕部相机里木门已转开离开门框，55 s 起机器人在走廊地板上。推断：门约在视频 43-46 s 被打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：夹爪操作内侧木门把手（视频 36-46 s），接触瞬间未清楚看到" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶到门旁并穿门" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 118, + "log_step": null, + "text_zh": "观察：视频 90 s 冰箱双门关闭；视频 112-134 s 机器人在冰箱旁，镜头快速晃动，118-122 s 腕部相机见银色门板和门缝，但无法确定门是否转开露出内腔。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "帧里看不出夹爪是否抓住冰箱门" + } + ] + }, + "tomato_in_fridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200.5, + "log_step": null, + "text_zh": "观察：视频末帧机器人在楼梯/客厅一侧，未见番茄或牛奶入冰箱；评分器 q_score=0。后备厢视频 8 s 开着且纸袋仍在其中。" + } + ] + }, + "milk_in_fridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200.5, + "log_step": null, + "text_zh": "观察：视频末帧机器人在楼梯/客厅一侧，未见番茄或牛奶入冰箱；评分器 q_score=0。后备厢视频 8 s 开着且纸袋仍在其中。" + } + ] + }, + "car_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200.5, + "log_step": null, + "text_zh": "观察：视频 8 s 后备厢盖敞开；之后车库画面里车尾始终敞开（20-40 s），未见盖落回。评分器 q_score=0。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200.5, + "log_step": null, + "text_zh": "观察：视频 90 s 冰箱关闭但那是初始状态；未见机器人开过后再关上的证据，q_score=0，且目标物体未入冰箱。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "where": "操作中", + "t": 118, + "log_step": null, + "evidence_zh": "观察：视频 46 s 内门已开，90-134 s 机器人到冰箱旁反复调整，但没有任何食品被放入冰箱，之后 150-200 s 机器人漂到楼梯/客厅处。推断：卡在冰箱处理阶段（开门与放置），具体子步骤看不清。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为头部+腕部小画面，冰箱处画面晃动模糊，无法确认冰箱门是否打开、食品是否被抓取，故现象与根因留空；无状态日志。agent 自述（log step 165）称放置位姿够不着，仅为会话证据。", + "unmet": { + "tomato_in_fridge": false, + "milk_in_fridge": false, + "car_closed": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：视频约 46 s 内侧车库门打开并穿过，机器人到达厨房冰箱（视频 90-134 s），但没有番茄或牛奶入冰箱，q_score=0，目标均未达成。断点定在 打开冰箱 阶段（推断，冰箱门状态看不清）。主要缺口：冰箱处画面晃动，无状态日志，现象与根因未判。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "抽查视频 5-195 s 与 92-148 s 帧：46 s 前后内门已开、冰箱处画面晃动无法判断门是否转开、末帧未见食品入冰箱，且 q_score=0；标签（fridge_opened 为 unknown、目标节点 false、断点 fridge_opened、现象/根因留空并写 gap_zh）与证据一致，未发现可证明的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--uzga59p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-carrying-in-groceries-i00-privileged--uzga59p/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b43008f96d68c53e21340970ffa89ce52f18a8aa79bab398f66fc3de1bfee3d2", + "video_sha256": "d540499c18edfc73a47b042053fcb2fffd3700d0d4c8a3d8b4f93d934af906e8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--yhuefha.json b/phaseK/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--yhuefha.json new file mode 100644 index 0000000000000000000000000000000000000000..54f6cb11ce724fd706f190dec49fcf40e688e840 --- /dev/null +++ b/phaseK/behavior-1k/carrying_in_groceries/trajectories/behavior-carrying-in-groceries-i00-standard--yhuefha.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-carrying-in-groceries-i00-standard--yhuefha", + "taskKey": "behavior-1k/carrying_in_groceries", + "dag_sha256": "665ce9309b34a8b8f9c69c1468a50fd9eaf4d2059b6ec984d4cfd8806c04ff56", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1488, + "sim_steps": 1488, + "physics_steps": 5952, + "steps": 309, + "elapsed_s": 1300.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-carrying-in-groceries-i00-standard--yhuefha.mp4", + "duration_s": 49.7, + "fps": 10.0, + "frames": 497, + "sha256": "50d8a9e5c2f0e331b434772e0a8e735e1d2bf6665235e717493cad67921cd102" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "garage_passage_opened": { + "method": "visual", + "intervals": [ + [ + 28.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.5, + "log_step": null, + "text_zh": "观察：视频 25-28 s 右腕相机对着木门把手，机器人推拉棕色木门；视频约 27.5 s 起门板转开，28-30 s 门后露出木地板走廊，形成开口（与 oracle 的开门外观一致）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右腕相机见夹爪在门把手处（视频 25-27 s），随后门转开；是否完全握住把手只能由此推断。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘移动到门旁并随开门调整站位。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频 0-49.7 s 机器人始终停在车库/门洞处，从未到达厨房冰箱；冰箱未打开。" + } + ] + }, + "tomato_in_fridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频未见抓取番茄或牛奶、关后备厢或关冰箱；评分器 q_score=0，与此一致（推断）。" + } + ] + }, + "milk_in_fridge": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频未见抓取番茄或牛奶、关后备厢或关冰箱；评分器 q_score=0，与此一致（推断）。" + } + ] + }, + "car_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频未见抓取番茄或牛奶、关后备厢或关冰箱；评分器 q_score=0，与此一致（推断）。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频未见抓取番茄或牛奶、关后备厢或关冰箱；评分器 q_score=0，与此一致（推断）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 43.0, + "log_step": 121, + "where": "转场", + "evidence_zh": "观察：车库内门在视频约 28 s 打开后，机器人携带空手驶向门洞去厨房冰箱；视频约 40-49.7 s 头部相机画面剧烈倾斜、见天花板与地面翻转，末帧底盘侧翻。日志 log step 97-121 机器人多次越过门槛时底盘倾斜，agent 自述“tipped onto its left arm”（log step 121），服务状态“failure: the robot fell over”。该步骤（去冰箱打开）从未完成。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 43.0, + "log_step": 121, + "evidence_zh": "观察：视频约 40-49.7 s 机器人在门槛处倾倒，画面翻转；服务终止信息“robot fell over”（log step 126 自述引用）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "观察/日志：agent 在 log step 97-116 反复沿相似方式以底盘冲越门槛，每次倾斜加剧仍继续（自述“climbed the doorway edge … close to the fall threshold”，log step 116），最终倾倒；无证据说明规划本身不可行，子类型不明。", + "source_zh": "日志 / 视频" + } + ], + "gap_zh": "无状态日志；头部相机视角多被机器人本体遮挡，侧翻的精确时刻和门槛几何只能由画面和日志推断；日志时间不转换为视频时间。", + "unmet": { + "tomato_in_fridge": false, + "milk_in_fridge": false, + "car_closed": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：打开车库通道达成（视频约 28 s 门打开），其余 5 个节点均未达成，q_score=0。机器人越过门槛去厨房时底盘倾倒（视频约 40-49.7 s，服务判定 robot fell over），断点为打开冰箱步骤的转场阶段。无状态日志，根因仅能推断为控制类。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "门打开(约28 s)、其余节点未达成、q_score=0（garage_passage_opened非目标节点，与q_score=0不冲突）、门槛处倾倒的断点与平衡现象均与视频一致；控制类根因标注为推断且alt_feasible为未知，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:52:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-carrying-in-groceries-i00-standard--yhuefha/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-carrying-in-groceries-i00-standard--yhuefha/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "275e2c7fbdda47b0d584d51dee51ecc8d9833c09f9e911fb44f8b3a243df36a0", + "video_sha256": "50d8a9e5c2f0e331b434772e0a8e735e1d2bf6665235e717493cad67921cd102", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu.json b/phaseK/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu.json new file mode 100644 index 0000000000000000000000000000000000000000..10159bc7421773f1389d4e4ffab024256db3f957 --- /dev/null +++ b/phaseK/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu.json @@ -0,0 +1,214 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu", + "taskKey": "behavior-1k/carrying_out_garden_furniture", + "dag_sha256": "1d06f3b5a0c891414123553d44f860000675991a757c0131c143640e6ba130b3", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6621, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 6771, + "fallen": 0, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 3537.7, + "replay_timeout_s": 5614.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 6517, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 13.066, + "peak_memory_gb": 7.644, + "peak_processes": 44, + "peak_disk_gb": 2.396, + "peak_cpus": 8.02, + "peak_pids": 367, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu.mp4", + "duration_s": 225.7, + "fps": 30.0, + "frames": 6771, + "sha256": "625d7af90e0839910fc4c514e8b01077700adccee1f35380aa9346ffc658a632" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "chair_on_garden_floor": { + "method": "visual", + "intervals": [ + [ + 180.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 150.0, + "log_step": null, + "text_zh": "观察：视频 150 s 起腕部相机见红色草坪椅在客厅内被机器人抓持/靠近；视频 225 s 机器人已在户外木质露台上，画面中无椅子留在室内。推断：评分器 q_score=0.5（两个目标文字中满足一个），独轮车在最后画面未上草坪，故满足的应是草坪椅在花园地面；到达时间约视频 180 s，为不确定估计（无状态日志，椅子落地瞬间被遮挡）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：腕部相机见夹爪靠近并持有红椅框架（视频约 150-180 s），具体抓握方式画面模糊" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动带着椅子从客厅到露台" + } + ] + }, + "wheelbarrow_on_lawn": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 208.0, + "log_step": null, + "text_zh": "观察：视频 190-208 s 腕部相机见红色独轮车在木质露台上被带动/推动（车轮可见），露台是硬地而非草坪；视频 212-225.5 s 画面中只有露台和远处草坪，独轮车不可见，未见其在草坪上。推断：节点未达成（草坪线索在帧中缺失）；与 q=0.5 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：腕部相机见夹爪靠近独轮车，车在露台上滑动（视频 190-208 s），是否抓握无法确认" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动，随搬运从客厅到露台" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "wheelbarrow_on_lawn", + "t": 208.0, + "where": "操作中", + "evidence_zh": "观察：视频 190-208 s 独轮车仍在木质露台上，之后画面里只见露台与草坪边缘，独轮车未到草坪；评分器 q_score=0.5，goal=0。", + "log_step": null + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 208.0, + "log_step": null, + "evidence_zh": "观察：视频 190-208 s 独轮车停在木质露台硬地上，未到草坪；视角模糊，只能说落点不对，具体原因无法区分。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，视频为机器人腕部/头部相机的旋转模糊画面，独轮车和椅子落点被遮挡；故现象只能粗略标注、根因留空（agent 日志 6621 个动作为离线生成，无逐步观测可作证据）。", + "unmet": { + "chair_on_garden_floor": true, + "wheelbarrow_on_lawn": false + } + }, + "summary_zh": "观察：机器人把草坪椅与独轮车从客厅带到户外露台；视频 190-208 s 独轮车在露台硬地上，终帧无独轮车上草坪。推断：q_score=0.5，仅一个目标成立（草坪椅，时间约视频 180 s，不确定），独轮车上草坪未达成。无状态日志且画面模糊，现象和根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "无状态日志；视频 150/200/225 s 帧与标注一致：独轮车在露台上（200 s），终帧无独轮车上草坪；q_score=0.5 支持椅成立、车未成立的推断，并已标为不确定。根因留空且有 gap_zh，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-carrying-out-garden-furniture-i00-privileged--ue4wqsu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cbbe7c0ee9151b1a5ee32dde1097ee7e9291c023ba8a9df5adad0c8e01a96bed", + "video_sha256": "625d7af90e0839910fc4c514e8b01077700adccee1f35380aa9346ffc658a632", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx.json b/phaseK/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx.json new file mode 100644 index 0000000000000000000000000000000000000000..bfb55cff069a95b268ea05636e8f056e3943a710 --- /dev/null +++ b/phaseK/behavior-1k/carrying_out_garden_furniture/trajectories/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx", + "taskKey": "behavior-1k/carrying_out_garden_furniture", + "dag_sha256": "1d06f3b5a0c891414123553d44f860000675991a757c0131c143640e6ba130b3", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9735, + "sim_steps": 9735, + "physics_steps": 38940, + "steps": 7960, + "elapsed_s": 4542.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.308, + "peak_processes": 9, + "peak_disk_gb": 0.333, + "peak_cpus": 1.97, + "peak_pids": 154, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx.mp4", + "duration_s": 324.6, + "fps": 10.0, + "frames": 3246, + "sha256": "cabc552728f30449d9ffb509113b0580f06d721f77b58768179fb14f7cfe4c9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "chair_on_garden_floor": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 240, + "log_step": null, + "text_zh": "观察：视频约 30-150 s 机器人持草坪椅搬运到玻璃推拉门前；约 150-185 s 起椅子被放在门口屋内地面（log step 168 自述为腾出夹爪而临时放下），其后至约 300 s 机器人在门口轨道处尝试开门，椅子始终在屋内，全程未见椅子出现在户外花园地面。评分器 q_score=0，与未达成一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：抓握仅限搬运前段（视频约 30-150 s）；椅子放下后无持椅接触" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着椅子从客厅驶向走廊/门口（视频约 30-150 s）" + } + ] + }, + "wheelbarrow_on_lawn": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频中未见机器人接触或搬动独轮车；q_score=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "chair_on_garden_floor", + "t": 240, + "log_step": 224, + "where": "操作中", + "evidence_zh": "观察：视频约 150 s 起椅子已放在门口地面，机器人此后在推拉门轨道处尝试开门，未能出门；视频画面自约 110-130 s 起头部相机倾斜，约 290 s 椅子立在屋内地面、机器人未持椅。推断：agent 自述夹爪两次闭合落空（log step 224、231，agent 墙钟，与视频时钟无已证对应）；评分器报“机器人倾倒”失败（log step 337）。" + }, + "unmet": { + "chair_on_garden_floor": false, + "wheelbarrow_on_lawn": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "未列接触类现象：“夹爪空抓门框”仅来自 agent 自述（log step 224/231），视频（头部相机大幅倾斜）无法证实；视频可见的是自约 110-130 s 起的基座/相机侧倾，评分器最终为 robot fell over，但缺状态日志，无法判断感知还是控制或位姿问题。节点时间只能由视频判断。agent 墙钟与视频时钟无映射。" + }, + "summary_zh": "观察：机器人先持草坪椅搬到玻璃推拉门前，视频约 150 s 起把椅子放在门口屋内地面并尝试开门，未能出门；椅子未到花园，独轮车未动；自约 110-130 s 起视频画面倾斜，评分器最终判“机器人倾倒”（q=0）。断在草坪椅放花园地面一步；现象与根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "两节点未达成、q=0、断点落在 chair_on_garden_floor 均成立；但“全程抱椅 60-250 s”与视频/agent log 不符（椅子约 160-180 s 已被放下，约 290 s 椅子立在地面），唯一的现象“没建立接触”只来自 agent 自述，视频看不出夹爪空抓门框，需降级或改写。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第2轮：两节点未达成（q=0）、断点落在 chair_on_garden_floor、现象/根因置空并写 gap_zh 均与视频、log 及评分器读数一致；椅子持握区间已按帧修正，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-carrying-out-garden-furniture-i00-standard--8pg4wmx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2fb1a1fc1be61113cc1fd0ab6e6af73866ec544bcc501c3d1ce1fbed5bf58849", + "video_sha256": "cabc552728f30449d9ffb509113b0580f06d721f77b58768179fb14f7cfe4c9d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--usz7qeq.json b/phaseK/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--usz7qeq.json new file mode 100644 index 0000000000000000000000000000000000000000..0f59aee6f240c75790e52e85d2beab5dff6ddab5 --- /dev/null +++ b/phaseK/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-privileged--usz7qeq.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-chopping-wood-i00-privileged--usz7qeq", + "taskKey": "behavior-1k/chopping_wood", + "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2231, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 2177, + "sim_steps": 2206, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1689.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 4437, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 11.823, + "peak_memory_gb": 21.621, + "peak_processes": 41, + "peak_disk_gb": 1.813, + "peak_cpus": 8.13, + "peak_pids": 629, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-chopping-wood-i00-privileged--usz7qeq.mp4", + "duration_s": 73.534, + "fps": 30.0, + "frames": 2206, + "sha256": "8e729a53687b1d24a39405be41459c0982ac9513c8475b4a325d0b9470259e7d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "logs_split_1": { + "method": "visual", + "intervals": [ + [ + 18, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18, + "log_step": 84, + "text_zh": "观察：视频头部视角画面小且旋转，难以直接定位。推断（日志换算）：日志 sim_steps 568 时 q_score=0.25（录制步≈视频帧，30步/秒→约 19 s 以内）；头部画面小且旋转，故为估计。评分器判成功（q_score=1.0），故该节点最终为真。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：机器人单臂夹爪持斧，斧刃落在木柴上完成切割（agent 日志 step 84 称该根已劈开；日志 hand_info 显示左手持斧；视频约 45 s 后才见斧）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并承载持斧机械臂靠近木柴" + } + ] + }, + "logs_split_2": { + "method": "visual", + "intervals": [ + [ + 26, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 26, + "log_step": 88, + "text_zh": "观察：视频头部视角画面小且旋转，难以直接定位。推断（日志换算）：日志 sim_steps 677 时 q=0.25、863 时 q=0.5（≈22.6–28.8 s）；取约 26 s。评分器判成功（q_score=1.0），故该节点最终为真。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：机器人单臂夹爪持斧，斧刃落在木柴上完成切割（agent 日志 step 88 称该根已劈开；日志 hand_info 显示左手持斧；视频约 45 s 后才见斧）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并承载持斧机械臂靠近木柴" + } + ] + }, + "logs_split_3": { + "method": "visual", + "intervals": [ + [ + 52, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52, + "log_step": 93, + "text_zh": "观察：视频头部视角画面小且旋转，难以直接定位。推断（日志换算）：日志 sim_steps 1330 时 q=0.5、1754 时 q=0.75（约 44–58 s）；取约 52 s。评分器判成功（q_score=1.0），故该节点最终为真。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：机器人单臂夹爪持斧，斧刃落在木柴上完成切割（agent 日志 step 93 称该根已劈开；日志 hand_info 显示左手持斧；视频约 45 s 后才见斧）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并承载持斧机械臂靠近木柴" + } + ] + }, + "logs_split_4": { + "method": "visual", + "intervals": [ + [ + 71, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 71, + "log_step": 97, + "text_zh": "观察：视频头部视角画面小且旋转，难以直接定位。推断（日志换算）：日志 NAV2 DONE 于录制步 1928（≈64 s）后才有最后一刀，goal_first_step 2176（≈72.5 s）；60 s 视频帧上原木仍完整；取约 71 s。评分器判成功（q_score=1.0），故该节点最终为真。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：机器人单臂夹爪持斧，斧刃落在木柴上完成切割（agent 日志 step 97 称该根已劈开；日志 hand_info 显示左手持斧；视频约 45 s 后才见斧）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并承载持斧机械臂靠近木柴" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：评分器判定成功（q_score=1.0，goal_first_step 2177 → 约视频 72.6 s）。四根木柴均由单臂持斧劈开，四个节点终态为真。时间由日志 sim_steps（录制步≈视频帧）换算：约 19 s 内、约 23–29 s、约 44–58 s、约 71 s 先后劈开；视频只能粗看，均为估计。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "四个节点终态为真无误（q_score=1.0，goal_first_step 2177），但 logs_split_1/2/4 的视频时间与 agent 日志里记录的 sim_steps（录制步=视频帧，约 30 步/秒）矛盾，偏差远大于 1 s；第4根劈开被标在 60 s，而此时机器人还在导航、视频 62–73 s 头部视角仍见整根原木。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个节点终态为真，与 q_score=1.0、goal_first_step 2177（约 72.6 s）一致；各时间由日志录制步（≈视频帧，30 fps）换算并明确标为估计，与 q 台阶 568→0.25、863→0.5、1754→0.75 相符。视频头部画面小且旋转，无法逐根核对，但没有与日志矛盾的帧；未发现须改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-privileged--usz7qeq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-privileged--usz7qeq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-privileged--usz7qeq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-privileged--usz7qeq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "249622782c79087108675e9ad5236235a79d2eacb95852293c09e0eeee83ddbf", + "video_sha256": "8e729a53687b1d24a39405be41459c0982ac9513c8475b4a325d0b9470259e7d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--y2t6bew.json b/phaseK/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--y2t6bew.json new file mode 100644 index 0000000000000000000000000000000000000000..58fb745904b72f6ba7ecbe6f29353d46bba99c98 --- /dev/null +++ b/phaseK/behavior-1k/chopping_wood/trajectories/behavior-chopping-wood-i00-standard--y2t6bew.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-chopping-wood-i00-standard--y2t6bew", + "taskKey": "behavior-1k/chopping_wood", + "dag_sha256": "3d8a92aec8da5d3c52d9ae1dd7288e49fbfd9665ce3498b5bd2224fcfb5c56be", + "outcome": { + "success": 0, + "reward": 0.75, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 8774, + "sim_steps": 8774, + "physics_steps": 35096, + "steps": 940, + "elapsed_s": 3133.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.75, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.22, + "peak_processes": 9, + "peak_disk_gb": 0.293, + "peak_cpus": 1.24, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-chopping-wood-i00-standard--y2t6bew.mp4", + "duration_s": 292.5, + "fps": 10.0, + "frames": 2925, + "sha256": "75c3d32a4059c436d49faa92675bd6b25cc289611ff05f7367f4631ac41f85b4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "logs_split_1": { + "method": "visual", + "intervals": [ + [ + 75.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 75.0, + "log_step": 152, + "text_zh": "观察：视频 77.5 s 左腕视角，斧刃下原木被两块带新切面的浅色木块替代；约 70 s 仍为完整树皮原木。推断：切割发生在视频约 75 s（秒级不确定）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：一侧夹爪持斧柄，斧刃下压/劈入原木（候选名“击打”）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶近原木并在挥斧期间承载手臂" + } + ] + }, + "logs_split_2": { + "method": "visual", + "intervals": [ + [ + 135.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 135.0, + "log_step": 152, + "text_zh": "观察：视频 137.8 s 起左腕视角见分开的浅色半木和树皮半木；agent 自述第二根已劈开（log step 149/152）。推断：切割在视频约 120-137 s 之间，时间不确定，取 135 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：一侧夹爪持斧柄，斧刃下压/劈入原木（候选名“击打”）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶近原木并在挥斧期间承载手臂" + } + ] + }, + "logs_split_3": { + "method": "visual", + "intervals": [ + [ + 266.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 266.0, + "log_step": 169, + "text_zh": "观察：视频 265-269 s 左腕视角，斧在原木上，原木变成树皮半木加浅色切面半木。agent 自述第三根劈开（log step 169）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "击打：一侧夹爪持斧柄，斧刃下压/劈入原木（候选名“击打”）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶近原木并在挥斧期间承载手臂" + } + ] + }, + "logs_split_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 292.0, + "log_step": 185, + "text_zh": "观察：视频 270-292 s 为驶向第四根原木途中，未见斧下有第四根原木被劈开；q_score 0.75 = 6/8 半木，与前三根一致（评分器字段推断）。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘携斧绕行驶向第四根原木，途中倾翻；斧未接触第四根" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.75, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "logs_split_4", + "t": 280.0, + "log_step": 174, + "where": "转场", + "evidence_zh": "观察：第三根劈开后（视频约 266 s）机器人携斧向南绕行去第四根，agent 自述底盘倾斜（log step 174），之后服务返回 failure: the robot fell over（log step 185）；视频到 292.5 s 结束，第四根未被劈。" + }, + "unmet": { + "logs_split_1": true, + "logs_split_2": true, + "logs_split_3": true, + "logs_split_4": false + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 276.0, + "log_step": 172, + "evidence_zh": "观察：视频约 274-280 s 镜头开始倾斜（草地/天空占满画面），之后一直倾斜至 292.5 s；服务读数 base_pose（log step 172）显示 log4_face 原地转向（约 1.58 rad、再 1.90 rad）期间底盘 z 升到 0.35-0.41 m、姿态大幅翻转；评分器在 log step 185 报 robot fell over。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "观察（服务返回的 base_pose，log step 172）：绕行到航点后携斧原地大角度转向（约 1.58 rad，再约 1.90 rad）期间底盘 z 由 0.005 升到 0.35-0.41 m、姿态大幅倾斜；agent 此前称“撞到停着的车”，其 step 181 深度检查已否定。之后的平移“摇晃”（step 181-184）未能恢复，评分器在 step 185 报 robot fell over。推断：带斧原地大角度转向时失稳（动力学/反馈控制）；转向失稳的具体原因（斧重心、转向速度）无证据。", + "source_zh": "服务读数（base_pose）+ agent 自述" + } + ], + "gap_zh": "为何原地转向会失稳（斧重心、转向速度、地面）无证据；视频 292.5 s 对应 8774 个控制步（30 Hz），节点时间为目视估计，第二根劈开的时刻不确定。" + }, + "summary_zh": "观察：前三根木柴被劈成六块半木（视频约 75 s、约 135 s、约 266 s），q_score 0.75 相符，第四根未劈。机器人在绕行去第四根时底盘倾倒，评分器报 robot fell over，断点为第四根劈半（转场）。倾倒起因不明；第二根时间为估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（三根已劈、第四根未劈）、q_score 0.75、断点 logs_split_4 转场与 平衡 现象均与视频和评分器一致。问题在根因证据：倾倒的起点在 log step 172 的原地转向（log4_face）中，早于 agent 的“摇晃”恢复，恢复只是加重倾斜，故‘恢复动作反而致倾’的因果不成立。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "三根已劈、第四根未劈、q_score 0.75、断点 logs_split_4（转场）、平衡现象与控制根因（已按上一轮修正为 base_pose 读数）与视频和评分器一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-standard--y2t6bew/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-standard--y2t6bew/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-standard--y2t6bew/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-chopping-wood-i00-standard--y2t6bew/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "768e7c2e210d2b09b9cfbd1ac3e5c6bdffda403af139965f0e15cf2b44f6eb03", + "video_sha256": "75c3d32a4059c436d49faa92675bd6b25cc289611ff05f7367f4631ac41f85b4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-privileged--huxezas.json b/phaseK/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-privileged--huxezas.json new file mode 100644 index 0000000000000000000000000000000000000000..e870d4d4cd42fa3338faca35928b53e54d41e175 --- /dev/null +++ b/phaseK/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-privileged--huxezas.json @@ -0,0 +1,165 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-a-patio-i00-privileged--huxezas", + "taskKey": "behavior-1k/clean_a_patio", + "dag_sha256": "f251b29ac3ac966c65898d67b18d497deffe3c7cf4e7810031b2b685dfbd6a3e", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 8537, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 8508, + "sim_steps": 8537, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1709.6, + "replay_timeout_s": 6891.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 7, + "agent_resets": 1, + "agent_sim_steps": 17074, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-a-patio-i00-privileged--huxezas.mp4", + "duration_s": 284.567, + "fps": 30.0, + "frames": 8537, + "sha256": "bc3888cb3dad97c9a9fe873f2e240f2edb7045d7b73f5831eba40f496b63f82b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "patio_clean": { + "method": "visual", + "intervals": [ + [ + 283.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 283.6, + "log_step": 220, + "text_zh": "观察：视频 20 s 与 250 s 的头部视角仍可见地面上的黄褐色泥粒（画面下部橙色小点）；评分器字段 goal=1、goal_first_step=8537 步中的第 8508 步（30 fps 下视频约 283.6 s），goal_held_steps=30（日志 final 报告）。推断：目标在 8508 步（视频约 283.6 s）首次满足，此后保持至结束；最后一秒画面为遮挡的机器人视角，无法逐粒确认，时间取自评分器步数与 步/fps 映射（8537 步=视频 284.567 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断：机器人一侧夹爪持工具扫过庭院地面清除泥粒（视频中可见夹爪与庭院地面，工具细节被遮挡）；未逐帧确认扫帚刷头接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频中视角在庭院内大幅移动，底盘行驶覆盖庭院。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "推断：评分器判定成功，唯一节点“庭院泥污清除”在第 8508 控制步（视频约 283.6 s）满足并保持到结束。观察：视频为多视角拼接，早期画面仍见泥粒，末段被机器人/烧烤架遮挡，无状态日志，故节点时间取自评分器步数；扫帚接触未能逐帧确认。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分器 goal=1、goal_first_step=8508（8508/30=283.6 s）支持唯一节点 patio_clean 在视频约 283.6 s 达成并保持；视频中夹爪持扫帚柄，接触标注（手持工具推/扫 + 底盘）与日志和画面一致，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-a-patio-i00-privileged--huxezas/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-a-patio-i00-privileged--huxezas/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7638be3e82e03f0071f8cfd14c6bf8160b5d974b1ef5e3af79cebbb4d9b7267f", + "video_sha256": "bc3888cb3dad97c9a9fe873f2e240f2edb7045d7b73f5831eba40f496b63f82b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-standard--hwqwmfs.json b/phaseK/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-standard--hwqwmfs.json new file mode 100644 index 0000000000000000000000000000000000000000..f50a01404b2a8f456d68959e9139ce15702487f7 --- /dev/null +++ b/phaseK/behavior-1k/clean_a_patio/trajectories/behavior-clean-a-patio-i00-standard--hwqwmfs.json @@ -0,0 +1,206 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-a-patio-i00-standard--hwqwmfs", + "taskKey": "behavior-1k/clean_a_patio", + "dag_sha256": "f251b29ac3ac966c65898d67b18d497deffe3c7cf4e7810031b2b685dfbd6a3e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 15942, + "sim_steps": 16092, + "physics_steps": 64368, + "steps": 4957, + "elapsed_s": 6371.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.25, + "peak_processes": 10, + "peak_disk_gb": 0.782, + "peak_cpus": 1.24, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-a-patio-i00-standard--hwqwmfs.mp4", + "duration_s": 536.5, + "fps": 10.0, + "frames": 5365, + "sha256": "395df9bc2ddd513c25a83668de096d7e2aaeee0d13de2aac3a3e636a545b98c5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "patio_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 536.0, + "log_step": 340, + "text_zh": "观察：视频 536 s 末帧为头/腕相机的庭院地面视图（扫帚躺在地面），无法证明全域泥污已清除；评分器 success=0、q_score=0。agent 日志（会话步号，非视频时钟）最后一次检查 done=false（step 340），step 294、303 称仍有深色泥块。推断：目标未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察（视频时钟）：约 450–520 s 的腕部视角可见棕色扫帚手柄被夹爪夹住，其间多次放下重抓；约 520–530 s 手柄斜躺在地面、夹爪张开。" + }, + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "推断（未由帧确认）：agent 日志（会话 step 253-273、338）称扫帚刷头扫过泥块；视频帧中泥粒难辨，扫过泥块与泥块清除无法确认。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘移动到各处并带着扫帚行驶（agent 日志，非视频时钟）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "patio_clean", + "where": "操作中", + "t": 520.0, + "evidence_zh": "观察（视频时钟）：约 520–530 s 扫帚手柄斜躺在地面、夹爪张开，作为粗略导航锚点（非精确松手时刻）。agent 日志（会话 step 275、289、303、340，非视频时钟）称最终检查 done=false、step 294 称中央仍有深色泥块；评分器 success=0、q=0。推断：清洁一步未完成，残留位置不可见。", + "log_step": 340 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "agent 会话墙钟约 2000 s 才找到扫帚（非视频时间）；视频 450–536 s 可见扫帚被夹爪握住、多次放下重抓，末段扫帚横躺地面、夹爪张开；泥粒难辨，残留位置与未清除原因无法判定，故现象/根因留空；无状态日志。", + "unmet": { + "patio_clean": false + } + }, + "summary_zh": "观察：视频 536 s 内为头/腕相机视图，可见扫帚被夹爪握住并反复放下重抓、末段躺在地面；agent 日志称扫过多处泥块（未由帧确认），但评分器 success=0、q=0，最终 done=false（log step 340）。推断：庭院泥污清除一步未达成，断点为 patio_clean，残留泥块的位置与原因无法从视频确认。主要证据缺口：无状态日志，泥粒在视频中难辨。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值 false、q=0 与视频一致，但文件把视频当作'只有头/腕相机、看不出任何东西'，而 536 s 视频正是被评分的片段（15942 动作≈531 s），能看到扫帚被握住、反复抓放、末段扫帚躺在地面且夹爪张开；断点 t 留空、现象全空、gap 把图像可见的事实说成不能当图像证据。另有未标时钟的 agent 时间。", + "n_issues": 3, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 false、q=0、断点 patio_clean/操作中、现象与根因留空并附 gap_zh，均与视频和评分器一致；第1轮的问题已改正，时钟标注清楚。泥粒在帧中难辨，留空是合理的。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-a-patio-i00-standard--hwqwmfs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-a-patio-i00-standard--hwqwmfs/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-a-patio-i00-standard--hwqwmfs/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-clean-a-patio-i00-standard--hwqwmfs/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ddd03fb8f788cb4dddb86b4fabcba80ee08e489a00cd7f458aa5521d7a157f45", + "video_sha256": "395df9bc2ddd513c25a83668de096d7e2aaeee0d13de2aac3a3e636a545b98c5", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ubcnopb.json b/phaseK/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ubcnopb.json new file mode 100644 index 0000000000000000000000000000000000000000..9f0b461f9ab8133ad11fdfc561df31765e4ab7ab --- /dev/null +++ b/phaseK/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-privileged--ubcnopb.json @@ -0,0 +1,167 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-a-trumpet-i00-privileged--ubcnopb", + "taskKey": "behavior-1k/clean_a_trumpet", + "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 3711, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 3682, + "sim_steps": 3711, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1274.4, + "replay_timeout_s": 3674.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 6, + "agent_resets": 1, + "agent_sim_steps": 14789, + "agent_records": 3, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.17, + "peak_memory_gb": 23.666, + "peak_processes": 79, + "peak_disk_gb": 1.26, + "peak_cpus": 8.11, + "peak_pids": 748, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-a-trumpet-i00-privileged--ubcnopb.mp4", + "duration_s": 123.7, + "fps": 30.0, + "frames": 3711, + "sha256": "5ceee5d6d0f6a7fd62b30317f8b3d13b3a96ebca5167b9fe3f91e54e4fca9ff3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cornet_clean": { + "method": "visual", + "intervals": [ + [ + 122.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 122.7, + "log_step": 118, + "text_zh": "观察：视频 5-90 s 头部/腕部画面显示机器人夹爪持红色清洁刷在书桌上的小号上方来回擦扫；视频 110-123.5 s 小号被移到桌边/靠近机械臂。评分器字段 goal_first_step=3682（3682/30 = 视频 122.7 s，replay 与视频匹配 video_replay_matches=1），success=1、q_score=1.0。推断：目标在视频约 122.7 s 达成并保持到结束。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：夹爪持清洁刷，刷子擦过小号（视频 5-90 s 腕部画面）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘/躯干支撑机械臂沿书桌调整位置，视频中背景视角有变化。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：唯一目标节点“小号除尘”在视频约 122.7 s 达成（评分器 goal_first_step=3682，按 30 fps 换算；无状态日志，时间来自评分器字段并与视频大体吻合），最终保持到结束。视频中机器人持刷擦扫小号。证据缺口：无状态日志，灰尘颗粒在视频中难以辨认，达成时刻由评分器字段推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "单目标节点 cornet_clean 在评分器 goal_first_step=3682（30 fps 下视频 122.7 s）达成，success=1、q_score=1.0，与标签一致；contact_actual（手持工具 压/擦 + 底盘 支撑）与画面中夹爪持红刷擦扫小号相符；无失败层，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:53:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--ubcnopb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-a-trumpet-i00-privileged--ubcnopb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a9344a72252dc40b57ecb0ac921fca73289a606129c54a6af50b0488d11d1f55", + "video_sha256": "5ceee5d6d0f6a7fd62b30317f8b3d13b3a96ebca5167b9fe3f91e54e4fca9ff3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--uza4gnf.json b/phaseK/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--uza4gnf.json new file mode 100644 index 0000000000000000000000000000000000000000..19fd12234faa6bc284e8d422fd0c0a147e8b2614 --- /dev/null +++ b/phaseK/behavior-1k/clean_a_trumpet/trajectories/behavior-clean-a-trumpet-i00-standard--uza4gnf.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-a-trumpet-i00-standard--uza4gnf", + "taskKey": "behavior-1k/clean_a_trumpet", + "dag_sha256": "2bbd17ed97252e1f070d2dc8ee7fd090c0b4c81c70149c5404c42241513c02b9", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 13441, + "sim_steps": 13591, + "physics_steps": 54364, + "steps": 3920, + "elapsed_s": 6470.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.304, + "peak_processes": 9, + "peak_disk_gb": 0.396, + "peak_cpus": 4.28, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-a-trumpet-i00-standard--uza4gnf.mp4", + "duration_s": 453.1, + "fps": 10.0, + "frames": 4531, + "sha256": "b271f7f5636604ad44f91c43a59f758bfd5bca3961004a138eacaa5c1b5fe6dd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cornet_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 450.0, + "log_step": 598, + "text_zh": "观察：视频末段（约 视频 400-453 s）三路画面中无法看到小号表面已无灰尘，红色刷子落在地面，小号不在桌上；推断：除尘未完成。服务最终状态为 done:false（log step 598，agent 自述未完成），q_score 0.0、settled_success 0，评分器字段与此一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：右夹爪持红色清洁刷在小号上方做多轮扫过（视频中腕部画面可见刷子与小号），log step 160-164、568-573；推断（来源 agent 自述，非观察）：刷子碰动了小号（自述位移约0.23 m，log step 183）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在书桌旁驱动/修正位置并支撑持刷手臂（log step 61-120、567）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cornet_clean", + "t": null, + "log_step": 183, + "where": "操作中", + "evidence_zh": "观察：agent 持刷对小号做高低两轮扫（log step 160-164）后服务检查未成功；推断（来源 agent 自述，视频看不到接触）：小号被低位扫动推开约 0.23 m（log step 183），后续重新测量并再次扫过，小号最终落到地面、刷子也脱手落地（log step 566、583、597），最终 done:false。推断：除尘一步始终没修复。" + }, + "unmet": { + "cornet_clean": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": null, + "log_step": 183, + "evidence_zh": "观察：视频末段小号已不在桌上。推断（来源 agent 自述，非观察）：低位扫刷把小号推离原位约 0.23 m（log step 183），第二轮又推得更远（log step 566），刷子碰动了目标物本身，使既定扫掠区域失效、灰尘残留。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述：刷子低位接触扫动小号（log step 183、566），且手臂在躯干负载下停在目标前（log step 114、583）；子类不明，停在控制。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志，视频为三路相机拼接且画面运动剧烈、小号灰尘难辨；视频仅 453 s，与 agent 约 7000 s 的会话无已知对应，故断点时刻 t 为 null，位移等细节主要来自 agent 自述与评分结果。" + }, + "summary_zh": "观察：唯一节点“小号除尘”未达成（final false，q_score 0，服务 done:false）。机器人持刷多轮扫过小号，但刷子把小号推离原位，最终小号落地、刷子也掉落，灰尘未除尽。推断为控制类失误；因无状态日志且灰尘不易辨，位移细节主要依据 agent 自述，证据有缺口。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点未达成、断点 cornet_clean、控制/控制 与 q_score 0 一致，未发现大错；但被挡/碰撞的位移事实仅来自 agent 自述，却写成“观察”，需改标为推断/自述。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "单节点 cornet_clean 未达成（q_score 0、done:false）、断点 cornet_clean/操作中、被挡/碰撞 + 控制（子类不明）均与日志和视频一致；上一轮的观察/推断问题已修正，未发现需改内容。视频与会话无映射，t 为 null 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-clean-a-trumpet-i00-standard--uza4gnf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-clean-a-trumpet-i00-standard--uza4gnf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-clean-a-trumpet-i00-standard--uza4gnf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-clean-a-trumpet-i00-standard--uza4gnf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8f47d07e60a4dbf695e5baa0b6699bd5e328ce62f5455ffa9bc22c4922a2c6c4", + "video_sha256": "b271f7f5636604ad44f91c43a59f758bfd5bca3961004a138eacaa5c1b5fe6dd", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--ehbnyee.json b/phaseK/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--ehbnyee.json new file mode 100644 index 0000000000000000000000000000000000000000..f54f32425fad78202d59fcf7cc04d083b5a0f212 --- /dev/null +++ b/phaseK/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-privileged--ehbnyee.json @@ -0,0 +1,162 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-boxing-gloves-i00-privileged--ehbnyee", + "taskKey": "behavior-1k/clean_boxing_gloves", + "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 4, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.943, + "peak_memory_gb": 13.023, + "peak_processes": 79, + "peak_disk_gb": 2.242, + "peak_cpus": 8.05, + "peak_pids": 497, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "gloves_clean_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 308, + "text_zh": "观察：无视频、无状态日志，评分记录 missing_trajectory=1、success=0，未交付轨迹文件（log step 307 确认 /app/output/trajectory.npz 不存在）。无法判断第1只手套是否干净；agent 自述“手套1在释放时掉落地面”（log step 308）仅为会话证据，不作节点值。" + } + ] + }, + "gloves_clean_2": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 308, + "text_zh": "观察：评分 success=0 且 missing_trajectory=1（无交付轨迹）。推断：整项成功要求两只手套均无尘，故第2只手套干净（goal 节点）未达成，final=false；由评分总结果逻辑推出，无视频时间。agent 自述洗衣机未启动（log step 308）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gloves_clean_1", + "t": null, + "log_step": 307, + "where": "首步前", + "evidence_zh": "观察：run.json 显示最终未交付 trajectory.npz（log step 307 ls 报文件不存在），评分 missing_trajectory=1、success=0；agent 在约 7021 s 的 7200 s 预算内仅在会话中尝试将手套放入洗衣机，未启动洗衣机（log step 308 自述）。没有被评分的轨迹，故无可评分的图尝试。" + }, + "unmet": { + "gloves_clean_1": null, + "gloves_clean_2": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志、未交付轨迹，被评分的尝试不存在；agent 的会话内尝试（手套掉落、地面抓取无逆解、未能开机）仅是会话证据，不能作为失败现象或根因。时限用尽不作为现象或根因。" + }, + "summary_zh": "未交付任何轨迹（missing_trajectory=1，success=0），无视频和状态日志，两个节点均无法确认到达：第1只手套干净为未知，第2只手套干净按总分判定为 false。agent 在会话中把手套放入洗衣机但一只掉到地面、地面抓取多次无逆解，直到预算（7200 s 中约 7021 s）用完也没有开机或保存轨迹（log step 287-308）；因没有被评分的尝试，现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1，success=0）。节点 gloves_clean_1 为 unknown、gloves_clean_2 按评分总成功=0 判 false，现象/根因留空并附 gap_zh，时限用尽未作为原因，均符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:53:49Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--ehbnyee/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-boxing-gloves-i00-privileged--ehbnyee/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "37bdf08a15c8f5c019491e54c9b8ef336c69ecc2cdc4df55875edaf06500ada2", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--mqi53we.json b/phaseK/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--mqi53we.json new file mode 100644 index 0000000000000000000000000000000000000000..e1072237fe9620d133be3b6200e6ae01d9c6b867 --- /dev/null +++ b/phaseK/behavior-1k/clean_boxing_gloves/trajectories/behavior-clean-boxing-gloves-i00-standard--mqi53we.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-boxing-gloves-i00-standard--mqi53we", + "taskKey": "behavior-1k/clean_boxing_gloves", + "dag_sha256": "0a7a032b99d0bef48c3134269b0a5ae0f98a9e91d3fdbb86bdb6a8a9ff493d59", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 17633, + "sim_steps": 17783, + "physics_steps": 71132, + "steps": 5488, + "elapsed_s": 6368.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.264, + "peak_processes": 9, + "peak_disk_gb": 0.374, + "peak_cpus": 1.59, + "peak_pids": 217, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-boxing-gloves-i00-standard--mqi53we.mp4", + "duration_s": 592.8, + "fps": 10.0, + "frames": 5928, + "sha256": "d07231d2d3ef6a9aeb790f75da260fde1d5084453f2e981c1f5f526b8f644f98" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gloves_clean_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 592.0, + "log_step": 582, + "text_zh": "观察：视频 0-592.8 s 的联系表中两只红手套始终是抓握/放置在台面上，近景可见表面仍有灰黑颗粒，从未出现装入滚筒洗衣机；水龙头指示灯约 540-580 s 红→绿但手套未见被冲洗。agent 自述“未完成清洁任务”（log step 582）；评分 q_score=0，success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪夹住一只手套袖口提起并移到水槽边后放下（log step 510-534，视频中可见手套被夹持移动）；随后夹爪在水龙头旋钮上操作，手套未被清洁。" + } + ] + }, + "gloves_clean_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 592.0, + "log_step": 582, + "text_zh": "观察：视频 0-592.8 s 的联系表中两只红手套始终是抓握/放置在台面上，近景可见表面仍有灰黑颗粒，从未出现装入滚筒洗衣机；水龙头指示灯约 540-580 s 红→绿但手套未见被冲洗。agent 自述“未完成清洁任务”（log step 582）；评分 q_score=0，success=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪夹住一只手套袖口提起并移到水槽边后放下（log step 510-534，视频中可见手套被夹持移动）；随后夹爪在水龙头旋钮上操作，手套未被清洁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gloves_clean_1", + "t": 460.0, + "log_step": 582, + "where": "操作中", + "evidence_zh": "观察：视频约 60-430 s 夹爪反复在台面手套上方抓握，未夹住（log step 100-510 多次闭合失败，agent 自述）；约 430 s 夹住袖口，460-480 s 搬到水槽，480-580 s 释放后拧水龙头（约 540-580 s 指示灯红→绿），滚筒洗衣机从未被装载；手套仍有灰黑颗粒，q_score=0。未走洗衣机路线（oracle 视频约 100-120 s 把手套装入滚筒）。时钟：视频秒（sim_steps 17783/30 Hz=592.8 s，即整个被评分 episode）。" + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 560.0, + "log_step": 577, + "evidence_zh": "观察：视频约 60-430 s 夹爪多次在手套上方闭合未夹住，约 430 s 才夹住；手套被搬到水槽并拧水龙头，水龙头开启后手套未进入水流（540-580 s 手套留在台面，log step 577 扫向水流被挡），从未送入清洁设备（洗衣机），手套表面仍有灰黑颗粒；无现象值贴合清洁手段无效。", + "note_zh": "现有现象值描述的是接触/运动/汇报失误；此处是选错清洁手段（水槽水龙头）导致清洁无效，没有一项现象值贴合。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "已验证有", + "evidence_zh": "推断：agent 选水龙头冲洗而非任务场景中的洗衣机方案，且整局未核实是否除尘（log step 577、582 自述“未验证除尘”）；oracle 用洗衣机在约 100-120 s 成功，说明替代方案可行。", + "source_zh": "视频 + agent 自述" + } + ], + "gap_zh": null, + "unmet": { + "gloves_clean_1": false, + "gloves_clean_2": false + } + }, + "summary_zh": "观察：视频 0-592.8 s（即整个被评分 episode）内机器人约 60-430 s 反复抓握手套未果，约 430 s 夹住并于 460 s 搬到水槽并拧水龙头（红灯→绿灯），洗衣机从未被装载，两只手套仍有颗粒（q_score=0），两节点均未达成。断点在第1只手套清洁（操作中）。现象：清洁动作无效（其他）；推断根因：规划选错清洁手段且未核实效果（认知·推理/规划，oracle 证明洗衣机方案可行）。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "两节点 false、q=0 正确，但断点后现象/根因留空且 gap_zh 的理由不成立：视频 592.8 s = sim_steps 17783/30 Hz，覆盖整个评分 episode，并非“部分会话”；视频明确显示机器人从未把手套装入滚筒洗衣机，而是在水槽拧水龙头（红灯→绿灯），手套仍有颗粒，应给出现象与根因。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 7, + "summary_zh": "两节点 false、q=0、gap_zh=null 正确；但断点 evidence 与 t 的时间错误：视频 20-60 s 机器人并未抓手套（那时在找手套/行驶），手套约 430-470 s 才被夹起并运到水槽，约 60-430 s 全是反复抓握尝试。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两条 round-2 问题的修改均已落实：断点 t 改为 460，证据按视频重写；现象证据补充了抓握失败与手套未入水流。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两条 round-2 问题的修改均已落实：断点 t 改为 460，证据按视频重写；现象证据补充了抓握失败与手套未入水流。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-clean-boxing-gloves-i00-standard--mqi53we/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-clean-boxing-gloves-i00-standard--mqi53we/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": 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"video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--ab5epc2.json b/phaseK/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--ab5epc2.json new file mode 100644 index 0000000000000000000000000000000000000000..774b9a402f6dde910b774f570ec154b5cb5a298b --- /dev/null +++ b/phaseK/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-privileged--ab5epc2.json @@ -0,0 +1,314 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-up-your-desk-i00-privileged--ab5epc2", + "taskKey": "behavior-1k/clean_up_your_desk", + "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6100, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 0, + "goal_first_step": -1, + "sim_steps": 4842, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2787.7, + "replay_timeout_s": 5266.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_records": 28, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.008, + "peak_memory_gb": 12.845, + "peak_processes": 47, + "peak_disk_gb": 1.135, + "peak_cpus": 8.04, + "peak_pids": 403, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-up-your-desk-i00-privileged--ab5epc2.mp4", + "duration_s": 161.4, + "fps": 30.0, + "frames": 4842, + "sha256": "40a8552a0f8d952c674ba724bae3b0234269824e211ff6d9658789f947c0efe4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "folders_in_bookcase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "folders_in_bookcase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "books_in_bookcase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "books_in_bookcase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "pencil_in_pencil_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "pens_in_pencil_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "pens_in_pencil_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "pencil_box_on_desk": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 140, + "log_step": null, + "text_zh": "观察：视频 0 s 起文具盒在书桌上；视频 140 s 帧中夹爪靠近文具盒，盒仍在桌面；此后相机转向，未见盒被拿走（视频 150-160 s 为倾倒/地面视角，桌面不可见）。推断：保持成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 140 s 夹爪在文具盒附近接触，盒仍在桌上，未见抓握。" + } + ] + }, + "stapler_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "laptop_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + }, + "laptop_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 160, + "log_step": null, + "text_zh": "观察：视频全程（含 100-161.4 s 密集抽帧）未见任何文件夹/书/笔/铅笔/订书机/笔记本被放入目标位置；评分器 q_score=0（评分器字段，不计开局已成立的文具盒）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "where": "未知", + "t": 150, + "log_step": null, + "evidence_zh": "观察：视频 0-140 s 机器人在书柜、书桌、床之间移动，未见任何物体被抓起并搬运；视频约 150-161 s 相机视角翻转到地面，评分器 fallen=1，end_reason 为机器人倾倒（run.json 最终报告，log step 357）。无法判断机器人当时正在做哪一步。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；头部相机多数时间视角混乱，看不清被操作物体，无法确定正在进行的步骤，也无法确定倾倒的直接原因（不从 agent 自述推定）。现象与根因留空。", + "unmet": { + "folders_in_bookcase_1": false, + "folders_in_bookcase_2": false, + "books_in_bookcase_1": false, + "books_in_bookcase_2": false, + "pencil_in_pencil_box": false, + "pens_in_pencil_box_1": false, + "pens_in_pencil_box_2": false, + "pencil_box_on_desk": true, + "stapler_on_desk": false, + "laptop_on_desk": false, + "laptop_closed": false + } + }, + "summary_zh": "观察：视频 161.4 s 内未见任何目标物被放入书柜/文具盒/书桌，仅文具盒开局即在桌上（保持）；视频约 150 s 后机器人倾倒，评分器 fallen=1、q_score=0。推断：1/11 节点成立；断点步骤与倾倒原因因画面混乱、无状态日志无法确定。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "q_score=0 与全程抽帧一致：仅开局已成立的文具盒节点为真，其余为假；断点与现象/根因因画面混乱留 unknown 并给出 gap_zh，属保守但有据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:51:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--ab5epc2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-up-your-desk-i00-privileged--ab5epc2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c86588f0212c0a4f20f2241b1de6b7473f67610fe4691d72eb855cd01ff62342", + "video_sha256": "40a8552a0f8d952c674ba724bae3b0234269824e211ff6d9658789f947c0efe4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--2ehdvar.json b/phaseK/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--2ehdvar.json new file mode 100644 index 0000000000000000000000000000000000000000..809ab34945e8392b2155ba5b3e1e5dc710c5d6f7 --- /dev/null +++ b/phaseK/behavior-1k/clean_up_your_desk/trajectories/behavior-clean-up-your-desk-i00-standard--2ehdvar.json @@ -0,0 +1,368 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-up-your-desk-i00-standard--2ehdvar", + "taskKey": "behavior-1k/clean_up_your_desk", + "dag_sha256": "c10db90087a2c419bb5d64f7cdaed29bd918775b4ff3a9aa79a6a9942098ee72", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 15919, + "sim_steps": 16069, + "physics_steps": 64276, + "steps": 11018, + "elapsed_s": 6166.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.273, + "peak_processes": 9, + "peak_disk_gb": 0.381, + "peak_cpus": 1.07, + "peak_pids": 121, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-up-your-desk-i00-standard--2ehdvar.mp4", + "duration_s": 535.7, + "fps": 10.0, + "frames": 5357, + "sha256": "d5fc096c2711a3de07d2fecf654ca2c892316019cdbf88a03842838b774e43cb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "folders_in_bookcase_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + }, + "folders_in_bookcase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + }, + "books_in_bookcase_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 多次用夹爪尝试抓取书/笔（log step 47-132, 288-348），多数空抓或失败；视频只能部分印证。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动调整位置，log step 180-300。" + } + ] + }, + "books_in_bookcase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + }, + "pencil_in_pencil_box": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 多次用夹爪尝试抓取书/笔（log step 47-132, 288-348），多数空抓或失败；视频只能部分印证。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动调整位置，log step 180-300。" + } + ] + }, + "pens_in_pencil_box_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 多次用夹爪尝试抓取书/笔（log step 47-132, 288-348），多数空抓或失败；视频只能部分印证。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动调整位置，log step 180-300。" + } + ] + }, + "pens_in_pencil_box_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + }, + "pencil_box_on_desk": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 534.0, + "log_step": 348, + "text_zh": "观察：视频 534 s 末帧头部相机可见蓝色文具盒仍在书桌面上；推断：开局即在桌上并保持（agent 曾用右臂拉盒沿，log step 336-348，盒未离桌）。" + } + ] + }, + "stapler_on_desk": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + }, + "laptop_on_desk": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + }, + "laptop_closed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": 527, + "text_zh": "观察：视频全程及末帧 534 s 未见该物体完成目标关系；评分器 q_score=0（评分字段），推断：无目标字面满足。agent 最终自述“未达到所需最终状态”（log step 527）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "books_in_bookcase_1", + "where": "操作中", + "t": null, + "evidence_zh": "观察：视频 535 s 内无任何书入柜。推断（agent 自述）：log step 47-132 反复尝试抓取桌上平装书，夹爪空闭、书被拖滑落地（log step 96, 144）。", + "log_step": 60 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为多相机拼接、无状态日志，抓取空闭与书落地仅有 agent 自述，视频未印证，证据不足无法判定现象；现象与根因留空。", + "unmet": { + "folders_in_bookcase_1": false, + "folders_in_bookcase_2": false, + "books_in_bookcase_1": false, + "books_in_bookcase_2": false, + "pencil_in_pencil_box": false, + "pens_in_pencil_box_1": false, + "pens_in_pencil_box_2": false, + "pencil_box_on_desk": true, + "stapler_on_desk": false, + "laptop_on_desk": false, + "laptop_closed": false + } + }, + "summary_zh": "观察：评分 q_score=0，视频 535.7 s 内未见任何物体入柜/入盒；仅文具盒留桌（开局即成立）保持。断点在抓取平装书（空抓、拖落地），根因证据不足。无状态日志，视频视角混乱，多数判断来自日志与评分总分。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与 q_score=0 一致，仅文具盒开局成立并保持；断点选首个未完成的书入柜合理。问题在于 phenomena 的“没建立接触”仅来自 agent 自述（空闭），视频与状态日志均未印证，不应作为观察性现象标签。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与 q_score=0 一致，仅文具盒开局成立并保持；断点选首个未完成的书入柜合理；现象/根因因仅有 agent 自述而留空并有 gap_zh，符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-up-your-desk-i00-standard--2ehdvar/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-up-your-desk-i00-standard--2ehdvar/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-up-your-desk-i00-standard--2ehdvar/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-clean-up-your-desk-i00-standard--2ehdvar/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0af62cc97e0b545463cd19bd75f55d903ce648110b1ab1e4950fbbf8f1e6c388", + "video_sha256": "d5fc096c2711a3de07d2fecf654ca2c892316019cdbf88a03842838b774e43cb", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc.json b/phaseK/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc.json new file mode 100644 index 0000000000000000000000000000000000000000..715fd6bdf385dea57981dec971e3785b74f4b2b1 --- /dev/null +++ b/phaseK/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc.json @@ -0,0 +1,273 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc", + "taskKey": "behavior-1k/clean_your_rusty_garden_tools", + "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 14750, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 14900, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 6453.1, + "replay_timeout_s": 11033.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.979, + "peak_memory_gb": 12.908, + "peak_processes": 47, + "peak_disk_gb": 0.898, + "peak_cpus": 8.12, + "peak_pids": 405, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc.mp4", + "duration_s": 496.667, + "fps": 30.0, + "frames": 14900, + "sha256": "79ee6d7531bfa1aa341ebb48f39ce589687d3e09ec380c9dbb1eb9ee1c33d96d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "toolbox_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 94, + "text_zh": "观察：视频 30–90 s 可见红色工具箱盖贴合箱体，开盖时刻在摄像头视角中无法确认；log step 94/100 agent 自述开盖，仅为会话证据，不能作为节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "帧中无法确认夹爪是否抓住箱盖" + } + ] + }, + "trowel_rust_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 490.0, + "log_step": 242, + "text_zh": "推断：评分器总分 q_score=0（run.json reward），该目标文字不可能已被满足；视频中的工具过小/多被遮挡，无法逐帧确认。 观察：视频末帧（约 495 s）工具箱仅露出一角，未见成功状态。agent 末条自述“Scraper remains outside the toolbox”（log step 242），仅作其自述。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "agent 脚本让夹爪持钢丝绒擦工具（log step 164-203 自述），视频中无法逐帧确认" + } + ] + }, + "scraper_rust_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 490.0, + "log_step": 242, + "text_zh": "推断：评分器总分 q_score=0（run.json reward），该目标文字不可能已被满足；视频中的工具过小/多被遮挡，无法逐帧确认。 观察：视频末帧（约 495 s）工具箱仅露出一角，未见成功状态。agent 末条自述“Scraper remains outside the toolbox”（log step 242），仅作其自述。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "agent 脚本让夹爪持钢丝绒擦工具（log step 164-203 自述），视频中无法逐帧确认" + } + ] + }, + "trowel_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 490.0, + "log_step": 242, + "text_zh": "推断：评分器总分 q_score=0（run.json reward），该目标文字不可能已被满足；视频中的工具过小/多被遮挡，无法逐帧确认。 观察：视频末帧（约 495 s）工具箱仅露出一角，未见成功状态。agent 末条自述“Scraper remains outside the toolbox”（log step 242），仅作其自述。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 自述抓取工具并搬运（log step 210-238），视频未能确认" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动移动到工具箱旁" + } + ] + }, + "scraper_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 490.0, + "log_step": 242, + "text_zh": "推断：评分器总分 q_score=0（run.json reward），该目标文字不可能已被满足；视频中的工具过小/多被遮挡，无法逐帧确认。 观察：视频末帧（约 495 s）工具箱仅露出一角，未见成功状态。agent 末条自述“Scraper remains outside the toolbox”（log step 242），仅作其自述。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 自述抓取工具并搬运（log step 210-238），视频未能确认" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动移动到工具箱旁" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 490.0, + "log_step": 242, + "text_zh": "推断：评分器总分 q_score=0（run.json reward），该目标文字不可能已被满足；视频中的工具过小/多被遮挡，无法逐帧确认。 观察：视频末帧（约 495 s）工具箱仅露出一角，未见成功状态。agent 末条自述“Scraper remains outside the toolbox”（log step 242），仅作其自述。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "scraper_in_toolbox", + "where": "操作中", + "t": null, + "log_step": 238, + "evidence_zh": "观察：agent 末条自述刮刀仍在箱外、箱子翻倒（log step 227/238/242）；视频 495 s 前未见工具入箱成功；评分器 q_score=0、goal=0。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为头部/腕部多视角拼合，工具太小且常被遮挡，无状态日志，无法确认具体失败现象与根因；agent 自述的抓取失败/箱体被抬起仅为会话证据，不据此打标签。", + "unmet": { + "trowel_rust_removed": false, + "scraper_rust_removed": false, + "trowel_in_toolbox": false, + "scraper_in_toolbox": false, + "toolbox_closed": false + } + }, + "summary_zh": "观察：评分器 success=0、q_score=0；视频（496.7 s）看不出任何节点达成，目标节点按总分推断 final 为 false。断点取刮刀入箱（agent 自述刮刀留在箱外，log step 242）。证据缺口：无状态日志，视频中工具与箱盖状态难辨，现象与根因留空。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "标注保守：q_score=0 约束各目标节点为 false，开箱节点视频无法判定而设 unknown，断点取刮刀入箱，现象与根因留空并附 gap_zh，均与可见证据相符；视频中工具过小且视角混乱，无法进一步推翻。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-privileged--tqdquoc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ecbaf55af06419483c5cfc6434a8435a488bb9f38610fea28068402b4c00c22c", + "video_sha256": "79ee6d7531bfa1aa341ebb48f39ce589687d3e09ec380c9dbb1eb9ee1c33d96d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj.json b/phaseK/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj.json new file mode 100644 index 0000000000000000000000000000000000000000..ee0425283c3a2e5735f106656c19472a8a520af2 --- /dev/null +++ b/phaseK/behavior-1k/clean_your_rusty_garden_tools/trajectories/behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj.json @@ -0,0 +1,264 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj", + "taskKey": "behavior-1k/clean_your_rusty_garden_tools", + "dag_sha256": "af817db290d8d169ff928c865c2e9fa0b2cf6c1d8a0bfe34e98149df4f4a1029", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 19393, + "sim_steps": 19543, + "physics_steps": 78172, + "steps": 8722, + "elapsed_s": 6514.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.27, + "peak_processes": 9, + "peak_disk_gb": 0.553, + "peak_cpus": 1.0, + "peak_pids": 76, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj.mp4", + "duration_s": 651.5, + "fps": 10.0, + "frames": 6515, + "sha256": "590256128ae51409871f5201262a4a5d64f4cd63cab51cef33df8310e9b221ab" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 554.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 554.0, + "log_step": null, + "text_zh": "观察：视频 554-572 s 腕部相机可见左夹爪抓住红色工具箱把手，箱盖掀起、露出内腔（视频 563 s 前后最清楚）；之后盖子回落。推断：事件锁存，视频约 554 s 达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓握工具箱把手掀盖（有空夹多次）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到工具箱旁" + } + ] + }, + "trowel_rust_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 651.0, + "log_step": null, + "text_zh": "观察：视频末尾（645-651 s）园艺铲仍为带锈的红色工具躺在箱外地面，钢丝绒从未被取到；agent 自述取钢丝绒失败（log step 507）。" + } + ] + }, + "scraper_rust_removed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 651.0, + "log_step": null, + "text_zh": "观察：视频末尾（645-651 s）刮刀仍为带锈的红色工具躺在箱外地面，钢丝绒从未被取到；agent 自述取钢丝绒失败（log step 507）。" + } + ] + }, + "trowel_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 651.0, + "log_step": null, + "text_zh": "观察：视频末尾园艺铲在箱外地面，未入箱。" + } + ] + }, + "scraper_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 651.0, + "log_step": null, + "text_zh": "观察：视频末尾刮刀在箱外地面，未入箱。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 651.0, + "log_step": null, + "text_zh": "观察：视频末尾工具箱盖合上，但前置的两件工具入箱均未达成，故本节点按 after 门控为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "trowel_rust_removed", + "t": 570, + "where": "操作中", + "evidence_zh": "观察：视频 554-572 s 左夹爪握把手掀盖，但盖子需持续抓住才保持打开，右手没能取出箱内钢丝绒；视频至 651 s 两工具仍在箱外且带锈。agent 自述取钢丝绒失败（log step 507）。推断：卡在拿钢丝绒/除锈这一步。", + "log_step": 466 + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 600, + "log_step": 466, + "evidence_zh": "观察：视频 554 s 后右手始终没有抓到箱内钢丝绒，末帧无钢丝绒在手；log step 466 之后仍未取到。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，视频为头/腕相机，箱内钢丝绒位置难以直接看到；根因证据不足，留空；现象类别按近似取值，需人工核对。", + "unmet": { + "trowel_rust_removed": false, + "scraper_rust_removed": false, + "trowel_in_toolbox": false, + "scraper_in_toolbox": false, + "toolbox_closed": false + } + }, + "summary_zh": "观察：仅达到打开工具箱（视频约 554 s，靠左手持续抓把手，松手盖子回落），钢丝绒未取到，两件工具未除锈也未入箱，1/6 节点，q_score=0。断点在除锈（取钢丝绒）步骤；无状态日志，根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频约等于图形化回合的仿真时间（651 s vs sim 646 s），无时钟转换问题。打开工具箱约554 s可见箱盖掀起，545 s前未开；其余五节点至651 s均无达成迹象，断点在取钢丝绒/除锈，现象没建立接触与末次左手闭合为空（log 503）相符；根因留空并附gap_zh可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clean-your-rusty-garden-tools-i00-standard--66dffhj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2d512defb2372f91cf1c83c9b9428a1be71a1e923f7c249d38f2a77da22ee232", + "video_sha256": "590256128ae51409871f5201262a4a5d64f4cd63cab51cef33df8310e9b221ab", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi.json b/phaseK/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi.json new file mode 100644 index 0000000000000000000000000000000000000000..a1cccb8b720332b4c79f903cf72b1e54aff86cdd --- /dev/null +++ b/phaseK/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi.json @@ -0,0 +1,301 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi", + "taskKey": "behavior-1k/cleaning_up_branches_and_twigs", + "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 300, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 450, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1223.0, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.064, + "peak_memory_gb": 12.768, + "peak_processes": 49, + "peak_disk_gb": 2.663, + "peak_cpus": 8.06, + "peak_pids": 405, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi.mp4", + "duration_s": 15.0, + "fps": 30.0, + "frames": 450, + "sha256": "c1cc52b2aaaaf39cd0228573e5724d93890a7d7560d8305f4ba1e57a0704840b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "branches_in_bin_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.9, + "log_step": null, + "text_zh": "观察：视频 0-15 s 三视角（头、双腕）中从未出现树枝被夹起或落入桶内；末帧视频 14.9 s 仅见路边绿植，无树枝入桶。q_score=0.0 也不允许有入桶树枝（评分器字段，逻辑推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频约 3-9 s 腕部相机被深绿色桶体/桶盖占满，机器人夹爪在顶推桶盖（推断：agent 在先开盖，log step 300 自述“upward push moved the hinge”）；没有夹住树枝。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频 0-3 s 头部相机视角随底盘前行，向桶靠近。" + } + ] + }, + "branches_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.9, + "log_step": null, + "text_zh": "观察：视频 0-15 s 三视角（头、双腕）中从未出现树枝被夹起或落入桶内；末帧视频 14.9 s 仅见路边绿植，无树枝入桶。q_score=0.0 也不允许有入桶树枝（评分器字段，逻辑推断）。" + } + ] + }, + "branches_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.9, + "log_step": null, + "text_zh": "观察：视频 0-15 s 三视角（头、双腕）中从未出现树枝被夹起或落入桶内；末帧视频 14.9 s 仅见路边绿植，无树枝入桶。q_score=0.0 也不允许有入桶树枝（评分器字段，逻辑推断）。" + } + ] + }, + "branches_in_bin_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 14.9, + "log_step": null, + "text_zh": "观察：视频 0-15 s 三视角（头、双腕）中从未出现树枝被夹起或落入桶内；末帧视频 14.9 s 仅见路边绿植，无树枝入桶。q_score=0.0 也不允许有入桶树枝（评分器字段，逻辑推断）。" + } + ] + }, + "bin_on_garden_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.5, + "log_step": null, + "text_zh": "观察：桶起初在花园地面，视频约 3.5 s 头部相机见桶被推歪、斜落在石板路上，仍贴地；末段桶不在任何视角中。推断：桶仍在地面，但是否被判侧倒无法确认；q=0 不与此矛盾（初始即满足的条件不计分）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "branches_in_bin_1", + "t": 4.0, + "log_step": 300, + "where": "操作中", + "evidence_zh": "观察：视频 0-15 s 内机器人只在桶旁用夹爪顶推桶盖（视频约 3-9 s 桶体占满腕部视角，3.5 s 头部相机见桶被推歪），没有任何一根树枝被抓起。推断：桶盖未打开，第1根树枝入桶这一步从未开始完成，也没有被修复。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 4.0, + "log_step": 300, + "evidence_zh": "观察：视频约 3.5-4 s 头部相机见桶被推离原位、倾斜；agent 自述“the bin shifted during the push”（log step 300，session 叙述，仅作旁证）。推断：顶推桶盖时把桶身带歪，桶盖没有开到可放入的程度。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；视频由头部与双腕三视角拼成，桶常被遮挡，视频末段桶不可见，bin_on_garden_floor 的最终值为推断。根因无法定因：视频只显示桶被顶推歪，分不出是目标高度错误（规划）、接触设计还是控制误差；agent 会话内复跑（log step 316-319）的 1.09 m 目标差不是被评分轨迹的证据，故根因留空（TAXONOMY §3：分不出时留空）。", + "unmet": { + "branches_in_bin_1": false, + "branches_in_bin_2": false, + "branches_in_bin_3": false, + "branches_in_bin_4": false, + "bin_on_garden_floor": true + } + }, + "summary_zh": "观察：被评分轨迹（300 步动作，视频 15 s）里机器人走到回收桶旁，用夹爪顶推桶盖，桶被推歪，视频中没有任何一根树枝被拿起或入桶，q_score=0，4 个入桶节点均未达成。断点在第1根枝入桶（操作中），现象为带动本体，根因无法定因（视频分不出规划/接触设计/控制），root_causes 留空。无状态日志，桶是否仍算在地面为推断。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值、断点与现象基本与视频相符；但根因“控制”仅靠 agent 会话自述（1.09 m 目标差来自复跑试验），不是被评分轨迹的证据，不能支撑根因类别。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、断点和现象与视频相符；但 summary_zh 仍写“根因只能定到控制（来自 agent 自述）”，与已清空的 root_causes 和 gap_zh 矛盾。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按提议改写，summary_zh 与 root_causes=[] 及 gap_zh 一致。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按提议改写，summary_zh 与 root_causes=[] 及 gap_zh 一致。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-branches-and-twigs-i00-privileged--jhrhffi/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0cf1cabc081e1b86b0aadbbabb26e6ade43f7ba8bbf2ff4f66e194cd29de4474", + "video_sha256": "c1cc52b2aaaaf39cd0228573e5724d93890a7d7560d8305f4ba1e57a0704840b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi.json b/phaseK/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi.json new file mode 100644 index 0000000000000000000000000000000000000000..808a30bc1008307241966f59ebcdfbd065a5fce7 --- /dev/null +++ b/phaseK/behavior-1k/cleaning_up_branches_and_twigs/trajectories/behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi", + "taskKey": "behavior-1k/cleaning_up_branches_and_twigs", + "dag_sha256": "dc7c6d3b2cde4ee06a95f0cc7fab8566cf593822410d33282e547a0d8d5455f7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1695, + "sim_steps": 1695, + "physics_steps": 6780, + "steps": 1320, + "elapsed_s": 509.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.183, + "peak_processes": 9, + "peak_disk_gb": 0.553, + "peak_cpus": 1.0, + "peak_pids": 75, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi.mp4", + "duration_s": 56.6, + "fps": 10.0, + "frames": 566, + "sha256": "a03a487d0c6cf03d799e4f32670b413d1b8e1fc946bddaf4b14486c9f3379304" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "branches_in_bin_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 56.0, + "log_step": 91, + "text_zh": "观察：视频 0-56.6 s 全程为人行道/碎石路行驶与侧翻画面，没有任何树枝被夹取或入桶；agent 自述“No branches were picked up”（log step 91）。" + } + ] + }, + "branches_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 56.0, + "log_step": 91, + "text_zh": "观察：视频 0-56.6 s 全程为人行道/碎石路行驶与侧翻画面，没有任何树枝被夹取或入桶；agent 自述“No branches were picked up”（log step 91）。" + } + ] + }, + "branches_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 56.0, + "log_step": 91, + "text_zh": "观察：视频 0-56.6 s 全程为人行道/碎石路行驶与侧翻画面，没有任何树枝被夹取或入桶；agent 自述“No branches were picked up”（log step 91）。" + } + ] + }, + "branches_in_bin_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 56.0, + "log_step": 91, + "text_zh": "观察：视频 0-56.6 s 全程为人行道/碎石路行驶与侧翻画面，没有任何树枝被夹取或入桶；agent 自述“No branches were picked up”（log step 91）。" + } + ] + }, + "bin_on_garden_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：回收桶初始即在花园地面（DAG 初态已满足）；机器人全程未到达花园、未接触桶，视频 0-56.6 s 无画面显示桶被移动。推断：该节点从 0 起一直成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "branches_in_bin_1", + "t": 45.0, + "where": "转场", + "evidence_zh": "观察：视频约 0-45 s 机器人沿铺装路和碎石通道驶向花园，约 45 s 起头部画面倾斜；log step 79-90 记录底盘爬上花坛边缘后倾倒，服务返回 failure: the robot fell over（log step 90）。第一根树枝尚未接近。", + "log_step": 79 + }, + "phenomena": [ + { + "t": 47.0, + "log_step": 90, + "evidence_zh": "观察：视频约 45-56.6 s 画面持续倾斜，agent 倒车/摇摆恢复均未复位（log step 82-88），服务判定机器人翻倒。", + "cat": "全身", + "item": "平衡" + } + ], + "gap_zh": "无状态日志；视频为头部/腕部相机，看不到底盘与花坛边缘的接触细节，根因子类型无法细分。", + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：agent 自述底盘爬上边缘后严重倾斜（log step 79），此前较快行驶已出现躯干振荡（log step 47-50）；推断：驾驶时未避开花坛边缘/路径控制不当，子类型不明。", + "source_zh": "日志", + "alt_feasible": "未知" + } + ], + "unmet": { + "branches_in_bin_1": false, + "branches_in_bin_2": false, + "branches_in_bin_3": false, + "branches_in_bin_4": false, + "bin_on_garden_floor": true + } + }, + "summary_zh": "观察：机器人在视频 0-56.6 s 内一直在驶向花园，未到达树枝与回收桶，0/4 根树枝入桶，仅初态已满足的桶在地面节点为真。底盘在约视频 45 s 爬上花坛边缘后翻倒（log step 90 服务判定 robot fell over），断点为第1根枝入桶之前的转场。缺少状态日志，翻倒时刻按画面估计。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（4根枝未入桶、桶在地面自0起成立）、断点（第1根枝之前转场）、翻倒现象与控制根因均与视频及日志一致；视频约44 s起画面倾斜，与log所述一致。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:53:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-cleaning-up-branches-and-twigs-i00-standard--vg2zzbi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "97056221aae5ad40c93603c23cab29ada0ef37c0fb0cd19d75a75bcd3ff2183b", + "video_sha256": "a03a487d0c6cf03d799e4f32670b413d1b8e1fc946bddaf4b14486c9f3379304", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf.json b/phaseK/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf.json new file mode 100644 index 0000000000000000000000000000000000000000..bb5defb503bdef68ab42e04ffa686909d40f47ae --- /dev/null +++ b/phaseK/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf", + "taskKey": "behavior-1k/cleaning_up_plates_and_food", + "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 11273, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 11423, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 3962.5, + "replay_timeout_s": 8715.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.051, + "peak_memory_gb": 13.438, + "peak_processes": 45, + "peak_disk_gb": 1.498, + "peak_cpus": 8.09, + "peak_pids": 400, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf.mp4", + "duration_s": 380.767, + "fps": 30.0, + "frames": 11423, + "sha256": "779f640c397e720a4ab09cff0d5be4c0bccd54fd2fe980f9ad19a5b684fee3a3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 3, + "peak": 3, + "final": 3, + "nodes": { + "pizzas_on_plates_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4, + "log_step": null, + "text_zh": "观察：视频 4 s 起餐桌上两份披萨各在一个盘中，视频 110-180 s 披萨仍在盘上、盘在桌上；132-146 s 机器人手臂接触盘但未把盘移走；之后画面多为地板，未见披萨被移走。推断：开局成立并一直保持。" + } + ] + }, + "pizzas_on_plates_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4, + "log_step": null, + "text_zh": "观察：视频 4 s 起餐桌上两份披萨各在一个盘中，视频 110-180 s 披萨仍在盘上、盘在桌上；132-146 s 机器人手臂接触盘但未把盘移走；之后画面多为地板，未见披萨被移走。推断：开局成立并一直保持。（agent 自述最终模拟器读数称披萨2不在盘2上，属会话证据，视频未见支持，未采纳。）" + } + ] + }, + "refrigerator_opened": { + "method": "visual", + "intervals": [ + [ + 14, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16, + "log_step": null, + "text_zh": "观察：视频约 13-20 s 机器人手臂拉冰箱门把手，门板逐渐离开柜体，约 20 s 起门明显张开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机器人一只手臂勾住冰箱门把手拉开门（视频 13-20 s）；底盘靠近冰箱，底盘×支撑" + } + ] + }, + "pizzas_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380, + "log_step": null, + "text_zh": "观察：全程未见披萨进入冰箱或碗进入水槽；132-146 s 机器人手臂接触盘但未端起，披萨始终在餐桌上，后段多为地板与乱晃视角，终帧水槽区无碗。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "视频 132-146 s 接触餐桌上的盘，未抓起" + } + ] + }, + "pizzas_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380, + "log_step": null, + "text_zh": "观察：全程未见披萨进入冰箱或碗进入水槽；披萨始终在餐桌上，视频后段多为地板与乱晃视角，终帧水槽区无碗。" + } + ] + }, + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380, + "log_step": null, + "text_zh": "观察：全程未见披萨进入冰箱或碗进入水槽；披萨始终在餐桌上，视频后段多为地板与乱晃视角，终帧水槽区无碗。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380, + "log_step": null, + "text_zh": "观察：全程未见披萨进入冰箱或碗进入水槽；披萨始终在餐桌上，视频后段多为地板与乱晃视角，终帧水槽区无碗。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 14 + ] + ], + "final": false, + "evidence": [ + { + "t": 380, + "log_step": null, + "text_zh": "观察：视频 0-13 s 冰箱关闭；约 14 s 起门开启，直到视频结束（380 s）画面右缘冰箱仍敞开，从未关回。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pizzas_in_fridge_1", + "where": "操作中", + "t": 134, + "evidence_zh": "观察：视频约 132-146 s 机器人手臂伸到餐桌带披萨的盘旁并接触盘（腕部视角可见白盘与披萨贴近夹爪），未能端起；150 s 起盘与披萨仍在桌上，之后多为地板与乱晃视角。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；机器人曾尝试接触盘，但画面无法分辨抓取失败的原因，视角剧烈晃动且后段多为地板，无法判定具体现象与根因；agent 最终报告称未完成，仅为自述，不作根因。", + "unmet": { + "pizzas_on_plates_1": true, + "pizzas_on_plates_2": true, + "pizzas_in_fridge_1": false, + "pizzas_in_fridge_2": false, + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "refrigerator_closed": false + } + }, + "summary_zh": "观察：仅冰箱被打开（视频约 14 s），两份披萨开局即在盘上并保持；视频约 132-146 s 机器人手臂伸到盘旁并接触盘但未端起，披萨未入冰箱、碗未入水槽、冰箱未关回，q_score=0。断点在装披萨入冰箱的第一步（操作中，取盘未成功），现象与根因证据不足，留空。披萨2是否仍在盘上仅依视频桌面帧判断。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "断点、证据与事实不符：视频约 132-146 s 机器人手臂已伸到餐桌上带披萨的盘旁并接触盘（试图取盘），并非“没去餐桌、未触碰”。断点应为 操作中，t≈134；两个披萨节点的“未触碰”表述需改。现象/根因留空可接受（帧不足以判定）。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、断点（pizzas_in_fridge_1，操作中，视频 t≈134 s）与留空现象/根因（带 gap_zh）与视频一致；视频画面剧烈晃动，帧无法判定具体失败原因，未采纳 agent 自述的披萨2不在盘上也合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-privileged--qdwrbpf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d0816c07dc93fd88cb1d9dd31cffc3cc2b8398d1326428c2bddfbf235b9ae224", + "video_sha256": "779f640c397e720a4ab09cff0d5be4c0bccd54fd2fe980f9ad19a5b684fee3a3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--y5anope.json b/phaseK/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--y5anope.json new file mode 100644 index 0000000000000000000000000000000000000000..d882c94acfd96230be316fe3be830c285b146d1c --- /dev/null +++ b/phaseK/behavior-1k/cleaning_up_plates_and_food/trajectories/behavior-cleaning-up-plates-and-food-i00-standard--y5anope.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cleaning-up-plates-and-food-i00-standard--y5anope", + "taskKey": "behavior-1k/cleaning_up_plates_and_food", + "dag_sha256": "4390d52c232c8e81af0f654f0ec8aa4dc44a121bf0f5b36cb4eec4e4dab264ef", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1023, + "sim_steps": 1023, + "physics_steps": 4092, + "steps": 1023, + "elapsed_s": 905.0, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cleaning-up-plates-and-food-i00-standard--y5anope.mp4", + "duration_s": 34.2, + "fps": 10.0, + "frames": 342, + "sha256": "16ebba9b0c7c9f38c313ac13f1ebb613c46044303df26da6aa40fc1f63917734" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 2, + "final": 1, + "nodes": { + "pizzas_on_plates_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-4 s 桌面餐盘上各有披萨（开局已成立）；视频 23 s 机器人倾倒时被夹起的盘上披萨滑落，但桌上另一盘披萨仍在盘上，故至少一份仍在盘。推断：另一盘未被触碰。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人和夹起的盘行驶" + } + ] + }, + "pizzas_on_plates_2": { + "method": "visual", + "intervals": [ + [ + 0, + 23.2 + ] + ], + "final": false, + "evidence": [ + { + "t": 23.2, + "log_step": null, + "text_zh": "观察：视频 22-23 s 右夹爪夹着盘边，披萨在盘上；视频约 23.2 s 底盘倾斜，披萨滑出盘面（视频 23.5 s 盘上已空），两份不再各有一盘承托。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "抓握", + "note_zh": "右夹爪夹住近侧餐盘边缘并提起（视频约 15-23 s），底盘行驶" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "驱动底盘载盘前往冰箱，爬上障碍后倾倒" + } + ] + }, + "refrigerator_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-34.2 s 机器人未到达冰箱或水槽，冰箱门未开，未见碗或披萨入箱/入槽；q_score=0。" + } + ] + }, + "pizzas_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-34.2 s 机器人未到达冰箱或水槽，冰箱门未开，未见碗或披萨入箱/入槽；q_score=0。" + } + ] + }, + "pizzas_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-34.2 s 机器人未到达冰箱或水槽，冰箱门未开，未见碗或披萨入箱/入槽；q_score=0。" + } + ] + }, + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-34.2 s 机器人未到达冰箱或水槽，冰箱门未开，未见碗或披萨入箱/入槽；q_score=0。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-34.2 s 机器人未到达冰箱或水槽，冰箱门未开，未见碗或披萨入箱/入槽；q_score=0。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：冰箱全程关闭，但该节点须在披萨入箱之后才计，未到达，按 final false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pizzas_in_fridge_1", + "where": "操作中", + "t": 21.0, + "evidence_zh": "观察：视频 15-20 s 机器人夹着盘子驱车去冰箱，约 20-21 s 起画面开始倾斜（底盘爬上障碍），约 23.2 s 披萨滑出盘，之后机器人翻倒。log step 98 最终说明 “the robot fell over”。", + "log_step": 81 + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 23.0, + "log_step": 81, + "evidence_zh": "观察：视频约 22-34 s 底盘倾斜后倒地；log step 81 agent 自述底盘异常倾斜，其后恢复尝试未成功。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "evidence_zh": "观察：视频约 20 s 头部相机可见侧倒椅子在前进路径上，驱动时未避开；推断：log step 71 agent 称路径畅通，step 84 自述爬上障碍，说明是未检测到障碍。", + "source_zh": "视频 / agent 自述（旁证）", + "alt_feasible": "未知" + } + ], + "gap_zh": "无状态日志，节点时间由视频判断；头部相机视角混乱，披萨/盘的开局状态与最后阶段为推断。根因（未绕开障碍）证据有限。", + "unmet": { + "pizzas_on_plates_1": true, + "pizzas_on_plates_2": false, + "pizzas_in_fridge_1": false, + "pizzas_in_fridge_2": false, + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "refrigerator_closed": false + } + }, + "summary_zh": "观察：机器人夹起近侧餐盘驱车前往冰箱，视频约 22 s 底盘爬上障碍倾斜，披萨滑出盘并翻倒。推断：仅保留第1份披萨在盘（开局成立），其余节点未到达，q_score=0。无状态日志，时间来自视频。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与断点基本可信（披萨在盘仅开局成立、后续未达，q_score=0）。主要问题：失败的直接机制是底盘驶上侧倒椅子（有阻挡接触），标为“全身·平衡”不如“被挡/碰撞”贴切；倾斜起点视频约20 s 而非22 s。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（披萨在盘仅开局成立、其余未达）、断点和单一平衡现象与视频一致；上一轮分歧（平衡 vs 被挡）已按分类法示例解决，无新证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-standard--y5anope/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-standard--y5anope/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-standard--y5anope/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cleaning-up-plates-and-food-i00-standard--y5anope/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c1d295b1422b5eeeb4eb9509786735c1f84b126083a696f027ca59bd9d6a5ffc", + "video_sha256": "16ebba9b0c7c9f38c313ac13f1ebb613c46044303df26da6aa40fc1f63917734", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps.json b/phaseK/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps.json new file mode 100644 index 0000000000000000000000000000000000000000..2d3de40795ccddb26f9e9637a4407acd8794a3ed --- /dev/null +++ b/phaseK/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps.json @@ -0,0 +1,253 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps", + "taskKey": "behavior-1k/clearing_food_from_table_into_fridge", + "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2137, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 2287, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1654.7, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 1, + "agent_sim_steps": 2287, + "agent_records": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.049, + "peak_memory_gb": 12.153, + "peak_processes": 47, + "peak_disk_gb": 2.355, + "peak_cpus": 8.07, + "peak_pids": 401, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps.mp4", + "duration_s": 76.234, + "fps": 30.0, + "frames": 2287, + "sha256": "4e880532fb00d8a665ac750a0c7123e754e2d0524fca386cb1be0f9dc3b66c04" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 75.0, + "log_step": null, + "text_zh": "观察：视频 3-75 s 机器人在餐桌、厨房台面一带移动并持握鸡肉，未见冰箱门被拉开；末帧（视频 75 s）也无开门画面。" + } + ] + }, + "chicken_in_tupperware": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 32-62 s 右腕相机始终显示鸡肉被夹爪持握，周围未见保鲜盒盒腔包住鸡肉；评分器 q_score=0、goal=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 32-62 s 右夹爪抓握鸡肉并随机器人搬运，未放入盒内。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：搬运期间底盘移动并支撑机器人。" + } + ] + }, + "pie_in_tupperware": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 75.0, + "log_step": null, + "text_zh": "观察：视频中未见派被取起或入盒；q_score=0。agent 末条自述“pie loading … not completed”（log step 361）。" + } + ] + }, + "tupperwares_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 75.0, + "log_step": null, + "text_zh": "观察：视频中未见保鲜盒进入冰箱；冰箱未开。" + } + ] + }, + "tupperwares_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 75.0, + "log_step": null, + "text_zh": "观察：视频中未见保鲜盒进入冰箱。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：冰箱初始关闭，全程未见被打开，故自 0 s 起一直成立（按状态节点单独判定，不受 after 约束）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "chicken_in_tupperware", + "t": 32.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 32-62 s 机器人右夹爪持鸡肉搬运，从未放入保鲜盒；agent 自述鸡肉已抓取并搬运但未入盒（log step 361）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为头/腕相机拼接视图，保鲜盒几乎不可见，无状态日志，无法确定鸡肉未入盒的具体可见现象与原因；session 日志中的尝试（rim 抓取、双臂干涉）只是会话证据，不作为现象/根因。", + "unmet": { + "chicken_in_tupperware": false, + "pie_in_tupperware": false, + "tupperwares_in_fridge_1": false, + "tupperwares_in_fridge_2": false, + "fridge_closed": true + } + }, + "summary_zh": "观察：视频 76 s 中机器人抓起鸡肉搬运（约 32-62 s），未见鸡肉入盒、派被取、冰箱被打开；q_score=0。仅冰箱关闭从初始起保持成立（1/6），断点在鸡肉入保鲜盒的操作中；因无状态日志且保鲜盒不可见，现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、断点（chicken_in_tupperware，操作中）与 fridge_closed 自 0 s 成立均与画面一致；视频全程未见鸡肉入盒或冰箱开启，q_score=0。现象/根因留空并写 gap_zh 可接受：已交付的是 2137 步“柜台前缀”，视频画面无法判定具体失败现象。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-clearing-food-from-table-into-fridge-i00-privileged--cybdaps/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f03fd6c54a9bf78e1396c7c47a665df1632c2385afd2891c64d5554e301146cd", + "video_sha256": "4e880532fb00d8a665ac750a0c7123e754e2d0524fca386cb1be0f9dc3b66c04", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch.json b/phaseK/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch.json new file mode 100644 index 0000000000000000000000000000000000000000..9b157eff01cfddfde64c64c0abba33d3a43dae05 --- /dev/null +++ b/phaseK/behavior-1k/clearing_food_from_table_into_fridge/trajectories/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch.json @@ -0,0 +1,311 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch", + "taskKey": "behavior-1k/clearing_food_from_table_into_fridge", + "dag_sha256": "0187c62673ba112bb7fbae8d19e1bccdbef83deaf34d00b39cbfc9668575af71", + "outcome": { + "success": 0, + "reward": 0.2, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 13149, + "sim_steps": 13299, + "physics_steps": 53196, + "steps": 7924, + "elapsed_s": 6787.5, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.2, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch.mp4", + "duration_s": 443.4, + "fps": 10.0, + "frames": 4434, + "sha256": "e7dc68cf63c2e528691b118790736910e3188c5626e09e6d5adbfafe9d43df58" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 200.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 200.0, + "log_step": 260, + "text_zh": "观察：视频约 200 s 的腕部相机画面可见冰箱内腔层架；推断：门被拉开过。时间以视频帧为准（±20 s），不引用 agent 时间；事件一旦达到即保留。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓握冰箱门把手拉门" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘后退配合拉门" + } + ] + }, + "chicken_in_tupperware": { + "method": "visual", + "intervals": [ + [ + 150.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 150.0, + "log_step": 159, + "text_zh": "观察：视频约 130-160 s 的头部相机画面可见棕色鸡肉在台面白色保鲜盒内；评分器 q_score=0.2（仅 1 个目标字面值）与之相容。时间以视频帧为准（±20 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪抓握后搬运" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动搬运鸡肉到台面" + } + ] + }, + "pie_in_tupperware": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频 247-290 s 腕部相机中被持的白色保鲜盒内为空，160-220 s 机器人从台面直接走向冰箱，未见取派或放入盒的过程；推断：q_score=0.2 至多允许 1 个目标字面值成立，已被鸡肉占用，故判 final false。agent 自述（log step 223）不作观察。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右二指夹爪抓握后搬运" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动搬运派" + } + ] + }, + "tupperwares_in_fridge_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 461, + "text_zh": "观察：视频末尾 440 s 画面中机器人仍在冰箱旁、手持盒子，未见盒子在冰箱内；q_score=0.2 也不允许此节点成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓握保鲜盒送向冰箱隔层" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动搬运" + } + ] + }, + "tupperwares_in_fridge_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 461, + "text_zh": "观察：视频末尾 440 s 画面中机器人仍在冰箱旁、手持盒子，未见盒子在冰箱内；q_score=0.2 也不允许此节点成立。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 461, + "text_zh": "观察：视频末尾 440 s 画面中机器人仍在冰箱旁、手持盒子，未见盒子在冰箱内；q_score=0.2 也不允许此节点成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "pie_in_tupperware", + "where": "操作中", + "t": null, + "log_step": null, + "evidence_zh": "观察：视频 247-290 s 腕部相机中被持的白色保鲜盒内为空，160-220 s 未见取派或放入盒的过程，机器人带空盒走向冰箱；推断：派从未入盒，是第一个失败且未修复的步骤（q_score=0.2 与之相容）。盒入冰箱为下游步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为 672x224 三路相机拼接，各节点时间以视频帧估计，不确定；无状态日志。原先「盒卡门框」仅来自 agent 自述（log step 391、444），视频未见阻挡接触，已删除，现象留空；根因无独立证据，留空。", + "unmet": { + "chicken_in_tupperware": true, + "pie_in_tupperware": false, + "tupperwares_in_fridge_1": false, + "tupperwares_in_fridge_2": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：鸡肉在视频约 150 s 入台面盒，冰箱被拉开过；被持的盒子为空，派未见入盒，盒子始终未入冰箱，终态关闭。推断：q_score 0.2 只允许一个入盒目标成立，派判未达。断点为派入盒（操作中），原因证据不足。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "鸡肉入盒、开门、final=2 与视频及 q_score=0.2 相容；但断点选错：视频显示被持的白色保鲜盒内为空，派从未入盒，第一个失败的步骤应是 pie_in_tupperware 而非 tupperwares_in_fridge_1；且唯一的现象仅来自 agent 自述，不应作为现象。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "第二轮：断点已改为 pie_in_tupperware，agent 自述的被挡现象已删除，空现象/根因层有 gap_zh；鸡肉入盒、开门、final=2 与 q_score=0.2 及抽查画面相容，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-clearing-food-from-table-into-fridge-i00-standard--usapxch/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "17d19b932b69cb7a8ed8f2f35e557b20eb2fe0df77b9a07992ded98b28cf7c85", + "video_sha256": "e7dc68cf63c2e528691b118790736910e3188c5626e09e6d5adbfafe9d43df58", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--hki88pk.json b/phaseK/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--hki88pk.json new file mode 100644 index 0000000000000000000000000000000000000000..88a5010223576e97454c25edc51e0c223a509a9b --- /dev/null +++ b/phaseK/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-privileged--hki88pk.json @@ -0,0 +1,352 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-collecting-aluminum-cans-i00-privileged--hki88pk", + "taskKey": "behavior-1k/collecting_aluminum_cans", + "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678", + "outcome": { + "success": 0, + "reward": 0.8333333333333334, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 4460, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4610, + "fallen": 0, + "final_reward": 0.8333333333333334, + "q_score": 0.8333333333333334, + "replay_wall_s": 1552.3, + "replay_timeout_s": 4173.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 10, + "agent_resets": 4, + "agent_sim_steps": 13185, + "agent_records": 11, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.701, + "peak_memory_gb": 12.802, + "peak_processes": 48, + "peak_disk_gb": 2.523, + "peak_cpus": 8.08, + "peak_pids": 401, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-collecting-aluminum-cans-i00-privileged--hki88pk.mp4", + "duration_s": 153.667, + "fps": 30.0, + "frames": 4610, + "sha256": "7adfb838a48af7c67cd427a640926933c01c520b9a4c055c226fc35cb2c7a446" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "cans_in_bucket_1": { + "method": "visual", + "intervals": [ + [ + 12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12, + "log_step": null, + "text_zh": "观察：腕部相机 1 帧/秒的画面中，黄褐色罐被夹爪送到桶口，视频 12 s 起桶内可见 1 罐；推断：释放时间约 ±1 s，与评分器 q_score=5/6 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：一侧二指夹爪夹住罐并送入桶后张开释放" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘移动到罐和桶边，携罐行驶" + } + ] + }, + "cans_in_bucket_2": { + "method": "visual", + "intervals": [ + [ + 37, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37, + "log_step": null, + "text_zh": "观察：腕部相机 1 帧/秒的画面中，橙色罐在视频约 30-36 s 夹持移到桶上方，37 s 起桶内可见橙罐与前一罐；推断：释放时间约 ±1 s，与评分器 q_score=5/6 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：一侧二指夹爪夹住罐并送入桶后张开释放" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘移动到罐和桶边，携罐行驶" + } + ] + }, + "cans_in_bucket_3": { + "method": "visual", + "intervals": [ + [ + 66, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 66, + "log_step": null, + "text_zh": "观察：腕部相机 1 帧/秒的画面中，红色罐在视频约 50-65 s 夹持，66 s 起桶内可见 3 罐；推断：释放时间约 ±1 s，与评分器 q_score=5/6 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：一侧二指夹爪夹住罐并送入桶后张开释放" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘移动到罐和桶边，携罐行驶" + } + ] + }, + "cans_in_bucket_4": { + "method": "visual", + "intervals": [ + [ + 111, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 111, + "log_step": null, + "text_zh": "观察：腕部相机 1 帧/秒的画面中，白色罐在视频约 77-110 s 夹持运送，111 s 起桶内可见 4 罐；推断：释放时间约 ±1 s，与评分器 q_score=5/6 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：一侧二指夹爪夹住罐并送入桶后张开释放" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘移动到罐和桶边，携罐行驶" + } + ] + }, + "cans_in_bucket_5": { + "method": "visual", + "intervals": [ + [ + 148, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 148, + "log_step": null, + "text_zh": "观察：腕部相机 1 帧/秒的画面中，黑色罐在视频 132-147 s 夹持移至桶口，约 148 s 释放后桶内可见 5 罐；推断：释放时间约 ±1 s，与评分器 q_score=5/6 一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：一侧二指夹爪夹住罐并送入桶后张开释放" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘移动到罐和桶边，携罐行驶" + } + ] + }, + "cans_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 153.6, + "log_step": null, + "text_zh": "观察：视频末尾（148-153.6 s）桶内为 5 罐，之后没有第 6 罐的抓取画面；评分器 q_score=0.833=5/6，第6罐未入桶。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8333333333333334, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cans_in_bucket_6", + "t": 148, + "log_step": 344, + "where": "首步前", + "evidence_zh": "观察：视频 148 s 第5罐释放后至 153.6 s 结束，没有对第6罐的任何接近或抓取；log step 344 agent 自述交付的是五罐检查点，六罐未验证。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 148, + "log_step": 344, + "evidence_zh": "观察：视频 148–153.7 s 无第6罐的接近或抓取；交付轨迹只含五罐（log step 343-344）。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：规则不从没尝试或缺交付推导根因，session 中对第6罐的路线试验（log step 336 前后）是 session 证据，不能作为根因，故根因留空。", + "unmet": { + "cans_in_bucket_1": true, + "cans_in_bucket_2": true, + "cans_in_bucket_3": true, + "cans_in_bucket_4": true, + "cans_in_bucket_5": true, + "cans_in_bucket_6": false + } + }, + "summary_zh": "观察：图评视频 153.7 s 内机器人依次把 5 个罐放入桶（约视频 12、37、66、111、148 s），q_score=5/6。第6罐的工作在图评视频中未开始（没尝试，首步前）；交付的是五罐轨迹（log step 343-344）。根因证据不足，留空。无状态日志，释放时间按腕部相机 1 s 间隔判定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "WHERE 标签（5 罐时间、第6罐未达、q_score=5/6）与视频一致。但断点为 首步前（第6罐的工作在评分视频里从未开始），按 03 规则此时应标现象 没尝试；文件却把现象留空。本次不是外因截断（五罐交付已保存），应按常规标注。根因按规则不从没尝试或缺交付推导，保持留空并在 gap_zh 说明。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "5 罐入桶时间与 q_score=5/6 一致，第6罐未入桶；断点首步前+没尝试，根因留空并有 gap_zh，符合规则（第1轮意见已采纳）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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true, + "space": "work/runs/behavior-collecting-aluminum-cans-i00-privileged--hki88pk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f12e21780bca59eeff00ddfd3ade9162e0b59044210ba3e82e94d691f0a38bb0", + "video_sha256": "7adfb838a48af7c67cd427a640926933c01c520b9a4c055c226fc35cb2c7a446", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--rvrvtfr.json b/phaseK/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--rvrvtfr.json new file mode 100644 index 0000000000000000000000000000000000000000..353e5d0e45291fe3e24870dda2dabb43fbebafbf --- /dev/null +++ b/phaseK/behavior-1k/collecting_aluminum_cans/trajectories/behavior-collecting-aluminum-cans-i00-standard--rvrvtfr.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-collecting-aluminum-cans-i00-standard--rvrvtfr", + "taskKey": "behavior-1k/collecting_aluminum_cans", + "dag_sha256": "d65ba1638f1a51ef401ef21980d53b456855008912d4b14298be41ef3e677678", + "outcome": { + "success": 0, + "reward": 0.3333333333333333, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3831, + "sim_steps": 3831, + "physics_steps": 15324, + "steps": 835, + "elapsed_s": 2044.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.3333333333333333, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.242, + "peak_processes": 9, + "peak_disk_gb": 0.301, + "peak_cpus": 1.28, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-collecting-aluminum-cans-i00-standard--rvrvtfr.mp4", + "duration_s": 127.8, + "fps": 10.0, + "frames": 1278, + "sha256": "53d642943d4a92894525a8dc0f95ddd68cff1bf385befcda1b13222250492604" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "cans_in_bucket_1": { + "method": "visual", + "intervals": [ + [ + 72.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 72.5, + "log_step": 113, + "text_zh": "观察：视频 72.5 s 起头/腕部画面中，抓着的汽水罐已松开并留在浅蓝灰色桶内，之后桶内罐保持不动；推断：状态日志缺失，按视频判定，与 q_score=1/3（2/6）一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住罐（第1罐在床上，第2罐为桶边地面的橙/黄罐）送到桶上方后张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动靠近床/桶，并在搬运中移动。" + } + ] + }, + "cans_in_bucket_2": { + "method": "visual", + "intervals": [ + [ + 108.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 108.5, + "log_step": 154, + "text_zh": "观察：视频 108.5 s 起头/腕部画面中，抓着的汽水罐已松开并留在浅蓝灰色桶内，之后桶内罐保持不动；推断：状态日志缺失，按视频判定，与 q_score=1/3（2/6）一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住罐（第1罐在床上，第2罐为桶边地面的橙/黄罐）送到桶上方后张开释放。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动靠近床/桶，并在搬运中移动。" + } + ] + }, + "cans_in_bucket_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": 199, + "text_zh": "观察：视频全程桶内只见2个罐；q_score=1/3 故最多2罐入桶；视频 112 s 之后底盘倾覆，未再抓取其他罐。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频约 111-120 s 底盘驱向远处地面罐候选位置，途中倾翻，未接触罐。" + } + ] + }, + "cans_in_bucket_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": 199, + "text_zh": "观察：视频全程桶内只见2个罐；q_score=1/3 故最多2罐入桶；视频 112 s 之后底盘倾覆，未再抓取其他罐。" + } + ] + }, + "cans_in_bucket_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": 199, + "text_zh": "观察：视频全程桶内只见2个罐；q_score=1/3 故最多2罐入桶；视频 112 s 之后底盘倾覆，未再抓取其他罐。" + } + ] + }, + "cans_in_bucket_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 120.0, + "log_step": 199, + "text_zh": "观察：视频全程桶内只见2个罐；q_score=1/3 故最多2罐入桶；视频 112 s 之后底盘倾覆，未再抓取其他罐。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cans_in_bucket_3", + "where": "转场", + "t": 113.0, + "evidence_zh": "观察：视频约 108.5 s 第2罐入桶后，机器人驱车去远端地面罐，视频约 113 s 起头/腕部画面严重倾斜、露出手臂和地面，之后一直倾斜至视频结束 127.8 s；agent 自述“robot fell over”（log step 199），评分器 reason 为机器人倾倒。推断：第3罐尚未抓取就在转场途中失败。", + "log_step": 184 + }, + "phenomena": [ + { + "t": 113.0, + "log_step": 184, + "evidence_zh": "观察：视频约 113-127.8 s 底盘倾斜后未恢复；log step 184 agent 称向前移动时碰到障碍使底盘大幅上仰，评分器判定摔倒。", + "cat": "全身", + "item": "平衡" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；agent 未说明撞到的障碍物是什么，视频头部视角也看不到底盘/障碍接触，因此不指定根因（控制/感知均无直接证据）。", + "unmet": { + "cans_in_bucket_1": true, + "cans_in_bucket_2": true, + "cans_in_bucket_3": false, + "cans_in_bucket_4": false, + "cans_in_bucket_5": false, + "cans_in_bucket_6": false + } + }, + "summary_zh": "观察：机器人在视频 72.5 s 将床上的第1罐、108.5 s 将桶边地面的第2罐放入桶内（2/6，与 q=1/3 一致），随后去远端取第3罐时底盘碰到障碍倾翻（约视频 113 s），回退未能恢复，评分器判定机器人倒下。断点为第3罐入桶（转场）；失败现象为全身·平衡，根因证据不足。时间为目测，无状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "2/6 与 q=1/3 一致；第1/2罐入桶时间与帧相符；倾覆约 113 s 起，断点（第3罐·转场）和 全身·平衡 合理，无根因并附 gap_zh 可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:52:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--rvrvtfr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-collecting-aluminum-cans-i00-standard--rvrvtfr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "55b001f36c5eabf9db7bc6f45e1335ccd6c917b96d02dedeedefa336bc26006d", + "video_sha256": "53d642943d4a92894525a8dc0f95ddd68cff1bf385befcda1b13222250492604", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--ururj99.json b/phaseK/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--ururj99.json new file mode 100644 index 0000000000000000000000000000000000000000..eb1b9daee2d3313756ec101937694d48fc7a2447 --- /dev/null +++ b/phaseK/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-privileged--ururj99.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-collecting-childrens-toys-i00-privileged--ururj99", + "taskKey": "behavior-1k/collecting_childrens_toys", + "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266", + "outcome": { + "success": 0, + "reward": 0.2857142857142857, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 5999, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 6149, + "fallen": 0, + "final_reward": 0.2857142857142857, + "q_score": 0.2857142857142857, + "replay_wall_s": 2666.4, + "replay_timeout_s": 5199.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 5, + "agent_resets": 0, + "agent_sim_steps": 500, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.913, + "peak_memory_gb": 12.846, + "peak_processes": 45, + "peak_disk_gb": 3.112, + "peak_cpus": 8.11, + "peak_pids": 489, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-collecting-childrens-toys-i00-privileged--ururj99.mp4", + "duration_s": 204.967, + "fps": 30.0, + "frames": 6149, + "sha256": "7a5671a655c0a52fbfe02c8d5e10c0accd8d6f078770862b28857f7e18cc4f46" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "dice_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 46, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 46, + "log_step": null, + "text_zh": "观察：视频 约30-45 s 机器人夹爪夹着骰子对着书柜，约 46 s 起书柜隔板内可见小黑点（骰子）；推断：入柜约 46 s，时间不精确。评分 q=2/7 与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓住物体搬运；底盘移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动时搬运物体" + } + ] + }, + "dice_in_bookcase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 70, + "log_step": null, + "text_zh": "观察：视频 66-72 s 床上仍可见另一枚白色骰子，之后未见其被拿取；q=2/7 限制只有两个节点达成。" + } + ] + }, + "teddies_in_bookcase_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频 约 108 s 起至结尾 204 s 机器人夹爪一直抱着泰迪熊，结尾未入柜（地板/书柜前）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓住物体搬运；底盘移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动时搬运物体" + } + ] + }, + "teddies_in_bookcase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：第二只熊未被处理；视频至 205 s 仍抱着第一只熊。" + } + ] + }, + "board_games_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 102, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 102, + "log_step": null, + "text_zh": "观察：视频 约 56-100 s 夹爪夹着桌游盒(Don't Wake Daddy)搬运，约 102 s 腕部画面中盒子离开夹爪、书柜处可见小盒；推断：入柜约 102 s，不精确。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓住物体搬运；底盘移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动时搬运物体" + } + ] + }, + "board_games_in_bookcase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：只见一盒桌游被搬运，第二盒未见；q=2/7。" + } + ] + }, + "train_in_bookcase": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：全程未见火车玩具被抓取。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "teddies_in_bookcase_1", + "where": "操作中", + "t": 108, + "log_step": null, + "evidence_zh": "观察：视频 108-205 s 机器人夹着泰迪熊在房间内转了近 100 s，未放入书柜，结尾仍抱熊；七件玩具仅两件入柜。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为头/腕相机，看不清熊为何没放进柜；无状态日志，无法确认熊是否被夹稳或够不着，故现象与根因留空。入柜时间为视觉估计。", + "unmet": { + "dice_in_bookcase_1": true, + "dice_in_bookcase_2": false, + "teddies_in_bookcase_1": false, + "teddies_in_bookcase_2": false, + "board_games_in_bookcase_1": true, + "board_games_in_bookcase_2": false, + "train_in_bookcase": false + } + }, + "summary_zh": "观察：graded 轨迹(5999 动作)中 骰子1、桌游1入柜（视频约 46 s、102 s，q=2/7），随后约 108 s 起抱着泰迪熊直到视频结束 205 s 仍未放入，其余玩具未处理，未成功。断点为第1只熊入柜；缺状态日志，原因未能判定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "标签与视频大体一致：108-205 s 机器人一直抱着泰迪熊在房间内转，未入柜，q=2/7 支持仅两节点达成；无状态日志，现象/根因留空并附 gap_zh 可接受。入柜时间为估计，我未发现可证伪的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--ururj99/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-collecting-childrens-toys-i00-privileged--ururj99/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c142b20ff0ba6722cc7363f46680bb8530c1fe7b4dccd0522a6a640f4f29461c", + "video_sha256": "7a5671a655c0a52fbfe02c8d5e10c0accd8d6f078770862b28857f7e18cc4f46", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--nrhkt7i.json b/phaseK/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--nrhkt7i.json new file mode 100644 index 0000000000000000000000000000000000000000..69ad424c9257979fd312eb4f5adfc385f36e2a7f --- /dev/null +++ b/phaseK/behavior-1k/collecting_childrens_toys/trajectories/behavior-collecting-childrens-toys-i00-standard--nrhkt7i.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-collecting-childrens-toys-i00-standard--nrhkt7i", + "taskKey": "behavior-1k/collecting_childrens_toys", + "dag_sha256": "c236dc50d1c43f8f6eaf6d7c859842df16d2f5e4870176f1f7cb433b6ed11266", + "outcome": { + "success": 0, + "reward": 0.14285714285714285, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 6037, + "sim_steps": 6037, + "physics_steps": 24148, + "steps": 4379, + "elapsed_s": 2464.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.14285714285714285, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-collecting-childrens-toys-i00-standard--nrhkt7i.mp4", + "duration_s": 201.3, + "fps": 10.0, + "frames": 2013, + "sha256": "a36862864641d58f16e26a692cc81aa7732cc6566f968fdb37805d7fa9724ee2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "dice_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 120.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 120.0, + "log_step": 255, + "text_zh": "观察：视频 120 s 左右头部视角可见一枚白色骰子停在书柜隔板内、夹爪已退出；此前 60-115 s 夹爪持骰子靠近书柜。推断：q_score=1/7，只允许 1 个目标满足，与此一致。agent 自述两枚骰子均已入同一书柜（log step 259）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住骰子搬到书柜后张开释放；底盘移动到书柜前。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并支撑机械臂搬运骰子。" + } + ] + }, + "dice_in_bookcase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 259, + "text_zh": "推断：q_score=1/7，只有1个目标文字满足，故第2枚骰子不算已满足（评分器总分的逻辑推断）；agent 自述两枚骰子都在左书柜（log step 259），但可能未放稳或不在同一书柜内，视频不足以核实。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 140-180 s 夹爪再次夹持白色骰子并送向书柜。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动支撑搬运。" + } + ] + }, + "teddies_in_bookcase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 277, + "text_zh": "观察：视频到结束（约 201 s）机器人都在接近第一只地板泰迪熊，从未抓到任何玩具；agent 自述机器人摔倒、回合结束（log step 277）。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘驱动接近地板上的泰迪熊时倾倒（log step 274-277）。" + } + ] + }, + "teddies_in_bookcase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 277, + "text_zh": "观察：视频到结束（约 201 s）机器人都在接近第一只地板泰迪熊，从未抓到任何玩具；agent 自述机器人摔倒、回合结束（log step 277）。" + } + ] + }, + "board_games_in_bookcase_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 277, + "text_zh": "观察：视频到结束（约 201 s）机器人都在接近第一只地板泰迪熊，从未抓到任何玩具；agent 自述机器人摔倒、回合结束（log step 277）。" + } + ] + }, + "board_games_in_bookcase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 277, + "text_zh": "观察：视频到结束（约 201 s）机器人都在接近第一只地板泰迪熊，从未抓到任何玩具；agent 自述机器人摔倒、回合结束（log step 277）。" + } + ] + }, + "train_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 277, + "text_zh": "观察：视频到结束（约 201 s）机器人都在接近第一只地板泰迪熊，从未抓到任何玩具；agent 自述机器人摔倒、回合结束（log step 277）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "teddies_in_bookcase_1", + "t": 195.0, + "where": "转场", + "log_step": 274, + "evidence_zh": "观察：骰子放完后机器人驱动底盘接近地板泰迪熊，视频末段（约 195-201 s）画面为俯视地面/机身，agent 自述 log step 274 底盘出现意外倾斜和高度变化，随后服务返回 failure: the robot fell over（log step 277）。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 198.0, + "log_step": 277, + "evidence_zh": "观察：服务状态“the robot fell over”（log step 277），视频末段画面倾斜朝地。" + } + ], + "root_causes": [], + "gap_zh": "摔倒原因无证据（底盘倾斜的诱因在日志与视频中均未看清），根因留空；视频为多视角拼接，骰子入柜时刻约估；无状态日志。", + "unmet": { + "dice_in_bookcase_1": true, + "dice_in_bookcase_2": false, + "teddies_in_bookcase_1": false, + "teddies_in_bookcase_2": false, + "board_games_in_bookcase_1": false, + "board_games_in_bookcase_2": false, + "train_in_bookcase": false + } + }, + "summary_zh": "推断：7个节点中仅第1枚骰子入柜达成（约视频 120 s，q_score=1/7）；第2枚骰子 agent 自述入柜但总分只允许1个满足，记为未达成。机器人在去抓第一只泰迪熊途中摔倒（视频约 198 s，log step 277），断点在泰迪熊步骤。缺口：无状态日志，摔倒根因未知。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点（第1枚骰子入柜、其余未达成，与 q_score=1/7 一致）、断点（泰迪熊步骤，摔倒由服务返回 failure: the robot fell over）与 平衡 现象均与视频和日志相符；视频为多视角拼接，骰子入柜时刻只能粗估，根因留空并有 gap_zh，未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-collecting-childrens-toys-i00-standard--nrhkt7i/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-collecting-childrens-toys-i00-standard--nrhkt7i/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eaacde0f481d4da12b63067964338f440f09836c40f309f1f9fda1e8a2fa2aa0", + "video_sha256": "a36862864641d58f16e26a692cc81aa7732cc6566f968fdb37805d7fa9724ee2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--ofbypv2.json b/phaseK/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--ofbypv2.json new file mode 100644 index 0000000000000000000000000000000000000000..d67a9796e635cc70af7ab395c470f705d503c6d7 --- /dev/null +++ b/phaseK/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-privileged--ofbypv2.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-a-brisket-i00-privileged--ofbypv2", + "taskKey": "behavior-1k/cook_a_brisket", + "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 2770, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 2920, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1690.6, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.062, + "peak_memory_gb": 13.263, + "peak_processes": 49, + "peak_disk_gb": 1.438, + "peak_cpus": 8.11, + "peak_pids": 407, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-a-brisket-i00-privileged--ofbypv2.mp4", + "duration_s": 97.334, + "fps": 30.0, + "frames": 2920, + "sha256": "03190ab0dd4d22920683ca3256f177f6130f402ebf3e3df800ea5d8aaa9c5000" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 12.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13, + "log_step": null, + "text_zh": "观察：视频 10 s 腕部相机见夹爪抓住冰箱门把手；12-14 s 头部相机见门板转开，14 s 起露出白色搁架，此后保持打开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 10 s 腕部相机，一侧夹爪握住冰箱门把手向外拉" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘在开门时移动/支承" + } + ] + }, + "heat_source_enabled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60, + "log_step": null, + "text_zh": "观察：视频 40-97 s 各帧均未见灶台开关由红变绿或任何热源启动迹象；与对照视频中可见的指示不同。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频未显示对灶台开关的操作" + } + ] + }, + "brisket_cooked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 97, + "log_step": null, + "text_zh": "观察：热源未启动（after 未达成），视频全程未见牛胸肉到热源处；q_score=0（评分器字段）。" + } + ] + }, + "brisket_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 97, + "log_step": null, + "text_zh": "观察：全程未见夹爪取出牛胸肉，视频末段 97 s 未见肉在砧板上；agent 最终报告自述“牛胸肉从未成功抓取”（log step 452）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：15-35 s 夹爪在冰箱搁架处，视角遮挡，无法确认是否接触肉" + } + ] + }, + "pan_on_counter": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：初态成立且平底锅未被碰动；q_score 不计初态已成立目标，故 q=0 与此一致。视频中未见锅被抓取或落地。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brisket_on_board", + "where": "操作中", + "t": 15, + "log_step": null, + "evidence_zh": "观察：视频 14 s 后冰箱已开，夹爪在冰箱搁架处作业，但牛胸肉始终未被取出；agent 最终报告自述“牛胸肉从未成功抓取”（log step 452）。推断：失败于取肉一步。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "推断：outcome.raw agent_sessions=2、agent_resets=1，agent_replays=0（agent 未自行重放交付文件），deterministic=1；最终报告（log id 452）称 2770 行由 gen.py 按时间顺序拼接“记录的多次尝试”，且精确的新进程重放未完成即被停止。交付轨迹是跨 reset 缝合且未经完整重放（DECISIONS N10 / FAIL-19）。", + "evidence_zh": "agent_resets=1、agent_replays=0；log id 452 自述拼接生成器且重放未完成" + } + ], + "gap_zh": "未抓到牛胸肉的具体物理现象（接触/位姿）因头部视角晃动、肉多数帧被遮挡且无状态日志而无法判定，phenomena 留空；交付根因见 root_causes（推断）。", + "unmet": { + "brisket_cooked": false, + "brisket_on_board": false, + "pan_on_counter": true + } + }, + "summary_zh": "观察：图像显示冰箱门在视频约 12 s 打开（达成），随后夹爪在冰箱内作业，但热源未启动、牛胸肉未取出/烹熟/放上砧板；平底锅初态即在台面且未动。q_score=0。断点为取肉（brisket_on_board 步，操作中）；因无状态日志且视角遮挡，现象与根因留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值与时间（冰箱约12 s打开、热源/煮熟/上板未达成、平底锅初态成立）与视频一致，断点取肉也合理；但交付轨迹是跨 reset 缝合的“按时间顺序的尝试记录”且从未被 agent 完整重放，根因 交付·交付操作出错 缺失，gap_zh 不应整层留空。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与时间（冰箱约12 s打开、热源/煮熟/上板未达成、平底锅初态成立）与视频一致；断点取肉、交付·交付操作出错（agent_resets=1、agent_replays=0）有依据，物理现象留空并有 gap_zh，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-brisket-i00-privileged--ofbypv2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-brisket-i00-privileged--ofbypv2/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-brisket-i00-privileged--ofbypv2/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-brisket-i00-privileged--ofbypv2/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e094ef5a98ed6df4ec8f506b5d8299ca52c24a1bf171ee56d03c8aadae712825", + "video_sha256": "03190ab0dd4d22920683ca3256f177f6130f402ebf3e3df800ea5d8aaa9c5000", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--j6zhbtv.json b/phaseK/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--j6zhbtv.json new file mode 100644 index 0000000000000000000000000000000000000000..7c2b15d5f856ef817c5bee581afb76bad059669b --- /dev/null +++ b/phaseK/behavior-1k/cook_a_brisket/trajectories/behavior-cook-a-brisket-i00-standard--j6zhbtv.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-a-brisket-i00-standard--j6zhbtv", + "taskKey": "behavior-1k/cook_a_brisket", + "dag_sha256": "2420bb0ca96a5b916c4a2000c68afbcd2d8aae9f0280c696b39a9f27293848b3", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9159, + "sim_steps": 9309, + "physics_steps": 37236, + "steps": 2066, + "elapsed_s": 6356.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.258, + "peak_processes": 9, + "peak_disk_gb": 0.365, + "peak_cpus": 1.8, + "peak_pids": 151, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-a-brisket-i00-standard--j6zhbtv.mp4", + "duration_s": 310.4, + "fps": 10.0, + "frames": 3104, + "sha256": "ca376c21ad940d0e6a0fdda48ccde77b0cb3cbf4278fd70cee691f82f2199593" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 44.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.0, + "log_step": null, + "text_zh": "观察：视频 44 s 起右侧相机可见冰箱门向外转开、露出内部搁架；视频 150 s 与 300 s 门仍开着，机械臂在门旁。时间约数秒误差。" + } + ] + }, + "heat_source_enabled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频未见灶台/烤箱/微波炉被操作，机器人始终在冰箱处；q_score 0。" + } + ] + }, + "brisket_cooked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：未启动热源，牛胸肉始终在冰箱搁架上（视频 150-300 s 可见）；q_score=0。" + } + ] + }, + "brisket_on_board": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300.0, + "log_step": 380, + "text_zh": "观察：视频 150-300 s 牛胸肉仍在冰箱搁架上，夹爪在其附近；末帧未见砧板上有肉。" + } + ] + }, + "pan_on_counter": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：平底锅初态在台面，机器人全程未接触锅，未见其被移动；q_score 0 与此相符（初态成立不计分）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brisket_on_board", + "where": "操作中", + "t": 150.0, + "log_step": 380, + "evidence_zh": "观察：冰箱打开后机器人约 150-300 s 反复把夹爪伸入冰箱取牛胸肉，肉始终在搁架上；agent 自述（log step 380）夹爪闭合到零、未抓住。之后没有热源操作。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 300.0, + "log_step": 380, + "evidence_zh": "观察：视频 150-300 s 肉始终留在冰箱内，从未离开搁架；log step 380 记录夹爪闭合到零（未夹到肉）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述（log step 354/380）肩关节接近限位、腕部过高、多次抓取闭合为零；规划可行性未证实，故停在“控制”。", + "source_zh": "agent 自述", + "alt_feasible": "未知" + } + ], + "gap_zh": "无状态日志，视频为多相机拼接且常遮挡牛胸肉，抓取细节与冰箱开门精确时间为推断；未对 log 内部各步逐一核对。", + "unmet": { + "brisket_cooked": false, + "brisket_on_board": false, + "pan_on_counter": true + } + }, + "summary_zh": "观察：机器人在视频约 44 s 打开冰箱，之后 150-300 s 反复尝试从搁架抓牛胸肉但夹爪闭合到零，从未抓住，未开热源、肉未做熟、未放上砧板；平底锅初态已在台面且未动，共 2/5 节点末态为真。断点为 牛胸肉上砧板（操作中），现象 没建立接触，根因仅到 控制。证据缺口：无状态日志，视频遮挡。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频一致：冰箱约 44 s 前后开启（视频时钟），之后至 305 s 肉仍在冰箱内、未做熟、未上砧板，q_score=0 支持 final=2/5；断点 brisket_on_board、现象 没建立接触、根因停在 控制 均有依据且保守。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-brisket-i00-standard--j6zhbtv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-brisket-i00-standard--j6zhbtv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "55224c7216113dddf635c754dec22a12552edccb11d0e7e47598eb3abbf90338", + "video_sha256": "ca376c21ad940d0e6a0fdda48ccde77b0cb3cbf4278fd70cee691f82f2199593", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "fridge_opened": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：机械臂夹爪抵住/勾住门边将其带开，并持续顶住门（log step 102 自述冰箱门松手会关）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动配合开门" + } + ], + "brisket_on_board": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪多次伸向冰箱内的肉块；log step 380 称夹爪闭合到 0，未夹住" + } + ] + } +} diff --git a/phaseK/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax.json b/phaseK/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ac307995fdd81b3f3c5eaefc1c0e8e35183fe2 --- /dev/null +++ b/phaseK/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax", + "taskKey": "behavior-1k/cook_a_frozen_pie", + "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 8625, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 8775, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1410.8, + "replay_timeout_s": 6950.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 51, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax.mp4", + "duration_s": 292.5, + "fps": 30.0, + "frames": 8775, + "sha256": "32ce98bdd9c0dfb500b4acffe1f49802decae5e02bbb45140c6f97c21f368606" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 119.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 119.0, + "log_step": null, + "text_zh": "观察：视频 39 s 时冰箱双门仍闭合；视频 119 s 起头部相机可见右侧门向外转开，露出内部搁架与派（之后 120-290 s 一直敞开）。推断：开门发生在视频 40-119 s 之间（该段机器人倾斜、镜头对着天花板，开门瞬间未见），开启时刻约 119 s 为首次看到。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "开门过程未入镜（40-119 s 镜头朝天花板），接触方式不可判" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶至冰箱前并在开门过程中移动" + } + ] + }, + "heat_source_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全视频未见机器人接近平顶烤炉/烤箱/炉灶控制点，也未见标记变绿；末段 200-292 s 一直在冰箱前。" + } + ] + }, + "pie_cooked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 270.0, + "log_step": null, + "text_zh": "观察：视频 200-292 s 腕部相机显示夹爪在冰箱搁架上的派边缘附近，派始终留在搁架上、未被拿走，也未接近热源；评分 q_score=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：腕部画面夹爪靠近派边缘；未见夹住或带动派" + } + ] + }, + "pie_on_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：派始终在冰箱搁架上，未见托盘，q_score=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pie_cooked", + "t": 200.0, + "log_step": 289, + "where": "操作中", + "evidence_zh": "观察：视频约 180-292 s 机器人在敞开的冰箱前，夹爪靠近搁架上的派边缘，派始终留在搁架上、未被取出。第一步“取出派”未完成，后续热源/托盘均未开始。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 200.0, + "log_step": 289, + "evidence_zh": "观察：腕部相机 200-292 s 夹爪在派边缘附近，派留在搁架上、位置不随夹爪变化。推断：未建立有效抓取接触；agent 自述（worker 会话 log step 285-289）不是被重放的 8625 步的证据，视频也无法判断夹爪是否碰到派。" + } + ], + "root_causes": [], + "gap_zh": "视频 40-119 s 机器人倾斜、镜头朝天花板，冰箱开门瞬间未见；无状态日志，派是否被夹爪碰动只凭腕部画面判断。 腕部画面占满派而无法判断夹爪是否接触派；agent 自述来自多会话 worker（4 会话、3 次重置，“best continuous prefix”），未必在重放内。 证据不足以判定根因：仅有 agent 自述，重放帧只见夹爪靠近派边缘、派留在搁架。", + "unmet": { + "pie_cooked": false, + "pie_on_tray": false + } + }, + "summary_zh": "观察：机器人做到打开冰箱（视频 119 s 首次见门已开），随后在冰箱前靠近搁架上的派但未取出，热源未开、派未烤熟、未上托盘（1/4 节点，q_score 0）。断点在取派（pie_cooked 步骤）。根因证据不足（仅有 agent 自述，未被重放验证），不判定。缺口：开门瞬间被遮，无状态日志。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（开冰箱 true、其余 false、q=0）与断点大体可接受；但失败现象和根因的证据全部来自 agent 在会话 worker 里的自述（log step 80/280-289），并被写成对已交付、重放视频 200-292 s 的“观察”，且 contact_actual 的“抓握”“勾”缺帧支撑。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（开冰箱 true、其余 false、q=0）、断点 pie_cooked 及接触标注可接受；但根因“抓取和接触设计”完全依赖 agent 会话自述（审查规则：自述与会话读数不算证据），应改为证据不足。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 的接受已完整落实：root_causes 为空，gap_zh 写明证据不足，summary_zh 已无可能原因句。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的接受已完整落实：root_causes 为空，gap_zh 写明证据不足，summary_zh 已无可能原因句。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-a-frozen-pie-i00-privileged--5bjq9ax/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "65620e33e0f220495b956f8765ff4d812dd5a7295bbf6248548408ecfce8bdac", + "video_sha256": "32ce98bdd9c0dfb500b4acffe1f49802decae5e02bbb45140c6f97c21f368606", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2.json b/phaseK/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0fcd99210f38228c883a5cdeb531d61eac7e55 --- /dev/null +++ b/phaseK/behavior-1k/cook_a_frozen_pie/trajectories/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-a-frozen-pie-i00-standard--tvpsuw2", + "taskKey": "behavior-1k/cook_a_frozen_pie", + "dag_sha256": "d00050bfce362a5142c45adf0c68a6b7072f4aa5bda1d9b540421c39c788325f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 20397, + "sim_steps": 20547, + "physics_steps": 82188, + "steps": 3616, + "elapsed_s": 6511.5, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.298, + "peak_processes": 9, + "peak_disk_gb": 0.553, + "peak_cpus": 3.12, + "peak_pids": 90, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-a-frozen-pie-i00-standard--tvpsuw2.mp4", + "duration_s": 685.0, + "fps": 10.0, + "frames": 6850, + "sha256": "03dbf866da746e13072745e45a884f0df40a0201e13599f5563c99b68997ec19" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 174.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 174.5, + "log_step": 216, + "text_zh": "观察：视频约185 s 帧已见黑框玻璃冰箱门被拉开、门与箱体间出现通路，之后可见架上的派。服务读数（log step 216，被评分 episode）：开门动作结束时 control_steps=5236、sim_time=174.5 s；视频 685 s 对应 20547 步（30 Hz），故视频时刻≈174.5 s，与185 s 帧已开门一致。agent 自述约 40° 开门（log step 215）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪夹住冰箱门把手/门缘并沿弧线拉开" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到冰箱前配合拉门" + } + ] + }, + "heat_source_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 685.0, + "log_step": 530, + "text_zh": "观察：全程画面中未见平顶烤炉控制标记变绿（视频约 260 s 处所见控制标记仍为红色）；agent 最终自述未完成烹饪（log step 530）。" + } + ] + }, + "pie_cooked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 685.0, + "log_step": 530, + "text_zh": "观察：派始终在冰箱架上，未被抓取，也未见其被放到开启的热源上；评分 q_score=0。热源未开。" + } + ] + }, + "pie_on_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 685.0, + "log_step": 530, + "text_zh": "观察：视频末段（约 600–685 s）派仍位于冰箱货架上，从未移到台面托盘；agent 自述无已验证的抓取（log step 530）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：末段夹爪伸入冰箱接近派，但视频中未见夹住并取出派" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pie_on_tray", + "t": 300.0, + "where": "操作中", + "evidence_zh": "观察：冰箱开启后机器人大部分视频时间（约 200–685 s）停留在冰箱前用夹爪够取、对准架上的派，从未抓取成功，也未去开热源。推断：这是操作中卡住——实际卡在取出派（pie_on_tray 的前置，DAG 无独立节点），热源/烤熟均未开始。", + "log_step": 519 + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 600.0, + "log_step": 519, + "evidence_zh": "观察：视频约 400–685 s 夹爪多次靠近冰箱架上的派，但画面中派始终留在架上，未见夹爪夹住。agent 自述门缘挡住底盘、需斜向够取（log step 519）。" + } + ], + "root_causes": [], + "gap_zh": "观察视角为腕/头部相机，部分帧全黑，派的抓取细节不全；无状态日志。根因因证据不足不判：门缘遮挡/IK 限制仅来自 agent 自述（log step 519），未独立验证。", + "unmet": { + "pie_cooked": false, + "pie_on_tray": false + } + }, + "summary_zh": "观察：视频 685 s 中冰箱门约在视频 185 s 被打开（节点1达成），之后机器人一直试图取冰箱内的派，从未取出；热源未开，派未烤熟、未上托盘，q_score=0。断点取开启热源（实际卡在取派），根因证据不足；视频与 agent 会话时钟不同（agent 7000 s），未做换算。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（开冰箱达成、其余未达成、final=1/4、q=0）与视频一致；问题在断点 where=转场 与开冰箱时间可换算而未换算。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（冰箱开启 174.5 s 达成，其余未达成，final=1/4，q=0）、断点（pie_on_tray，操作中）与视频一致；派始终在冰箱架上，根因因证据不足留空并附 gap_zh，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:08:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/behavior-cook-a-frozen-pie-i00-standard--tvpsuw2/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bf98a95116cc028bdacc2c715cdec6c548545b3cc46b7b50a45a3e1ea6c42550", + "video_sha256": "03dbf866da746e13072745e45a884f0df40a0201e13599f5563c99b68997ec19", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--3n8rjnx.json b/phaseK/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--3n8rjnx.json new file mode 100644 index 0000000000000000000000000000000000000000..30ae29b02f020425f763f8a197d172268c43053a --- /dev/null +++ b/phaseK/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-privileged--3n8rjnx.json @@ -0,0 +1,323 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-bacon-i00-privileged--3n8rjnx", + "taskKey": "behavior-1k/cook_bacon", + "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 10354, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 10504, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 8133.5, + "replay_timeout_s": 8102.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.405, + "peak_memory_gb": 22.711, + "peak_processes": 77, + "peak_disk_gb": 0.916, + "peak_cpus": 8.05, + "peak_pids": 744, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-bacon-i00-privileged--3n8rjnx.mp4", + "duration_s": 350.134, + "fps": 30.0, + "frames": 10504, + "sha256": "509f9674c8abc48eb2547a9c145aa0a694e0b0146c82e04ab3884c121691ba9c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 162.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 162.5, + "log_step": null, + "text_zh": "观察：视频 162.5 s 与 165 s 头部相机看到冰箱的白色门板已向外转开（此前视频同一位置为贴合柜体的关闭门）；之后视频 200 s 起门板长时间占满腕/头视角。推断：首次打开的时刻不晚于视频约 162 s，具体起点不确定（中间头部视角常看不到冰箱）。agent 自述门被拉到 1.4 rad（log step 154，会话证据）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂夹爪两指夹住冰箱门把手拉开（agent 自述 log step 137、152），视频未能逐帧核实抓握细节；之后底盘后退带动门张开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶到冰箱前并在抓住门把手时后退，沿门弧开门。" + } + ] + }, + "heat_enabled": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：头部与腕部视角在视频中从未清楚拍到灶台控制按钮或绿灯，视频约 60-80 s 腕相机只见一个红点，无法判断热源状态。agent 自述“cooktop is now confirmed on”（log step 92）只是会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "agent 自述用指尖压灶台开关标记（log step 90-92），视频未能核实。" + } + ] + }, + "bacon_cooked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 349.0, + "log_step": 193, + "text_zh": "观察：视频末段（约 200-350 s）只见冰箱门板、托盘区和地面，从未见到培根在热源上变熟。推断：评分器 q_score=0 而初态已关的冰箱不计分，故没有任何一片培根达到 Cooked（由总分逻辑推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右臂夹爪夹托盘边缘取出托盘（agent 自述 log step 185），托盘倾斜后培根滑落，视频只见门板/托盘近景。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移到冰箱前并带托盘后退。" + } + ] + }, + "bacon_cooked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 349.0, + "log_step": 193, + "text_zh": "观察：视频末段（约 200-350 s）只见冰箱门板、托盘区和地面，从未见到培根在热源上变熟。推断：评分器 q_score=0 而初态已关的冰箱不计分，故没有任何一片培根达到 Cooked（由总分逻辑推断）。" + } + ] + }, + "bacon_cooked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 349.0, + "log_step": 193, + "text_zh": "观察：视频末段（约 200-350 s）只见冰箱门板、托盘区和地面，从未见到培根在热源上变熟。推断：评分器 q_score=0 而初态已关的冰箱不计分，故没有任何一片培根达到 Cooked（由总分逻辑推断）。" + } + ] + }, + "bacon_cooked_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 349.0, + "log_step": 193, + "text_zh": "观察：视频末段（约 200-350 s）只见冰箱门板、托盘区和地面，从未见到培根在热源上变熟。推断：评分器 q_score=0 而初态已关的冰箱不计分，故没有任何一片培根达到 Cooked（由总分逻辑推断）。" + } + ] + }, + "bacon_cooked_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 349.0, + "log_step": 193, + "text_zh": "观察：视频末段（约 200-350 s）只见冰箱门板、托盘区和地面，从未见到培根在热源上变熟。推断：评分器 q_score=0 而初态已关的冰箱不计分，故没有任何一片培根达到 Cooked（由总分逻辑推断）。" + } + ] + }, + "bacon_cooked_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 349.0, + "log_step": 193, + "text_zh": "观察：视频末段（约 200-350 s）只见冰箱门板、托盘区和地面，从未见到培根在热源上变熟。推断：评分器 q_score=0 而初态已关的冰箱不计分，故没有任何一片培根达到 Cooked（由总分逻辑推断）。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 162.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 162.5, + "log_step": null, + "text_zh": "观察：冰箱初态关闭（视频开头门贴合柜体）；约视频 162 s 起门被拉开，直到视频结束（350 s 前最后帧仍见门板敞开）门都没有关回。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bacon_cooked_1", + "t": null, + "log_step": 186, + "where": "操作中", + "evidence_zh": "观察：视频中机器人开了冰箱后一直在冰箱前处理托盘；agent 自述（log step 186、188）托盘取出时只有两片留在托盘上，其余滑到后层，再次插入时托盘倾斜、培根掉落，最后 agent 说无法完成（log step 196）。推断：断点在把培根（托盘）从冰箱取出送往热源这一步，从未走到加热，q_score=0。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": null, + "log_step": 186, + "evidence_zh": "观察：agent 自述（log step 186、188）托盘取出后培根滑落、托盘倾斜掉落培根；视频末段近景与此不矛盾但看不清培根，故只作低置信度记录。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；头部与腕相机多数时间看不清培根与托盘，培根滑落和托盘抓取细节来自 agent 自述（log step 183-188），未经视频核实；根因证据不足（轨迹跟踪失稳 torso 关节饱和只见于 agent 自述 log step 164-167），故根因留空。热源节点 heat_enabled 视频无法判断，记为未知。", + "unmet": { + "bacon_cooked_1": false, + "bacon_cooked_2": false, + "bacon_cooked_3": false, + "bacon_cooked_4": false, + "bacon_cooked_5": false, + "bacon_cooked_6": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：特权重放（视频 350.1 s）中机器人驶到冰箱前把门拉开（约视频 162 s 前），但培根始终没有做熟，q_score=0。推断：断点在把装培根的托盘取出送往灶台这一步（agent 自述托盘抓取后培根滑落、托盘倾斜，log step 186-188），热源是否开启视频无法确认。证据缺口：无状态日志，视频视角少见托盘与灶台。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "标注整体保守：fridge_opened≈视频162 s、fridge_closed最后帧仍开、六片培根未熟（q_score=0）、heat_enabled因视频看不清记unknown、断点在托盘取出/转运步，均与我抽查的帧不矛盾（视频290-349 s可见冰箱门板、托盘落在地面，未见培根在热源上）。未发现可证伪的错误；开门起点只能确认不晚于约162 s，无法进一步收紧。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-bacon-i00-privileged--3n8rjnx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-bacon-i00-privileged--3n8rjnx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bb9535ece35ee3152316e58174b5c85d7018263eeb03cb056e62cc3781662f0e", + "video_sha256": "509f9674c8abc48eb2547a9c145aa0a694e0b0146c82e04ab3884c121691ba9c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--xqak57a.json b/phaseK/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--xqak57a.json new file mode 100644 index 0000000000000000000000000000000000000000..94c4232aa6499a999f5c9343daec678a41cae3dc --- /dev/null +++ b/phaseK/behavior-1k/cook_bacon/trajectories/behavior-cook-bacon-i00-standard--xqak57a.json @@ -0,0 +1,351 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-bacon-i00-standard--xqak57a", + "taskKey": "behavior-1k/cook_bacon", + "dag_sha256": "436960e028055689855df9a0ab19653897ca4b01a7cdc6525e18a38048ea1e94", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 10787, + "sim_steps": 10937, + "physics_steps": 43748, + "steps": 1728, + "elapsed_s": 6251.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.299, + "peak_processes": 9, + "peak_disk_gb": 0.553, + "peak_cpus": 1.76, + "peak_pids": 216, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-bacon-i00-standard--xqak57a.mp4", + "duration_s": 364.6, + "fps": 10.0, + "frames": 3646, + "sha256": "79679d80fe13aa6c7108337649f49271a1048d6fa243fc64284a1dbfe5f5fc10" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 34.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.0, + "log_step": 113, + "text_zh": "观察：视频 36 s 起右侧头部视角里冰箱门板白色大幅向外敞开，直到视频 120 s 仍见敞开并露出托盘与培根；开启时刻在视频 30–36 s 之间（约 34 s）。agent 自述门开约 50°、后又掰到 85–90°（log step 113、142）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪握住门把手拉开，随后抓门板自由边把门推到约 85–90°（log step 90、142）；底盘驶到冰箱前。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶到冰箱前并多次平移调整。" + } + ] + }, + "heat_enabled": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 右视角灶台旋钮旁为红色指示点、无绿灯；对照录像 172 s 热源开启后同位置为绿灯。agent 末步自述按到旁边灰色开关、'无法验证'（log step 569）。判为未开启（N8：缺绿灯线索）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：右夹爪（闭合）按灶台控制面板，agent 自述停在邻近灰色开关上（log step 569），灯未变绿，未见热源开启。" + } + ] + }, + "bacon_cooked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 托盘斜搭在灶台边，培根仍为粉红色生肉；一片培根落在托盘外，见于约 200 s 帧；全程无熟肉外观；评分器 q_score=0.0 与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：agent 用夹爪抓托盘壁并把托盘搬向灶台（log step 412-558），培根片被带出托盘，一片落在托盘外；培根从未被加热。" + } + ] + }, + "bacon_cooked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 托盘斜搭在灶台边，培根仍为粉红色生肉；一片培根落在托盘外，见于约 200 s 帧；全程无熟肉外观；评分器 q_score=0.0 与此一致。" + } + ] + }, + "bacon_cooked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 托盘斜搭在灶台边，培根仍为粉红色生肉；一片培根落在托盘外，见于约 200 s 帧；全程无熟肉外观；评分器 q_score=0.0 与此一致。" + } + ] + }, + "bacon_cooked_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 托盘斜搭在灶台边，培根仍为粉红色生肉；一片培根落在托盘外，见于约 200 s 帧；全程无熟肉外观；评分器 q_score=0.0 与此一致。" + } + ] + }, + "bacon_cooked_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 托盘斜搭在灶台边，培根仍为粉红色生肉；一片培根落在托盘外，见于约 200 s 帧；全程无熟肉外观；评分器 q_score=0.0 与此一致。" + } + ] + }, + "bacon_cooked_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 345.0, + "log_step": 569, + "text_zh": "观察：视频 345 s 托盘斜搭在灶台边，培根仍为粉红色生肉；一片培根落在托盘外，见于约 200 s 帧；全程无熟肉外观；评分器 q_score=0.0 与此一致。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 34.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 363.0, + "log_step": 562, + "text_zh": "观察：初态门关闭（视频 0–约 34 s）；之后门敞开，视频 120、200、280 s 帧可见冰箱仍敞开；345–363 s 冰箱不在视野内。final:false 依据为开门后从未见关门帧，加 agent 末步仍计划'之后关冰箱'（log step 562）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bacon_cooked_1", + "t": 120.0, + "log_step": 412, + "where": "操作中", + "evidence_zh": "观察：冰箱开后机器人在视频约 120–345 s 反复伸入冰箱抓托盘/培根（agent 自述托盘抓取多次滑脱，log step 228、412），最终托盘斜搭在灶台边、培根仍是生肉、有一片落在托盘外（视频 200 / 345 s）；未见热源开启（345 s 红灯），从未有培根变熟。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 345.0, + "log_step": 412, + "evidence_zh": "观察：培根片搭在夹爪上搬运、散落到托盘外，约 200 s 帧可见一片落在托盘外；agent 自述抓托盘'滑脱'（log step 228、412）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述夹爪指垫未夹到托盘浅边沿、多次改换抓法（log step 228、330、355、431）；视频中夹取反复失败，培根被带出托盘。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志；视频为三视角拼接且分辨率低，灶台指示灯红色可辨（345 s 红点、无绿灯，对照录像开启为绿灯），heat_enabled 记 false；视频时间约 365 s 而 agent 会话约 7200 s，两者不换算，各时间均来自所看帧。", + "unmet": { + "bacon_cooked_1": false, + "bacon_cooked_2": false, + "bacon_cooked_3": false, + "bacon_cooked_4": false, + "bacon_cooked_5": false, + "bacon_cooked_6": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：graded 录像中机器人在视频约 34 s 前后打开冰箱，之后反复尝试取托盘，最终把托盘斜搭到灶台边，但培根仍是生肉、一片落在托盘外，冰箱仍开着，q_score=0。断点在第1片培根做熟（取托盘/培根到灶台一环），现象为培根/托盘没保持住，根因推断为抓取接触设计不适配（agent 自述）。345 s 灶台为红灯、无绿灯，判热源未开启。（进度计数 1/9）", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "整体（冰箱约34 s打开、六片培根未熟、断点在第1片培根、抓取/没保持住）与帧一致；但 heat_enabled 记 unknown 理由不实：视频345 s 灶台控制区清楚可见红色指示点、无绿灯，而对照录像中热源开启时是绿灯，故应判未达成；另有两处证据描述与帧不符。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "冰箱约34 s打开、heat_enabled判未开启（345 s红点无绿灯）、六片培根未熟、q_score=0、断点在第1片培根及没保持住/抓取接触设计均与帧一致；上一轮问题已修正，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-bacon-i00-standard--xqak57a/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-bacon-i00-standard--xqak57a/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-bacon-i00-standard--xqak57a/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-bacon-i00-standard--xqak57a/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a3f1ffee5488b2f7b0dc33549c01b2d584c662b3ba9b82299c7dc580afe35298", + "video_sha256": "79679d80fe13aa6c7108337649f49271a1048d6fa243fc64284a1dbfe5f5fc10", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ce2feka.json b/phaseK/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ce2feka.json new file mode 100644 index 0000000000000000000000000000000000000000..5e01c192aad942b8234cda19ab14c1d1a83f0985 --- /dev/null +++ b/phaseK/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-privileged--ce2feka.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-broccolini-i00-privileged--ce2feka", + "taskKey": "behavior-1k/cook_broccolini", + "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 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"evidence": [ + { + "t": null, + "log_step": 403, + "text_zh": "观察：无视频、无状态日志，评分器仅给出 success=0、missing_trajectory=1，无 q_score；agent 在 log step 403-408（agent 工作约 7070-7184 s）仍在调试第一根西兰苔的放入，未交付轨迹。无法判定该节点，保持未知。" + } + ] + }, + "broccolini_cooked_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 403, + "text_zh": "观察：无视频、无状态日志，评分器仅给出 success=0、missing_trajectory=1，无 q_score；agent 在 log step 403-408（agent 工作约 7070-7184 s）仍在调试第一根西兰苔的放入，未交付轨迹。无法判定该节点，保持未知。" + } + ] + }, + "cloves_cooked_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 403, + "text_zh": "观察：无视频、无状态日志，评分器仅给出 success=0、missing_trajectory=1，无 q_score；agent 在 log step 403-408（agent 工作约 7070-7184 s）仍在调试第一根西兰苔的放入，未交付轨迹。无法判定该节点，保持未知。" + } + ] + }, + "cloves_cooked_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 403, + "text_zh": "观察：无视频、无状态日志，评分器仅给出 success=0、missing_trajectory=1，无 q_score；agent 在 log step 403-408（agent 工作约 7070-7184 s）仍在调试第一根西兰苔的放入，未交付轨迹。无法判定该节点，保持未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "broccolini_in_pan_1", + "t": null, + "log_step": 408, + "where": "首步前", + "evidence_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未交付任何轨迹，graded episode 为空。观察：log step 403-408 agent 仍在用笛卡尔路点调试把第一根西兰苔放入锅内（agent 自述“arm-only placement”），日志中 agent 工作 7116-7184 s，接近 7200 s 时限。推断：失败步骤为第1个西兰苔入锅（agent 会话中最后在处理的一步）。" + }, + "unmet": { + "broccolini_in_pan_1": null, + "broccolini_in_pan_2": null, + "broccolini_in_pan_3": null, + "cloves_in_pan_1": null, + "cloves_in_pan_2": null, + "pan_on_stove": null, + "broccolini_cooked_1": null, + "broccolini_cooked_2": null, + "broccolini_cooked_3": null, + "cloves_cooked_1": null, + "cloves_cooked_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志，且未交付轨迹（missing_trajectory=1），不存在可检视的 graded 尝试，故不给失败现象与根因；会话内的 IK 躯干跳变、放入后食物落地（log step 286）只是会话证据，不作标签。时限与 agent 停止不是现象或根因。" + }, + "summary_zh": "观察：本次运行无视频、无状态日志，评分器报告 success=0 且 missing_trajectory=1，agent 在 7200 s 限时内（log step 408 仍在调试第一根西兰苔放入）未交付轨迹，所有节点无法判定（未知）。断点记在第1个西兰苔入锅（首步前，无交付），现象与根因因无 graded 证据留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1 且 agent_records=0，未交付轨迹；所有节点 unknown、现象与根因为空并带 gap_zh，符合 03 的 agent 侧未交付规则（D23）。断点记在最后处理的第1个西兰苔入锅、首步前，log 步骤与 agent 工作时间（7069.7–7184.4 s）与 run.json 一致，未把时限或停止当作现象。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:55:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-cook-broccolini-i00-privileged--ce2feka/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-cook-broccolini-i00-privileged--ce2feka/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e70cf6ad4d0cdc5f8710720abcdb7b54e3d95f78635696864ff7b492c8bbf228", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--rxmytft.json b/phaseK/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--rxmytft.json new file mode 100644 index 0000000000000000000000000000000000000000..02ff9c846a0dcdda927722ad9ff8c7671fcd38b0 --- /dev/null +++ b/phaseK/behavior-1k/cook_broccolini/trajectories/behavior-cook-broccolini-i00-standard--rxmytft.json @@ -0,0 +1,381 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-broccolini-i00-standard--rxmytft", + "taskKey": "behavior-1k/cook_broccolini", + "dag_sha256": "f1cd536622766f2334eaee5d52499d4d60bbd6e7ca60835a06f6a9df964b2826", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9128, + "sim_steps": 9278, + "physics_steps": 37112, + "steps": 7465, + "elapsed_s": 6664.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.256, + "peak_processes": 11, + "peak_disk_gb": 0.792, + "peak_cpus": 1.62, + "peak_pids": 151, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-broccolini-i00-standard--rxmytft.mp4", + "duration_s": 309.3, + "fps": 10.0, + "frames": 3093, + "sha256": "f78936b4be0c0e3dc5b8e245be3f3fc26633853eb98466af9c3ca459d316b4d9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 12, + "base": 0, + "peak": 1, + "final": 0, + "nodes": { + "heat_source_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "broccolini_in_pan_1": { + "method": "visual", + "intervals": [ + [ + 287.0, + 301.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 288.0, + "log_step": null, + "text_zh": "观察：视频 288 s 右腕视角：一根西兰苔完整躺在黑色煎锅内表面（茎与花序在锅底）；286 s 夹爪夹持该根在锅上方，故 ≈287 s 起记为达成。" + }, + { + "t": 300.0, + "log_step": null, + "text_zh": "观察：视频 300 s 右腕视角锅沿处仍见绿色西兰苔；304 s 起右腕帧中西兰苔在夹爪处、锅已移开，故丢失时刻约 301-304 s（推断，误差约 ±2 s，运动模糊）。终态 q_score=0 故 final=false（评分器上界）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 300-308 s 右腕夹爪在煎锅旁夹持/拨弄一根西兰苔；底盘全程移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在厨房内行驶并支承机械臂" + } + ] + }, + "broccolini_in_pan_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "broccolini_in_pan_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "cloves_in_pan_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "cloves_in_pan_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "pan_on_stove": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：agent 脚本先抓煎锅手柄移锅（log step 22、207），视频中锅最终在不锈钢台面而非炉灶" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘行驶并支承机械臂" + } + ] + }, + "broccolini_cooked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "broccolini_cooked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "broccolini_cooked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "cloves_cooked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + }, + "cloves_cooked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 308.0, + "log_step": null, + "text_zh": "观察：视频 308 s 末帧：煎锅在不锈钢台面上（头部视角），不在炉灶上；全程 0-309 s 未见炉灶旋钮变红或锅内食材受热，评分器 q_score=0（共 12 个目标文字均未满足的上界）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "broccolini_in_pan_2", + "t": 296.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：第一根西兰苔在视频 ≈287-301 s 入锅（右腕帧 288 s），之后第二根未入锅，煎锅在 296-308 s 被推移，末帧锅仍在不锈钢台面、不在炉灶上。pan_on_stove 保持未达成，但视频中未见尝试上灶，不作断点（推断：不依赖 agent 自述）。" + }, + "unmet": { + "broccolini_in_pan_1": false, + "broccolini_in_pan_2": false, + "broccolini_in_pan_3": false, + "cloves_in_pan_1": false, + "cloves_in_pan_2": false, + "pan_on_stove": false, + "broccolini_cooked_1": false, + "broccolini_cooked_2": false, + "broccolini_cooked_3": false, + "cloves_cooked_1": false, + "cloves_cooked_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 296.0, + "log_step": null, + "evidence_zh": "推断（低置信）：视频 296 s 右腕帧第二根西兰苔在锅沿/锅外附近，未入锅；因无状态日志，仅视频支持，释放偏出还是锅被碰移看不清。" + } + ], + "root_causes": [], + "gap_zh": "视频仅 309 s，agent 会话约 7203 s（两个时钟不换算）；无状态日志，视角遮挡/运动模糊，西兰苔入锅与丢失时刻 ±2 s，根因（锅被碰移还是放偏）无法确定，故根因留空。pan_on_stove 未见尝试，写入此处说明。" + }, + "summary_zh": "观察：视频 ≈287-301 s 第一根西兰苔曾落入煎锅（peak 1/12），随后第二根未入锅、锅被推移，末帧锅仍在不锈钢台面，炉灶未开，终态 q_score=0，final 0。断点为第二根西兰苔入锅（296 s，操作中）；现象位姿不准（推断，低置信），根因因无状态日志留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "标注把 12 个节点全记为未达成且 peak=0，但视频 284-296 s 右腕视角清楚显示一根西兰苔落在煎锅内（视频 286-290 s 锅内静置），broccolini_in_pan_1 至少曾达成后又失去（final 由 q_score=0 界定为 false）；断点选 pan_on_stove 也缺依据：agent 实际在做西兰苔入锅（第二根落在锅外），从未尝试移锅上灶。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第二轮复核：视频 288 s 右腕帧见一根西兰苔在锅内，304 s 起锅已移开、西兰苔在夹爪处，与 broccolini_in_pan_1 区间 [287,301]、final=false、断点 broccolini_in_pan_2 及低置信位姿不准一致；根因留空并有 gap_zh，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-broccolini-i00-standard--rxmytft/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-broccolini-i00-standard--rxmytft/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-broccolini-i00-standard--rxmytft/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-broccolini-i00-standard--rxmytft/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bba0950c9bb8e18c0807c80ad620eff9df499f5a6c3d4d6f04bdd1422140bb81", + "video_sha256": "f78936b4be0c0e3dc5b8e245be3f3fc26633853eb98466af9c3ca459d316b4d9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs.json b/phaseK/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs.json new file mode 100644 index 0000000000000000000000000000000000000000..7f167cd12913eb23dc9c81559fff4c1cb9123e7b --- /dev/null +++ b/phaseK/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs.json @@ -0,0 +1,520 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs", + "taskKey": "behavior-1k/cook_brussels_sprouts", + "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 3586, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 3736, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1305.1, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 7, + "agent_resets": 12, + "agent_sim_steps": 6650, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.018, + "peak_memory_gb": 16.397, + "peak_processes": 81, + "peak_disk_gb": 2.161, + "peak_cpus": 8.09, + "peak_pids": 620, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs.mp4", + "duration_s": 124.534, + "fps": 30.0, + "frames": 3736, + "sha256": "9c43618a6e56e04bb2411f12dd693a07373947f44a3d055a70d596d37ab0e558" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 24, + "base": 2, + "peak": 2, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 108.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 112.0, + "log_step": null, + "text_zh": "观察：视频 ≈105 s 起机器人驶到冰箱前，视频 111-124 s 头部相机见冰箱门内部搁架露出。推断：至少一扇门开启，约 108 s；agent 自述首次开门弧完成（日志末条）。视角不佳，该节点不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓冰箱门把手拉开第一次弧，第二次抓取失败（agent 自述）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘驶到烤箱/冰箱前并在作业中移动" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [ + [ + 60.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 62.0, + "log_step": null, + "text_zh": "观察：视频 44-52 s 头部相机见右夹爪在烤箱门把手处；视频 58-62 s 烤箱下门板已向外翻开、内部可见。推断：开度超过5%，约 60 s 达成（时间不确定约±3 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪在把手处拉开烤箱门（帧可见夹爪贴近把手，抓握由门随后打开推断）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘驶到烤箱/冰箱前并在作业中移动" + } + ] + }, + "sprouts_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "sprouts_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "sprouts_halved_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "sprouts_halved_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_in_oven_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "halves_cooked_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 124.0, + "log_step": null, + "text_zh": "观察：视频 0-124.5 s 未见机器人拿刀或甘蓝、切半或放入烤箱；评分 q_score=0。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 108.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 112.0, + "log_step": null, + "text_zh": "观察：冰箱开局关闭，约 108 s 打开后至视频结束 124.5 s 仍开着。" + } + ] + }, + "oven_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 60.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 0 s 烤箱门关闭；约 60 s 被打开后视频到 124.5 s 未再关闭（机器人转向冰箱）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "sprouts_halved_1", + "t": 112.0, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：视频 0-62 s 机器人先开烤箱，随后 105-124.5 s 在冰箱前；全程没有拿甘蓝或刀的画面。agent 最终自述（日志末步）轨迹在“refrigerator second grasp failed”处终止，轨迹仅 3586 步，q_score=0。推断：取甘蓝切半的工作从未开始。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 112.0, + "log_step": null, + "evidence_zh": "观察：视频 124.5 s 内没有任何切半动作，也没有拿起甘蓝或刀。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述：生成脚本在冰箱第二次抓取处抛出 RuntimeError 并终止，交付的是不满足目标的部分轨迹（日志末条）。推断：agent 自己的脚本失败，候选“控制脚本异常”。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志，头部视角看不清冰箱门开度与手的抓握；节点时间为目视估计。未逐步核对日志步号。", + "unmet": { + "sprouts_halved_1": false, + "sprouts_halved_2": false, + "sprouts_halved_3": false, + "sprouts_halved_4": false, + "halves_in_oven_1": false, + "halves_in_oven_2": false, + "halves_in_oven_3": false, + "halves_in_oven_4": false, + "halves_in_oven_5": false, + "halves_in_oven_6": false, + "halves_in_oven_7": false, + "halves_in_oven_8": false, + "halves_cooked_1": false, + "halves_cooked_2": false, + "halves_cooked_3": false, + "halves_cooked_4": false, + "halves_cooked_5": false, + "halves_cooked_6": false, + "halves_cooked_7": false, + "halves_cooked_8": false, + "fridge_closed": false, + "oven_closed": false + } + }, + "summary_zh": "观察：特权模式下，机器人在视频约 60 s 打开烤箱，约 108 s 打开冰箱，之后视频结束；没有切半、放入烤箱或烹熟，q_score=0。断点在第1颗切半（工作未开始），推断为 agent 自己的轨迹生成脚本在冰箱第二次抓取处失败而终止（agent 自述）；开门时间为目视估计，证据缺口：无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、日志一致：烤箱约60 s打开，冰箱约108 s前后打开（视角差，已标不确定），之后视频结束，无切半；q_score=0 支持后续节点为假。断点与“没尝试”、控制（控制脚本异常，D38）符合现行规则，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-brussels-sprouts-i00-privileged--h5fwhrs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1b56b6249dba696b1a39a9a4237cf63d2a92970f294490f7999877fb5c3cb85f", + "video_sha256": "9c43618a6e56e04bb2411f12dd693a07373947f44a3d055a70d596d37ab0e558", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--c5fybrk.json b/phaseK/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--c5fybrk.json new file mode 100644 index 0000000000000000000000000000000000000000..3bd2dff3f6d0fec99ce7fd6792719247779d2dba --- /dev/null +++ b/phaseK/behavior-1k/cook_brussels_sprouts/trajectories/behavior-cook-brussels-sprouts-i00-standard--c5fybrk.json @@ -0,0 +1,494 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-brussels-sprouts-i00-standard--c5fybrk", + "taskKey": "behavior-1k/cook_brussels_sprouts", + "dag_sha256": "bf76cda0e3966e940a07729b29828c06815c78a9533d4989ef80a262c4504c19", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 20932, + "sim_steps": 21082, + "physics_steps": 84328, + "steps": 3132, + "elapsed_s": 5958.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.279, + "peak_processes": 10, + "peak_disk_gb": 0.592, + "peak_cpus": 1.62, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-brussels-sprouts-i00-standard--c5fybrk.mp4", + "duration_s": 702.8, + "fps": 10.0, + "frames": 7028, + "sha256": "9f07331415defae38a86950d92f58bf6b11f878ce6f94572f009ed115d5067c2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 24, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。 观察：log step 231 agent 自称“钩开了左门”，但视频里全程未见门板离开门框，最终状态为 done=false 且左门关闭，故不采信。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "机器人左/右夹爪多次试图勾住或抓住冰箱门框/把手（log step 207-255 自述），视频中门板未明显开启，是否实际接触不能逐帧确认" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘移动到冰箱前" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "sprouts_halved_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "sprouts_halved_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "sprouts_halved_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "sprouts_halved_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_5": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_6": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_7": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_in_oven_8": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_5": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_6": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_7": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "halves_cooked_8": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 前后画面仍是关闭的冰箱门框，未见打开的冰箱内腔、小盘、刀或烤箱内部；agent 最终自述左门仍关闭、未取出任何芽菜（log step 329，仅作佐证）。评分 q_score=0。推断：该节点未达成。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 头部/腕部视角中冰箱双门框仍合拢、烤箱未被触碰；该状态节点开局即成立（DAG 初始目标记录），故区间从 0 起。推断：冰箱门从未被有效拉开（见 fridge_opened），按状态节点单独判断为一直关闭；q_score=0 与此不矛盾（开局已成立的条件不计分）。" + } + ] + }, + "oven_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 695.0, + "log_step": 329, + "text_zh": "观察：视频 695 s 头部/腕部视角中冰箱双门框仍合拢、烤箱未被触碰；该状态节点开局即成立（DAG 初始目标记录），故区间从 0 起。推断：冰箱门从未被有效拉开（见 fridge_opened），按状态节点单独判断为一直关闭；q_score=0 与此不矛盾（开局已成立的条件不计分）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": null, + "log_step": 231, + "where": "操作中", + "evidence_zh": "观察：agent 在 log step 159-255 反复用夹爪尝试打开冰箱门，视频中全程只见关闭的门框（如视频 695 s），从未出现取出小盘/切菜；最终 log step 329 称左门仍关闭、未取出任何芽菜。推断：失败于第一步“打开冰箱”，之后从未补救。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为头部/腕部相机的碎片视角，且无状态日志，看不清夹爪与门把手是否接触、为何门未开，故不给失败现象与根因；agent 自述（门框前停手、钩开左门）不能作为证据。", + "unmet": { + "sprouts_halved_1": false, + "sprouts_halved_2": false, + "sprouts_halved_3": false, + "sprouts_halved_4": false, + "halves_in_oven_1": false, + "halves_in_oven_2": false, + "halves_in_oven_3": false, + "halves_in_oven_4": false, + "halves_in_oven_5": false, + "halves_in_oven_6": false, + "halves_in_oven_7": false, + "halves_in_oven_8": false, + "halves_cooked_1": false, + "halves_cooked_2": false, + "halves_cooked_3": false, + "halves_cooked_4": false, + "halves_cooked_5": false, + "halves_cooked_6": false, + "halves_cooked_7": false, + "halves_cooked_8": false, + "fridge_closed": true, + "oven_closed": true + } + }, + "summary_zh": "观察：整段视频（703 s）中冰箱门始终关闭，q_score=0，24 个节点中只有开局即成立的 冰箱已关闭/烤箱已关闭 两个状态节点为真，其余均未达成。推断：失败在第一步打开冰箱门（操作中），之后未取出芽菜、未切未烤。缺口：无状态日志、视角破碎，无法确定门没打开的具体原因，现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "冰箱门全程未见打开，q_score=0，最终只有开局即成立的两个关闭节点为真，与帧和评分一致；断点在 fridge_opened（操作中），现象/根因因视角碎片而留空并给出 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:48Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-brussels-sprouts-i00-standard--c5fybrk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-brussels-sprouts-i00-standard--c5fybrk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ff758a4cd230d9480714a0df7241b11d5de8a1444048a168b02b189f632d90a3", + "video_sha256": "9f07331415defae38a86950d92f58bf6b11f878ce6f94572f009ed115d5067c2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--rbjtjpt.json b/phaseK/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--rbjtjpt.json new file mode 100644 index 0000000000000000000000000000000000000000..b8ece464c2d746734bf15676ee3fb1ecaa6216ad --- /dev/null +++ b/phaseK/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-privileged--rbjtjpt.json @@ -0,0 +1,267 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-cabbage-i00-privileged--rbjtjpt", + "taskKey": "behavior-1k/cook_cabbage", + "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 8354, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 8504, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2924.4, + "replay_timeout_s": 6769.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-cabbage-i00-privileged--rbjtjpt.mp4", + "duration_s": 283.467, + "fps": 30.0, + "frames": 8504, + "sha256": "a4eb11ece48f26f8ac13af4bdfb4d6cb95124fb63b3830ab37c38f18dba65635" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 60.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 56 s 时冰箱旁仍只见封住的门板，视频 60 s 起白色冰箱门离开箱体，64-130 s 门大幅张开，机器人双臂在门边操作把手；之后直到视频 283 s 门一直开着。推断：时间约 ±4 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：视频 68-90 s 一侧夹爪贴住冰箱门把手/门板把门拉开，抓握是否成立看不清，故记为勾" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶至冰箱旁并随开门调整位置" + } + ] + }, + "heat_source_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 120.0, + "log_step": null, + "text_zh": "观察：灶具旋钮指示灯在视频 56-125 s、245-283 s 为红色，仅视频 120 s 一帧在灶具上见绿色光点；无火焰，也没有对照视频，无法判断灶具是否开启。agent 自述“stove is now confirmed on”（log step 128）只是会话证据，不作节点依据。" + } + ] + }, + "pan_at_heat_source": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 100-125 s 灶面后部有橙色反光物体，视频 215-283 s 左夹爪举着一个带通风孔的灰色平底物体靠近灶台，看不出锅底是否对准灶眼。agent 自述锅已放在灶上（log step 135）为会话证据。" + } + ] + }, + "cabbage_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 283.0, + "log_step": null, + "text_zh": "观察：视频 0-283 s 任何帧都没有看到卷心菜被切成丁（没有刀、砧板或锅内切割画面），终帧仍在灶台/冰箱旁搬运阶段。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频 130-283 s 机械臂举着物体在灶台旁，看不出是否在抓卷心菜，没有切割画面" + } + ] + }, + "chili_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 283.0, + "log_step": null, + "text_zh": "观察：视频 0-283 s 任何帧都没有看到辣椒被切成丁（没有刀、砧板或锅内切割画面），终帧仍在灶台/冰箱旁搬运阶段。" + } + ] + }, + "cabbage_cooked_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 283.0, + "log_step": null, + "text_zh": "观察：视频 283 s 终帧锅中没有可见的熟菜丁；其前置节点未达成；评分器 q_score=0。" + } + ] + }, + "chili_cooked_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 283.0, + "log_step": null, + "text_zh": "观察：视频 283 s 终帧锅中没有可见的熟菜丁；其前置节点未达成；评分器 q_score=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabbage_diced", + "t": 283.0, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：视频 130-283 s 冰箱门开着，机器人一侧夹爪举着物体在灶台与冰箱之间，直到视频 283 s 结束都没有切菜画面；评分器 q_score=0、goal=0。推断：卷心菜切丁一步尚未开始。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象和根因未给：头部相机常被冰箱门和灶台遮挡，看不出手中物体是什么、是否有抓取丢失；无状态日志。agent 日志是会话内的多次重置与调试（agent_resets 4），不能当作图中事实。热源开启和锅放灶上两节点无法判断（unknown）。", + "unmet": { + "cabbage_cooked_in_pan": false, + "chili_cooked_in_pan": false + } + }, + "summary_zh": "观察：视频 60 s 左右机器人拉开冰箱门并保持到 283 s；之后举着物体在灶台旁，未见任何切菜或烹饪。热源开启、锅放上热源无法从画面判断；切丁与煮熟节点未达成，q_score=0。断点为卷心菜切丁，现象与根因因遮挡和无状态日志留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点（冰箱开启约60 s、热源/锅位unknown、切丁与煮熟未达成）与视频帧一致，断点cabbage_diced及空现象层（有gap_zh）在现有证据下可接受；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-cabbage-i00-privileged--rbjtjpt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-cabbage-i00-privileged--rbjtjpt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2eeafad0600496a4b0c9e421c5681f2f5c8bf272976975e4b1c3b241698d94f6", + "video_sha256": "a4eb11ece48f26f8ac13af4bdfb4d6cb95124fb63b3830ab37c38f18dba65635", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--ppk9vfq.json b/phaseK/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--ppk9vfq.json new file mode 100644 index 0000000000000000000000000000000000000000..124f71afd494a68eb0ebc7a76b838253e4d34ce2 --- /dev/null +++ b/phaseK/behavior-1k/cook_cabbage/trajectories/behavior-cook-cabbage-i00-standard--ppk9vfq.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-cabbage-i00-standard--ppk9vfq", + "taskKey": "behavior-1k/cook_cabbage", + "dag_sha256": "6c041940456d17727dc9db527f9c928aaf9fc5d2815fc6bdacfa60aff9b851bd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 15085, + "sim_steps": 15235, + "physics_steps": 60940, + "steps": 4047, + "elapsed_s": 6279.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.225, + "peak_processes": 9, + "peak_disk_gb": 0.493, + "peak_cpus": 1.65, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-cabbage-i00-standard--ppk9vfq.mp4", + "duration_s": 507.9, + "fps": 10.0, + "frames": 5079, + "sha256": "81d78e2f1c2c462b8e43ba1cb00040ec0e9e257f7066d9b12bc3136239ddaba4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": 221, + "text_zh": "观察：视频 235–285 s 头部/腕部相机多次对着白色门板和旁边黑色烤箱把手；烤箱绿灯全程亮着，没有一帧出现冰箱隔层或门板离开箱体；视频 505 s 末帧机器人已转离，看向客厅。agent 自述“手腕看到的是旁边的烤箱，门仍关着”（log step 221）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：右/左夹爪反复伸向冰箱把手所在凹槽，手指停在烤箱前沿或白色门板上，没有抓住把手；底盘靠近冰箱并多次调整位置，" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动靠近冰箱并多次移动调整位置" + } + ] + }, + "heat_source_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 505, + "log_step": 243, + "text_zh": "观察：全程画面中没有煎锅上灶、灶具开启、切菜或锅内食材的画面（视频 0–508 s 抽帧）；绿灯是烤箱面板上的指示灯，从视频 235 s 起一直亮着，不是机器人按键所致。推断：前置的冰箱步骤未完成，后续节点未做。" + } + ] + }, + "pan_at_heat_source": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 505, + "log_step": 243, + "text_zh": "观察：全程画面中没有煎锅上灶、灶具开启、切菜或锅内食材的画面（视频 0–508 s 抽帧）；绿灯是烤箱面板上的指示灯，从视频 235 s 起一直亮着，不是机器人按键所致。推断：前置的冰箱步骤未完成，后续节点未做。" + } + ] + }, + "cabbage_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 505, + "log_step": 243, + "text_zh": "观察：全程画面中没有煎锅上灶、灶具开启、切菜或锅内食材的画面（视频 0–508 s 抽帧）；绿灯是烤箱面板上的指示灯，从视频 235 s 起一直亮着，不是机器人按键所致。推断：前置的冰箱步骤未完成，后续节点未做。" + } + ] + }, + "chili_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 505, + "log_step": 243, + "text_zh": "观察：全程画面中没有煎锅上灶、灶具开启、切菜或锅内食材的画面（视频 0–508 s 抽帧）；绿灯是烤箱面板上的指示灯，从视频 235 s 起一直亮着，不是机器人按键所致。推断：前置的冰箱步骤未完成，后续节点未做。" + } + ] + }, + "cabbage_cooked_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 505, + "log_step": 243, + "text_zh": "观察：全程画面中没有煎锅上灶、灶具开启、切菜或锅内食材的画面（视频 0–508 s 抽帧）；绿灯是烤箱面板上的指示灯，从视频 235 s 起一直亮着，不是机器人按键所致。推断：前置的冰箱步骤未完成，后续节点未做。" + } + ] + }, + "chili_cooked_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 505, + "log_step": 243, + "text_zh": "观察：全程画面中没有煎锅上灶、灶具开启、切菜或锅内食材的画面（视频 0–508 s 抽帧）；绿灯是烤箱面板上的指示灯，从视频 235 s 起一直亮着，不是机器人按键所致。推断：前置的冰箱步骤未完成，后续节点未做。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 250, + "log_step": 221, + "where": "操作中", + "evidence_zh": "观察：视频约 235–505 s 机器人一直在冰箱/烤箱把手处尝试，门始终没离开箱体；agent 自述抓握过低、手指停在烤箱前沿、凹槽进不去（log step 180、206、209、228）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 250, + "log_step": 209, + "evidence_zh": "观察：视频 235–505 s 夹爪从未抓住冰箱把手，门板始终闭合；log step 221 自述“深色的是旁边的烤箱，门仍关着”。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述把手是紧贴烤箱的凹槽，张开的夹爪塞不进去、闭合夹爪被面板挡住（log step 206、209、228、229）；多种接近角度均未成功，未验证其他可行方案。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志；视频是三路相机拼接（头部+双腕）且分辨率低，无法确认哪块面板才是冰箱门，agent 本人也未确认（log step 243）。前 1200 s agent 时间用于等待仿真启动，不是视频内容。", + "unmet": { + "cabbage_cooked_in_pan": false, + "chili_cooked_in_pan": false + } + }, + "summary_zh": "观察：视频 508 s 内机器人只在冰箱/烤箱把手处反复尝试拉门，没有一个节点达成（0/7）。断在“打开冰箱”：夹爪没能抓住紧贴烤箱的凹槽把手，门始终闭合；推断根因为接触设计不适配，且 agent 自己也不确定哪块白板是冰箱。无状态日志，q_score=0。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频一致：全程无节点达成（q=0），冰箱门未见打开，断点 fridge_opened 与接触/抓取设计根因有证据支持；无状态日志，证据不足处已在 gap_zh 说明。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-cabbage-i00-standard--ppk9vfq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-cabbage-i00-standard--ppk9vfq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dca06458886be2f3273594d5b3f10fc2a594c7fa04063682401f0ad2ca0fe95a", + "video_sha256": "81d78e2f1c2c462b8e43ba1cb00040ec0e9e257f7066d9b12bc3136239ddaba4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_hot_dogs/trajectories/behavior-cook-hot-dogs-i00-privileged--mfwbhno.json b/phaseK/behavior-1k/cook_hot_dogs/trajectories/behavior-cook-hot-dogs-i00-privileged--mfwbhno.json new file mode 100644 index 0000000000000000000000000000000000000000..a2d5d7436d83996cc7a29dd6568359cf8b24c7b1 --- /dev/null +++ b/phaseK/behavior-1k/cook_hot_dogs/trajectories/behavior-cook-hot-dogs-i00-privileged--mfwbhno.json @@ -0,0 +1,184 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-hot-dogs-i00-privileged--mfwbhno", + "taskKey": "behavior-1k/cook_hot_dogs", + "dag_sha256": "e4e56cb15fd41bb6774ed8f95eaf0a9a5618338c0ee4fa13e4c93482b67b350d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 1, + "agent_resets": 9, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.687, + "peak_memory_gb": 13.749, + "peak_processes": 45, + "peak_disk_gb": 0.919, + "peak_cpus": 8.08, + "peak_pids": 351, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "hotdogs_cooked_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：无视频、无状态日志；评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，log step 211 agent 自述 trajectory.npz 尚未写出。推断：没有交付任何轨迹，无法判定热狗是否被煮熟，故 final 为未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "没有交付轨迹（missing_trajectory=1），无接触可记。" + } + ] + }, + "hotdogs_cooked_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 211, + "text_zh": "观察：无视频、无状态日志；评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，log step 211 agent 自述 trajectory.npz 尚未写出。推断：没有交付任何轨迹，无法判定热狗是否被煮熟，故 final 为未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "没有交付轨迹（missing_trajectory=1），无接触可记。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hotdogs_cooked_1", + "t": null, + "log_step": 211, + "where": "首步前", + "evidence_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；log step 206-211 记录 agent 的录制客户端触及 10 分钟包装限制被停止，server 端序列仍在运行、trajectory.npz 未写出（agent 自述）。推断：没有交付任何可回放轨迹，图中的步骤从未在评分回合中开始。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志；本次未交付轨迹（missing_trajectory=1），会话内的多次重置与抓冰箱门/热狗尝试（log step 98-171）只是会话证据，不能作为评分回合的现象或根因。因智能体侧原因未交付，现象与根因层留空。", + "unmet": { + "hotdogs_cooked_1": null, + "hotdogs_cooked_2": null + } + }, + "summary_zh": "观察：智能体花约 7200 s（agent 时间）在会话内反复尝试开冰箱、取热狗，但最终录制未完成，未交付 trajectory.npz（missing_trajectory=1），success=0。两个节点均无法判定（无视频、无状态日志，final 未知），断点记为第1根热狗熟的首步前。主要证据缺口：没有评分回合可看。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；标注按 D23(a) 留空现象与根因并写 gap_zh，节点 final 未知，断点首步前，均有依据。录制是智能体自己在剩余约1000 s 时才启动，并非外部因素，处理正确。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:54:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-cook-hot-dogs-i00-privileged--mfwbhno/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-cook-hot-dogs-i00-privileged--mfwbhno/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b581f08c2d97bdd23428c57727cb2310d54433a734f4f72d7903d833580d26e6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/cook_hot_dogs/trajectories/behavior-cook-hot-dogs-i00-standard--hrywrv2.json b/phaseK/behavior-1k/cook_hot_dogs/trajectories/behavior-cook-hot-dogs-i00-standard--hrywrv2.json new file mode 100644 index 0000000000000000000000000000000000000000..bab25b081202369d8e0afd78c24d131a4d81c86b --- /dev/null +++ b/phaseK/behavior-1k/cook_hot_dogs/trajectories/behavior-cook-hot-dogs-i00-standard--hrywrv2.json @@ -0,0 +1,187 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-cook-hot-dogs-i00-standard--hrywrv2", + "taskKey": "behavior-1k/cook_hot_dogs", + "dag_sha256": "e4e56cb15fd41bb6774ed8f95eaf0a9a5618338c0ee4fa13e4c93482b67b350d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14373, + "sim_steps": 14523, + "physics_steps": 58092, + "steps": 13218, + "elapsed_s": 6643.2, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.252, + "peak_processes": 9, + "peak_disk_gb": 0.553, + "peak_cpus": 1.41, + "peak_pids": 168, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-cook-hot-dogs-i00-standard--hrywrv2.mp4", + "duration_s": 484.2, + "fps": 10.0, + "frames": 4842, + "sha256": "875092b367237812b95dfb497654d4a0f6a6af3f7f3f50d937662d8ae55c21dd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hotdogs_cooked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 484.2, + "log_step": null, + "text_zh": "观察：视频 484.2 s 末帧仍是腕部相机里夹爪握着热狗、对着炉灶/烤箱；全程没有看到热源开启或热狗加热后的熟食变化。推断：评分器 q_score=0、success=0，也不支持任何一根已煮熟。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 100 s 起至 484 s 末，机器人夹爪握着取出的热狗；底盘多次移动（底盘×支撑）。热狗放入加热设备并开启热源的步骤未在画面中看到完成。" + } + ] + }, + "hotdogs_cooked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 484.2, + "log_step": null, + "text_zh": "观察：视频 484.2 s 末帧仍是腕部相机里夹爪握着热狗、对着炉灶/烤箱；全程没有看到热源开启或热狗加热后的熟食变化。推断：评分器 q_score=0、success=0，也不支持任何一根已煮熟。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "hotdogs_cooked_1", + "t": 300.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 100 s 取到热狗后，到 484.2 s 末一直握着热狗在炉灶/烤箱前反复调整，没有看到把热狗放进有效热源并开启。推断：第 1 根煮熟这一步一直在做、从未完成。" + }, + "unmet": { + "hotdogs_cooked_1": false, + "hotdogs_cooked_2": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频只有 484 s，而 agent 会话约 7000 s，二者时间无法对应；视频为头部/腕部视角，看不清放置动作与设备状态；无状态日志。agent 日志只说插入烤箱时逆解换支、手臂关节限位，属会话证据，不足以定现象和根因，故留空。" + }, + "summary_zh": "观察：机器人在视频约 100 s 前后从冰箱取到热狗，之后在炉灶/烤箱前握着热狗反复调整直到视频 484.2 s 结束，评分器 q_score=0，两根热狗都没煮熟（0/2）。断点在第1根热狗煮熟这一步的操作中；现象与根因因视角遮挡且无状态日志而留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点均未达成（q_score=0）与视频末帧一致；断点留在第1根煮熟、现象/根因因无状态日志且视频只有484 s（与约7000 s会话无法对应）而留空并附gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:13:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-hot-dogs-i00-standard--hrywrv2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-cook-hot-dogs-i00-standard--hrywrv2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c682068a750c18f150ac0ebbb06fdef158c45aaddc3dcaef2eb368da67ff442e", + "video_sha256": "875092b367237812b95dfb497654d4a0f6a6af3f7f3f50d937662d8ae55c21dd", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--jxf2tek.json b/phaseK/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--jxf2tek.json new file mode 100644 index 0000000000000000000000000000000000000000..de3107f1e73f4363d0f7fe82c5bc63f9855d8687 --- /dev/null +++ b/phaseK/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-privileged--jxf2tek.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-privileged--jxf2tek", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 3541, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 0, + "goal_first_step": -1, + "sim_steps": 1250, + "fallen": 1, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1312.8, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 12, + "agent_sim_steps": 0, + "agent_records": 48, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.972, + "peak_memory_gb": 12.376, + "peak_processes": 46, + "peak_disk_gb": 0.634, + "peak_cpus": 8.11, + "peak_pids": 403, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-dispose-of-batteries-i00-privileged--jxf2tek.mp4", + "duration_s": 41.667, + "fps": 30.0, + "frames": 1250, + "sha256": "0b68f7ac9dce7c1a19cbb53a7f603ce006d97d1a94da2b364186f4370ef27f3b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "batteries_in_bin_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.0, + "log_step": 355, + "text_zh": "观察：视频 0-41.7 s 全程只见机器人在走廊/房间内倾斜移动，头部画面自视频约 2 s 起朝向天花板，未见任何电池被抓起或入桶；评分器 q_score=0、goal=0、fallen=1。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘在行驶，机器人倾倒；夹爪未见与电池接触（未建立抓握）。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.0, + "log_step": 355, + "text_zh": "观察：视频 0-41.7 s 全程只见机器人在走廊/房间内倾斜移动，头部画面自视频约 2 s 起朝向天花板，未见任何电池被抓起或入桶；评分器 q_score=0、goal=0、fallen=1。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.0, + "log_step": 355, + "text_zh": "观察：视频 0-41.7 s 全程只见机器人在走廊/房间内倾斜移动，头部画面自视频约 2 s 起朝向天花板，未见任何电池被抓起或入桶；评分器 q_score=0、goal=0、fallen=1。" + } + ] + }, + "bin_on_copy_room_floor": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 41.0, + "log_step": null, + "text_zh": "观察：视频全程未出现垃圾桶（头/腕部相机均未拍到），无法判断其是否仍立在地面；q_score=0 也不能决定此节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_bin_1", + "where": "转场", + "t": 2.0, + "evidence_zh": "观察：视频约 1-2 s 起头部相机转向天花板，之后全程画面倾斜/贴地，无电池被抓；评分器 fallen=1。推断：机器人在开始驱动/转场阶段倾倒，第1个电池入桶从未开始。", + "log_step": null + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 2.0, + "log_step": null, + "evidence_zh": "观察：视频 2 s 起头部画面朝向天花板并持续到 41.7 s，评分器 fallen=1；推断：机器人失去支撑倒下。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，倾倒的精确时刻与原因（日志中 agent 自述的绕门/驱动受阻 log step 344-350 是会话证据，未证明与重放视频对应）无法确证，故根因留空；垃圾桶节点因画面未拍到而未知。", + "unmet": { + "batteries_in_bin_1": false, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": null + } + }, + "summary_zh": "观察：被评分的重放视频仅 41.7 s，机器人在走廊中倾倒（评分器 fallen=1，视频约 2 s 起头部相机朝天花板），三个电池入桶节点均未达成，q_score=0。断点为第1个电池入桶（转场阶段，全身·平衡）；agent 自述（log step 355）只交付了部分轨迹并明说未成功。无状态日志，根因未能确证，垃圾桶落地节点未知。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频全程为走廊中倾倒/倾斜画面，无电池被抓或入桶，三个电池节点false、断点转场·平衡与评分器fallen=1、q_score=0一致；垃圾桶节点因画面未拍到而unknown，证据不足以改判。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-dispose-of-batteries-i00-privileged--jxf2tek/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-dispose-of-batteries-i00-privileged--jxf2tek/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e6886545e55db751158886d1fef9300b8e7b10d1020f90d05ad3a7ad384d75e1", + "video_sha256": "0b68f7ac9dce7c1a19cbb53a7f603ce006d97d1a94da2b364186f4370ef27f3b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--ltqc6kr.json b/phaseK/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--ltqc6kr.json new file mode 100644 index 0000000000000000000000000000000000000000..a5d5bc90d343510fe512a456f09149f978087b58 --- /dev/null +++ b/phaseK/behavior-1k/dispose_of_batteries/trajectories/behavior-dispose-of-batteries-i00-standard--ltqc6kr.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-dispose-of-batteries-i00-standard--ltqc6kr", + "taskKey": "behavior-1k/dispose_of_batteries", + "dag_sha256": "cea03abeb83d4300f1dad71a9475fc6f23368cd2df986081f39fd4829402e636", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 11387, + "sim_steps": 11537, + "physics_steps": 46148, + "steps": 10183, + "elapsed_s": 6428.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.25, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.346, + "peak_processes": 9, + "peak_disk_gb": 0.82, + "peak_cpus": 4.99, + "peak_pids": 167, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-dispose-of-batteries-i00-standard--ltqc6kr.mp4", + "duration_s": 384.6, + "fps": 10.0, + "frames": 3846, + "sha256": "4227fbde777166045d9b78bb845c6588ad6b0d9356513fc24f5e0fe8fbfe1f1a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "batteries_in_bin_1": { + "method": "visual", + "intervals": [ + [ + 50.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 46.0, + "log_step": 107, + "text_zh": "观察：视频约 16-46 s 右腕视图可见蓝色圆柱电池被夹住并抬离柜面；其后视图多为深色桶腔/地面，约 63-75 s 的暗色画面中有小块蓝色点。推断：agent 自述在 log step 107 于桶口上方松手、log step 110 称电池在释放点下方（agent 声明，仅作旁证）；评分器 q_score=0.25（=1/4，桶在地面开局即成立不计分）逻辑上对应 1 节电池入桶。入桶时刻约 50 s 为估计，视频无法直接看清桶腔。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪夹住柜上蓝色电池（视频约 16-46 s 可见），送到桶口上方松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人从柜边驶向桶（持物行驶）。" + } + ] + }, + "batteries_in_bin_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300.0, + "log_step": 463, + "text_zh": "观察：视频约 100-384 s 只见机器人在办公室内移动、扫视桌面与椅子，未见第二节蓝色电池被抓取或入桶；q_score=0.25 也限制至多 1 节入桶。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频中未见对第二节电池的任何接触；机器人在办公室里只搜索，未抓取。" + } + ] + }, + "batteries_in_bin_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300.0, + "log_step": 470, + "text_zh": "观察：视频全程未见第三节电池被抓取；agent 最终报告（log step 470）自述未找到两节办公室电池。q_score 限制 final 为假。" + } + ] + }, + "bin_on_copy_room_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": 152, + "text_zh": "观察：开局桶在复印室地面。推断：agent 自述（log step 139-176）底盘擦碰桶、并用左夹爪夹桶沿将其平移后松开，桶保持直立在地面（自述，视频中该段不可辨）；视频无桶被拿离地面的画面，故视为全程成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：agent 自述（log step 143-176）左夹爪夹桶沿平移桶两次；底盘还擦碰过桶；视频不可辨。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "无量纲", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_bin_2", + "t": 110.0, + "log_step": 337, + "where": "探索", + "evidence_zh": "观察：第 1 节入桶后，机器人驶入办公室（视频约 100 s 起），其后至视频结束 384.6 s 只在桌面、椅子与地面间搜索，未抓取第二节电池。agent 自述（log step 358-463）在桌面、地面、桌下均未找到电池，最终报告（log step 470）自述未完成。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 300.0, + "log_step": 463, + "evidence_zh": "观察：视频约 100-384 s 机器人从未接触第二节电池，只扫视办公室；agent 自述未找到目标。" + } + ], + "root_causes": [], + "gap_zh": "根因层留空：电池实际所在位置无状态日志；agent 自述搜索过桌面、地面、桌下均无，但视频是三路相机拼贴且很暗，无法判断是感知漏检还是计划搜错房间/位置（oracle 视频未对照）。视频无法直接确认第 1 节入桶时刻（约 50 s 为估计）。视频 384.6 s 对应 agent 长达约 6850 s 的会话，两个时钟不换算。", + "unmet": { + "batteries_in_bin_1": true, + "batteries_in_bin_2": false, + "batteries_in_bin_3": false, + "bin_on_copy_room_floor": true + } + }, + "summary_zh": "第 1 节柜上电池被右夹爪抓起并送到桶口上方（视频约 16-50 s，入桶时刻为估计，由 q_score=0.25 逻辑推断），桶全程在复印室地面。随后进办公室找另两节电池，视频约 100-384 s 只见搜索，未抓取，断在第 2 节入桶（探索）。证据缺口：画面暗且为多路相机拼贴，找不到电池的原因（漏检或搜错）无法判定，根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点值、断点（第2节入桶，探索）与现象基本有据；第1节入桶时刻由 q_score=0.25 加控制步比例（log step 107 control_steps 1231 约对应视频 46 s）支持。根因留空并附 gap_zh 可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:56:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--ltqc6kr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-dispose-of-batteries-i00-standard--ltqc6kr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1442b23a2f5d767307a75c332f226703097cbfa235ce26e1bc66bbfff1d875b1", + "video_sha256": "4227fbde777166045d9b78bb845c6588ad6b0d9356513fc24f5e0fe8fbfe1f1a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ysub2kl.json b/phaseK/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ysub2kl.json new file mode 100644 index 0000000000000000000000000000000000000000..7c5637ad6ea1016cc0d70f6f5ab50d31bf347ea4 --- /dev/null +++ b/phaseK/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-privileged--ysub2kl.json @@ -0,0 +1,303 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-fruit-i00-privileged--ysub2kl", + "taskKey": "behavior-1k/freeze_fruit", + "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 609, + 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"resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-freeze-fruit-i00-privileged--ysub2kl.mp4", + "duration_s": 25.3, + "fps": 30.0, + "frames": 759, + "sha256": "3f1709bcf5dc829e1e36783a26be3a0707a9d34e81777804470881076a781200" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。推断：视频视角（头部/腕部相机）多为台面和地面，柜门区域几乎不可见，据此判定柜门未明显打开。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0-25.3 s 的头/腕相机画面看不到夹爪与柜门的接触；agent 自述（log step 383）的门板接触不作为接触证据" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "apples_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "apples_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "strawberries_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "strawberries_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25.3 s 只见机器人底盘/手臂在厨房台面前移动，视频 25.0 s 末帧无打开的柜门/冰箱门、无水果或保鲜盒被取放；评分器 q_score=0，goal=0（评分器字段）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 394, + "where": "操作中", + "evidence_zh": "观察：视频 0-25.3 s 无任何水果/保鲜盒被移动，柜门未见打开；agent 最终说明（log step 394、399）称仍在试开柜门、没有抓到任何保鲜盒，保存的轨迹标为未完成。" + }, + "unmet": { + "apples_in_boxes_1": false, + "apples_in_boxes_2": false, + "strawberries_in_boxes_1": false, + "strawberries_in_boxes_2": false, + "boxes_in_fridge_1": false, + "boxes_in_fridge_2": false, + "fridge_closed": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频视角几乎看不到柜门区域，无状态日志，无法确认失败时的具体接触现象与根因；agent 自述的手臂撞台面/门板碰撞未被视频证实，故现象与根因留空。" + }, + "summary_zh": "观察：交付的 609 步轨迹只是 agent 未完成的开柜门试验，视频 25.3 s 内没有任何水果或保鲜盒入盒/入冰箱，q_score=0，9 个节点均未达成。卡在第一步“打开橱柜”（agent 自述 log step 394 门碰撞、未抓到保鲜盒）；现象与根因因无状态日志、视角遮挡而留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全 false、断点 cabinet_opened、现象/根因留空并附 gap 基本站得住（q_score=0，视频只见底盘移动与台面，看不到柜门）；唯一问题是 cabinet_opened 的 contact_actual 把 agent 自述的夹爪抓握当成了接触，而视频不能证实。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "九个节点全 false、断点 cabinet_opened、现象与根因留空并附 gap_zh，与 q_score=0 及视频一致；视频只见底盘/相机在厨房中移动，看不到柜门，无法判定接触或根因。第 1 轮意见已采纳。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:16:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-privileged--ysub2kl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-privileged--ysub2kl/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-privileged--ysub2kl/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-privileged--ysub2kl/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "37e4cced4f47b2713f5968b3674d6b629b883d0d07d8e391c05b8a46a8fb4a8f", + "video_sha256": "3f1709bcf5dc829e1e36783a26be3a0707a9d34e81777804470881076a781200", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--cba2y6p.json b/phaseK/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--cba2y6p.json new file mode 100644 index 0000000000000000000000000000000000000000..f2978b793f5c651d50c2f2b9b706016273daf4ff --- /dev/null +++ b/phaseK/behavior-1k/freeze_fruit/trajectories/behavior-freeze-fruit-i00-standard--cba2y6p.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-fruit-i00-standard--cba2y6p", + "taskKey": "behavior-1k/freeze_fruit", + "dag_sha256": "e86f72e029e34ab3019ced83d0f54559848fd3255afc274eb31a7668669172af", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 10645, + "sim_steps": 10795, + "physics_steps": 43180, + "steps": 5458, + "elapsed_s": 6225.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.267, + "peak_processes": 9, + "peak_disk_gb": 0.573, + "peak_cpus": 5.13, + "peak_pids": 74, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-freeze-fruit-i00-standard--cba2y6p.mp4", + "duration_s": 359.9, + "fps": 10.0, + "frames": 3599, + "sha256": "ad6d723b2e1e4304750314f87346c31f92810f40b2d7edaf1b14d721c6bbd92e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 664, + "text_zh": "观察：视频 300-360 s 的拼接帧里有几帧似乎显示柜门已摆开，但视角在头/腕相机间快速切换，无法确认门板开度和取盒通道；推断：agent 自述“门已沿弧线打开、持续握住把手”（log step 664）只是其叙述，不作为节点值。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "视频无法逐帧确认接触方式；agent 自述为握住把手（log step 659），不作为观察" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "观察：视频 0-360 s 的头部/腕部视图均未见机器人接近或拉开冰箱；agent 最终报告也只提到柜门和绿苹果（log step 671）。" + } + ] + }, + "apples_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "观察：视频中夹爪握着绿苹果（约视频 120-200 s 多帧），之后苹果在台面上，未见入盒；评分 q_score=0.0，推断：无目标字面量成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住绿苹果搬到台面，未放入保鲜盒" + } + ] + }, + "apples_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "推断：q_score=0.0 且视频未见保鲜盒被取出或水果入盒（agent 自述未取到保鲜盒，log step 671），故未达成。" + } + ] + }, + "strawberries_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "推断：q_score=0.0 且视频未见保鲜盒被取出或水果入盒（agent 自述未取到保鲜盒，log step 671），故未达成。" + } + ] + }, + "strawberries_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "推断：q_score=0.0 且视频未见保鲜盒被取出或水果入盒（agent 自述未取到保鲜盒，log step 671），故未达成。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "推断：q_score=0.0 且视频未见保鲜盒被取出或水果入盒（agent 自述未取到保鲜盒，log step 671），故未达成。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "推断：q_score=0.0 且视频未见保鲜盒被取出或水果入盒（agent 自述未取到保鲜盒，log step 671），故未达成。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 671, + "text_zh": "推断：冰箱初态关闭且从未被打开，但该节点以 boxes_in_fridge_2 为前驱，前驱未达成，故最终不计为达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "where": "操作中", + "evidence_zh": "观察：视频 0-360 s 机器人一直在厨房台面和下柜之间用腕/头相机观察、抓握把手，未见保鲜盒被取出；agent 自述最后“没有确认取到保鲜盒”（log step 669/671）。推断：卡在打开柜门取盒这一步。", + "log_step": 669 + }, + "phenomena": [ + { + "t": null, + "log_step": 632, + "evidence_zh": "观察：agent 自述多次把手拉动时把手抓握滑脱（log step 632、642），视频中夹爪反复贴近柜门把手；因画面为快速切换视角，仅作低置信度标注。", + "cat": "接触", + "item": "没保持住" + } + ], + "root_causes": [ + { + "alt_feasible": "未知", + "evidence_zh": "agent 自述握把手位置/腕姿不对导致抓握不持久，复现原腕姿后才握住（log step 651、657、659）。", + "source_zh": "agent 自述", + "cat": "控制", + "item": "抓取和接触设计" + } + ], + "gap_zh": "无状态日志；视频只有约 360 s 的头/腕相机快速切换画面，远短于 agent 6796 s 的会话，无法逐帧核对门开度，故柜门节点为未知，现象与根因为低置信度（日志自述）。", + "unmet": { + "apples_in_boxes_1": false, + "apples_in_boxes_2": false, + "strawberries_in_boxes_1": false, + "strawberries_in_boxes_2": false, + "boxes_in_fridge_1": false, + "boxes_in_fridge_2": false, + "fridge_closed": false + } + }, + "summary_zh": "观察：graded 视频约 360 s，未见苹果入盒、保鲜盒取出或冰箱被打开，q_score=0，0/9 个节点达成。推断：卡在打开柜门取盒（cabinet_opened）一步，把手抓握反复滑脱（agent 自述）。证据缺口：无状态日志，视频视角切换快，柜门开度无法确认。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "整体低置信度标注基本合理（无状态日志、视频仅 360 s 快速切换视角，log step 均存在，validator OK）。但 cabinet_opened 的 contact_actual 写成“勾”缺乏依据：画面无法判定接触方式，agent 自述为抓握，应写未知。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "标注整体保守：q_score=0、视频未见入盒或开冰箱，各节点 false 有评分支撑；cabinet_opened 因视角快速切换保持 unknown，现象与根因为低置信度并如实标明自述来源。第 1 轮意见已采纳，未发现新的实质错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-standard--cba2y6p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-standard--cba2y6p/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-standard--cba2y6p/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-freeze-fruit-i00-standard--cba2y6p/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "047388f78e7a8c31c157cec618ad6e3f7dba3fe07c47de6185038b1a51fcdd6c", + "video_sha256": "ad6d723b2e1e4304750314f87346c31f92810f40b2d7edaf1b14d721c6bbd92e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--ngbdgcl.json b/phaseK/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--ngbdgcl.json new file mode 100644 index 0000000000000000000000000000000000000000..c3e5890e359952b93a5b41cd899b472f16776363 --- /dev/null +++ b/phaseK/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-privileged--ngbdgcl.json @@ -0,0 +1,265 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-privileged--ngbdgcl", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 1, + "agent_resets": 11, + "agent_sim_steps": 19619, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.855, + "peak_memory_gb": 13.806, + "peak_processes": 43, + "peak_disk_gb": 0.939, + "peak_cpus": 8.1, + "peak_pids": 354, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "无轨迹交付，无受评接触可记录。" + } + ] + }, + "fridge_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + }, + "pies_in_boxes_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "无轨迹交付，无受评接触可记录。" + } + ] + }, + "pies_in_boxes_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + }, + "fridge_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + }, + "pies_frozen_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + }, + "pies_frozen_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 385, + "text_zh": "观察：本次没有交付轨迹（reward.missing_trajectory=1，无视频、无状态日志），agent 末条自述“未产出 trajectory.npz”（log step 385）。推断：无可判定的受评片段，该节点无法判断；agent 自述已验证开柜门仅为会话测试，不作节点值。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "pies_in_boxes_1", + "t": null, + "log_step": 385, + "where": "首步前", + "evidence_zh": "观察：agent 在 6912 s 工作时间（预算 7200 s）内反复调试夹取/规划，末条自述未抓到任何保鲜盒或苹果派，未生成 trajectory.npz 与 gen.py，也未完成回放（log step 385）；评分器 missing_trajectory=1。推断：交付为空，故断点取第一个目标步“第1个派入盒”，无受评尝试。" + }, + "unmet": { + "pies_in_boxes_1": null, + "pies_in_boxes_2": null, + "boxes_in_fridge_1": null, + "boxes_in_fridge_2": null, + "fridge_closed": null, + "pies_frozen_1": null, + "pies_frozen_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "没有视频、没有状态日志，且 agent 因自身原因未交付任何轨迹（会话中模拟服务器在 log step 385 前后因 agent 移动正在执行的作业文件而退出）。会话测试证据不构成受评现象或根因，故两层均留空；所有节点 intervals/final 为未知。" + }, + "summary_zh": "agent 未交付任何轨迹（missing_trajectory=1，无视频与状态日志），所有 9 个节点无法判断。会话中仅自述验证了开橱柜和稳定释放，从未抓起保鲜盒或苹果派（log step 385）；断点取第一个目标步“第1个派入盒”。证据缺口：无受评片段，现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无交付轨迹（missing_trajectory=1，无视频/状态日志），所有节点 unknown、两层留空并写 gap_zh，符合 03 文档与 OPEN-16/FAIL-22 的“agent 自身原因未交付”处理；没有把会话自述当作受评事实，时钟与 log step 385 均存在。断点取 pies_in_boxes_1（首个目标节点，cabinet_opened 为非目标事件）可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:55:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--ngbdgcl/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-privileged--ngbdgcl/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ba0d46686957634d4ce076d1cea6bb8ac8218100eeb25e8073b08e7b8d5ba8d3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--jvfqjbj.json b/phaseK/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--jvfqjbj.json new file mode 100644 index 0000000000000000000000000000000000000000..673129e44daea75e7c7f883622860ed8f533a8ac --- /dev/null +++ b/phaseK/behavior-1k/freeze_pies/trajectories/behavior-freeze-pies-i00-standard--jvfqjbj.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-freeze-pies-i00-standard--jvfqjbj", + "taskKey": "behavior-1k/freeze_pies", + "dag_sha256": "304775bc54bb720c13e7e74f48179397d88f154515e0e603e4648939f4240574", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 7941, + "sim_steps": 7941, + "physics_steps": 31764, + "steps": 1640, + "elapsed_s": 2593.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 1, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.302, + "peak_processes": 9, + "peak_disk_gb": 0.302, + "peak_cpus": 3.77, + "peak_pids": 167, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-freeze-pies-i00-standard--jvfqjbj.mp4", + "duration_s": 264.8, + "fps": 10.0, + "frames": 2648, + "sha256": "01d8defe76f570a787faeccd785d9f50e302888f2a4ddacf6e7d409204a15c60" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100.0, + "log_step": 78, + "text_zh": "观察：视频中腕部相机多次显示夹爪贴近橱柜凹槽拉手/门缘，但全程未见柜门离开关闭位置、也无柜内开口画面；视频末段机器人已离开橱柜在岛台区域巡视。推断：log step 78-141 自述夹爪“没抓住”凹槽，门未开。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：夹爪（闭合/张开）贴近并触碰橱柜门凹槽与门缘，未形成夹住或勾住，门未动；候选“试探性触碰”" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "观察：全程视频未见冰箱门打开、苹果派或保鲜盒被拿起；机器人从未找到派与盒（log step 245 自述未见派/盒）。" + } + ] + }, + "pies_in_boxes_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "观察：全程视频未见冰箱门打开、苹果派或保鲜盒被拿起；机器人从未找到派与盒（log step 245 自述未见派/盒）。" + } + ] + }, + "pies_in_boxes_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "观察：全程视频未见冰箱门打开、苹果派或保鲜盒被拿起；机器人从未找到派与盒（log step 245 自述未见派/盒）。" + } + ] + }, + "boxes_in_fridge_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "观察：全程视频未见冰箱门打开、苹果派或保鲜盒被拿起；机器人从未找到派与盒（log step 245 自述未见派/盒）。" + } + ] + }, + "boxes_in_fridge_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "观察：全程视频未见冰箱门打开、苹果派或保鲜盒被拿起；机器人从未找到派与盒（log step 245 自述未见派/盒）。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：冰箱初始关闭（DAG 说明本步从起点成立），视频中未见冰箱被打开，故一直成立；视频未直接拍到冰箱内部。" + } + ] + }, + "pies_frozen_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "推断：派从未入冰箱、未被触碰（视频无相关画面），无冻结观测；q_score=0。" + } + ] + }, + "pies_frozen_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 264.0, + "log_step": null, + "text_zh": "推断：派从未入冰箱、未被触碰（视频无相关画面），无冻结观测；q_score=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 100.0, + "log_step": 78, + "where": "操作中", + "evidence_zh": "观察：视频约 20-150 s 腕部相机反复显示夹爪在橱柜凹槽/门缘处尝试，门始终未打开；log step 78、96、141 agent 自述抓取未成功。之后机器人转去巡视找派，最终仿真异常（log step 249 服务报告底盘 151 m/s）终止，未再修复开柜。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 100.0, + "log_step": 78, + "evidence_zh": "观察：夹爪靠近凹槽拉手/门缘但从未夹住或勾住门，门未动（视频约 20-150 s）。推断：所需的抓握/勾拉接触未形成。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述：凹槽无突出把手、门缘被相邻柜体阻挡，多次改用凹槽、上缘、侧缘、钩拉均未成功（log step 78-141）；视频与之相符地显示门未开。", + "source_zh": "agent 自述 + 视频" + } + ], + "gap_zh": "无状态日志；视频为三路相机拼接，柜门与冰箱内部画面有限，节点据视频可见内容与 q_score=0 判断。末段 log step 249 的仿真崩溃（底盘 151 m/s）发生在开柜失败之后，不是断点。", + "unmet": { + "pies_in_boxes_1": false, + "pies_in_boxes_2": false, + "boxes_in_fridge_1": false, + "boxes_in_fridge_2": false, + "fridge_closed": true, + "pies_frozen_1": false, + "pies_frozen_2": false + } + }, + "summary_zh": "观察：机器人仅尝试打开橱柜（视频约 20-150 s），门始终未开，9 个节点中仅“关闭冰箱”（初始即成立）为真。断点在打开橱柜的操作中，夹爪未能夹住/勾住无突出把手的凹槽拉手（agent 自述，视频相符）；之后转去找派，最终因仿真异常（底盘 151 m/s，log step 249）终止。证据缺口：无状态日志，冰箱内部与柜门细节在视频中不可见。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点（打开橱柜，操作中）、节点值（仅关冰箱从0成立）、根因（抓取和接触设计）与视频及日志相符；底盘151 m/s仿真崩溃未被误作断点。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:56:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--jvfqjbj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-freeze-pies-i00-standard--jvfqjbj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e4dbe669cfab848393d6036e12ee75d9de4b233e60b0cd35543d10f459a95432", + "video_sha256": "01d8defe76f570a787faeccd785d9f50e302888f2a4ddacf6e7d409204a15c60", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--hbk2w49.json b/phaseK/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--hbk2w49.json new file mode 100644 index 0000000000000000000000000000000000000000..ea2b6eaba285105292eac9c5b1c2e9f109e81c84 --- /dev/null +++ b/phaseK/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-privileged--hbk2w49.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-privileged--hbk2w49", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "outcome": { + "success": 0, + "reward": 0.8, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 4394, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4544, + "fallen": 0, + "final_reward": 0.8, + "q_score": 0.8, + "replay_wall_s": 1940.5, + "replay_timeout_s": 4129.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 68, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-halve-an-egg-i00-privileged--hbk2w49.mp4", + "duration_s": 151.467, + "fps": 30.0, + "frames": 4544, + "sha256": "0be835fd43e97189cb8d8b89ba39c3115f5ac05cb30d87f608b6c167769bc563" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 3.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4, + "log_step": null, + "text_zh": "观察：视频 4 s 起头部视角可见冰箱白色门板已向外转开；之后机器人从冰箱内取出鸡蛋（视频约 35-50 s 腕部相机可见黄色鸡蛋在夹爪中）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪拉开冰箱门（视频 0-4 s，开门细节未完全看清）" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [ + [ + 143.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 143, + "log_step": null, + "text_zh": "观察：视频 128-135 s 盘上仍是完整整蛋、刀压在上方；137-141 s 被手臂遮挡；约 143 s 起盘上蛋已破开，145 s 起清楚为两半。起点时间为估计（遮挡 137-141 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "夹爪持切肉刀在红花盘上压切鸡蛋" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [ + [ + 145.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 145, + "log_step": null, + "text_zh": "观察：视频 145 s 起红花盘上可见两块半蛋，夹爪已离开；起点为估计。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [ + [ + 145.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 148, + "log_step": null, + "text_zh": "观察：视频 145-151 s 盘上可见两块半蛋；评分 q_score 0.8 也与仅刀入水槽未满足一致（推断）。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 151, + "log_step": null, + "text_zh": "观察：视频 148-151 s 切肉刀仍横在红花盘上/案板边，未在水槽中；右夹爪空开在盘旁。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "视频末段刀已放在盘上，尚未开始送往水槽，无送刀接触可记" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.8, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knife_in_sink", + "where": "操作中", + "t": 148, + "log_step": null, + "evidence_zh": "观察：视频 148-151 s 视频结束时切肉刀仍在盘上，未放入水槽；切半和两半上盘均已完成。推断：视频仅 151 s，机器人尚未把刀送去水槽（水槽约 1.3 m 外，log step 5）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频中刀在盘上而未去水槽，但无状态日志，也无法看出刀未入水槽的具体原因（路径、时间还是控制），故现象与根因留空；agent 日志在 log step 309-313 仍在调试‘更安全的左手方案’，仅为会话证据。 背景事实：agent 日志最后一步 t=7187.4 s（time_limit_s=7200），交付动作在刀入水槽前结束；这只是背景，不作为现象或根因。", + "unmet": { + "egg_halved": true, + "egg_halves_on_plate_1": true, + "egg_halves_on_plate_2": true, + "knife_in_sink": false + } + }, + "summary_zh": "观察：视频 151 s 内完成开冰箱、取蛋、切半并两半上盘（切半约视频 143 s，估计；137-141 s 被遮挡），但切肉刀末帧仍在盘上，未入水槽，q_score 0.8，节点 4/5。断点为刀入水槽；缺状态日志，各时间为估计，失败现象与根因无证据故留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "切半与两半上盘的时间错了约 10-15 s：视频 128-135 s 盘上仍是完整的黄白整蛋，两半直到约 143-145 s 才可见。knife_in_sink 未达成、q=0.8、断点节点本身合理。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点时间（切半约143 s、两半上盘约145 s）与帧一致，刀末帧仍在盘上、未入水槽，断点 knife_in_sink 合理；现象/根因留空并有 gap_zh，符合超时不算现象的规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-privileged--hbk2w49/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-privileged--hbk2w49/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-privileged--hbk2w49/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-privileged--hbk2w49/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "740b914a15f46b4f5f0c81bffdeba883440d0b00e693908b8a46ba1b328fa0c7", + "video_sha256": "0be835fd43e97189cb8d8b89ba39c3115f5ac05cb30d87f608b6c167769bc563", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--xz9bdfh.json b/phaseK/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--xz9bdfh.json new file mode 100644 index 0000000000000000000000000000000000000000..621c053e95ebae0bf29898d35001a8913d38471b --- /dev/null +++ b/phaseK/behavior-1k/halve_an_egg/trajectories/behavior-halve-an-egg-i00-standard--xz9bdfh.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-halve-an-egg-i00-standard--xz9bdfh", + "taskKey": "behavior-1k/halve_an_egg", + "dag_sha256": "b96ade25db44205584f460c1b468077fcc7c5f585e7588ca96d55ad3f7042252", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3064, + "sim_steps": 3064, + "physics_steps": 12256, + "steps": 941, + "elapsed_s": 2153.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.216, + "peak_processes": 9, + "peak_disk_gb": 0.273, + "peak_cpus": 1.36, + "peak_pids": 122, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-halve-an-egg-i00-standard--xz9bdfh.mp4", + "duration_s": 102.2, + "fps": 10.0, + "frames": 1022, + "sha256": "a1b9a73a6c9f630d3b8f1dc07e2d1cdb374e91e3d17f7deaf24a95dfa86580a6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": 222, + "text_zh": "观察：视频约50 s到达深色立柜，53–56 s右夹爪在把手处，门未打开；0–102.2 s 未见鸡蛋、刀、红花盘被操作；约57 s起头部相机倾斜，末段镜头贴地。log step 222 服务返回 failure: the robot fell over，q_score=0（仅作终止说明）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪约53–56 s在深色立柜的把手/横杆处，门始终未打开；log step 133–148 agent 自述抓住约2.4 cm横杆、拉不动（自述，视频仅见夹爪贴近把手）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘支撑机器人；约57 s起倾斜，倒地属grader终止规则" + } + ] + }, + "egg_halved": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": 222, + "text_zh": "观察：视频约50 s到达深色立柜，53–56 s右夹爪在把手处，门未打开；0–102.2 s 未见鸡蛋、刀、红花盘被操作；约57 s起头部相机倾斜，末段镜头贴地。log step 222 服务返回 failure: the robot fell over，q_score=0（仅作终止说明）。" + } + ] + }, + "egg_halves_on_plate_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": 222, + "text_zh": "观察：视频约50 s到达深色立柜，53–56 s右夹爪在把手处，门未打开；0–102.2 s 未见鸡蛋、刀、红花盘被操作；约57 s起头部相机倾斜，末段镜头贴地。log step 222 服务返回 failure: the robot fell over，q_score=0（仅作终止说明）。" + } + ] + }, + "egg_halves_on_plate_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": 222, + "text_zh": "观察：视频约50 s到达深色立柜，53–56 s右夹爪在把手处，门未打开；0–102.2 s 未见鸡蛋、刀、红花盘被操作；约57 s起头部相机倾斜，末段镜头贴地。log step 222 服务返回 failure: the robot fell over，q_score=0（仅作终止说明）。" + } + ] + }, + "knife_in_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": 222, + "text_zh": "观察：视频约50 s到达深色立柜，53–56 s右夹爪在把手处，门未打开；0–102.2 s 未见鸡蛋、刀、红花盘被操作；约57 s起头部相机倾斜，末段镜头贴地。log step 222 服务返回 failure: the robot fell over，q_score=0（仅作终止说明）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "where": "操作中", + "t": 53.0, + "log_step": 148, + "evidence_zh": "观察：视频约50 s到达深色立柜，53–56 s右夹爪在把手处，门未打开；log step 114–148 agent 自述抓住2.4 cm横杆、拉不动，搜把手后放弃（step 149）。约57 s起倾斜，log step 222 服务返回 robot fell over（grader终止规则，不单列）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 55.0, + "log_step": 139, + "evidence_zh": "观察：视频53–56 s右夹爪在深色立柜把手处，门始终闭合，开门所需的有效接触未建立；agent 自述手不随拉动（step 139，自述）。倒地为grader终止规则，不单列。" + } + ], + "root_causes": [], + "gap_zh": "根因未判：视频只有头/腕相机；本run操作对象是深色立柜，oracle视频中冰箱为白色门板，agent自己也多次误认烤箱/冰箱（log step 90、107、111、114），提示可能把错误电器当冰箱（感知，推断、证据不足以定根因）；横杆是否固定、抓握细节均出自自述，未被视频证实。倾倒细节不可见。无状态日志。", + "unmet": { + "egg_halved": false, + "egg_halves_on_plate_1": false, + "egg_halves_on_plate_2": false, + "knife_in_sink": false + } + }, + "summary_zh": "观察：机器人约50 s到达深色立柜，53–56 s右夹爪在把手处操作但门未开，5个节点均未达成，q_score=0；约57 s起机身倾斜，最终服务判定 robot fell over（grader终止规则）。断点为打开冰箱（操作中），现象为接触·没建立接触；根因未判（可能操作了错误的深色电器，推断）。无状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值（5个均未达成）正确，但标签称“整段未到冰箱前、没有开门动作”与视频和log矛盾：机器人约50 s已到深色立柜前，约53–56 s右夹爪在门把处操作（log step 114–148 抓横杆、拉不动、搜把手后放弃），约57 s起才开始倾斜。断点性质（where=转场）与现象（只有全身·平衡）因此把“倒地”当成断点，而倒地是grader的结束规则；真正的失败是开冰箱操作没成功，且很可能操作了错误的深色电器（oracle里冰箱是白色门板）。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "5个节点未达成、断点为fridge_opened（操作中，约53 s）与视频一致；倒地按grader终止规则不单列，根因留空并写gap_zh，证据措辞谨慎，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-standard--xz9bdfh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-standard--xz9bdfh/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-standard--xz9bdfh/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-halve-an-egg-i00-standard--xz9bdfh/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "da0faee748843df37e34662d3b4bcf34304f046a9623a01347a3598765f5c259", + "video_sha256": "a1b9a73a6c9f630d3b8f1dc07e2d1cdb374e91e3d17f7deaf24a95dfa86580a6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/installing_a_fax_machine/trajectories/behavior-installing-a-fax-machine-i00-privileged--mcjpqvx.json b/phaseK/behavior-1k/installing_a_fax_machine/trajectories/behavior-installing-a-fax-machine-i00-privileged--mcjpqvx.json new file mode 100644 index 0000000000000000000000000000000000000000..4381ecffa734e9528532ba0c4ae85863ad9eb4ab --- /dev/null +++ b/phaseK/behavior-1k/installing_a_fax_machine/trajectories/behavior-installing-a-fax-machine-i00-privileged--mcjpqvx.json @@ -0,0 +1,191 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-installing-a-fax-machine-i00-privileged--mcjpqvx", + "taskKey": "behavior-1k/installing_a_fax_machine", + "dag_sha256": "c1e9fa49e4b62a79bfa98de9cbe1d2a9e6e25dbc20b11272f9523f9bdc5e8754", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 7814, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 7785, + "sim_steps": 7814, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 2593.7, + "replay_timeout_s": 6409.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 0, + "agent_sim_steps": 7814, + "agent_records": 1, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.518, + "peak_memory_gb": 22.763, + "peak_processes": 79, + "peak_disk_gb": 0.943, + "peak_cpus": 8.12, + "peak_pids": 744, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-installing-a-fax-machine-i00-privileged--mcjpqvx.mp4", + "duration_s": 260.467, + "fps": 30.0, + "frames": 7814, + "sha256": "5a2ea3ece5a35561b59de946adf8784993c793f88aefbd42310d186297f93423" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "fax_on_carrel": { + "method": "visual", + "intervals": [ + [ + 215.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 215.0, + "log_step": 203, + "text_zh": "观察：视频 212-218 s 头部视角可见灰色传真机放在隔间白色桌面上，腕部视角可见夹爪已移开；此后到视频结束一直在桌面上。推断：评分器 goal_first_step 7785（视频约 259.5 s）、q_score 1.0，成功验收要求放置已松手并静止30步；放置时刻约 215 s，不确定约±3 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人一侧夹爪夹住传真机，底盘驱动搬运至隔间桌面后松开。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘在取物处与隔间桌之间移动，搬运时承载传真机。" + } + ] + }, + "fax_switched_on": { + "method": "visual", + "intervals": [ + [ + 258.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 258.0, + "log_step": 203, + "text_zh": "观察：视频 252-259 s 腕部近景可见夹爪手指压在传真机红色开关标记上；agent 日志 step 178/203 自述连续5个控制步触碰后开关翻转。推断：开关状态无直接可见翻转，开启时刻由评分器 goal 成功（goal_first_step 7785 ≈ 视频 259.5 s，q_score=1.0）约束在此前，约 258 s，不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 252-259 s 夹爪手指压在传真机红色开关标记上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：传真机在视频约 215 s 放到隔间白色桌面并松手，约 258 s 用夹爪手指按压红色开关开启，两个节点最终均达成；评分器 goal_first_step 7785（视频约 259.5 s），q_score 1.0。缺口：无状态日志，开关翻转无直接画面证据，两个时间均为视觉估计。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两个节点标注与视频一致：约216-217 s传真机出现在隔间白桌上（215 s标注在±3 s不确定内），252-259 s夹爪按压红色开关，评分器goal_first_step 7785（≈259.5 s）约束开启时间。无明显错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-installing-a-fax-machine-i00-privileged--mcjpqvx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-installing-a-fax-machine-i00-privileged--mcjpqvx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "de7b324e68f74530b45ead105fa43c2b6192ec60b8d0ad21495f732040194ba5", + "video_sha256": "5a2ea3ece5a35561b59de946adf8784993c793f88aefbd42310d186297f93423", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/installing_a_fax_machine/trajectories/behavior-installing-a-fax-machine-i00-standard--vrtewhz.json b/phaseK/behavior-1k/installing_a_fax_machine/trajectories/behavior-installing-a-fax-machine-i00-standard--vrtewhz.json new file mode 100644 index 0000000000000000000000000000000000000000..e605d9c3b92f4ec3896cba1f68bd2bde4c622cd9 --- /dev/null +++ b/phaseK/behavior-1k/installing_a_fax_machine/trajectories/behavior-installing-a-fax-machine-i00-standard--vrtewhz.json @@ -0,0 +1,197 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-installing-a-fax-machine-i00-standard--vrtewhz", + "taskKey": "behavior-1k/installing_a_fax_machine", + "dag_sha256": "c1e9fa49e4b62a79bfa98de9cbe1d2a9e6e25dbc20b11272f9523f9bdc5e8754", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 974, + "sim_steps": 974, + "physics_steps": 3896, + "steps": 866, + "elapsed_s": 564.7, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.194, + "peak_processes": 9, + "peak_disk_gb": 0.261, + "peak_cpus": 1.0, + "peak_pids": 73, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-installing-a-fax-machine-i00-standard--vrtewhz.mp4", + "duration_s": 32.5, + "fps": 10.0, + "frames": 325, + "sha256": "9d0eecaa96129b1531ae84cafcf92c9af6b4acef3f82885cc18ece7ed245f3d7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "fax_on_carrel": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.5, + "log_step": 58, + "text_zh": "观察：视频 0-32.5 s 的头部/腕部画面中从未出现传真机，机器人从未抓取任何物体，也没有任何桌面放置；视频 21.5 s 后画面倾斜翻转，之后一直是倾倒视角。" + } + ], + "contact_actual": [] + }, + "fax_switched_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 21.5, + "log_step": 58, + "text_zh": "观察：视频全程无夹爪触碰传真机开关的画面；机器人未找到传真机。推断：未开启。" + } + ], + "contact_actual": [] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "fax_on_carrel", + "where": "转场", + "t": 21.5, + "log_step": 44, + "evidence_zh": "观察：视频 0-21 s 机器人只在办公室入口原地转向观察、并沿隔间过道前进，未发现传真机；视频约 21.5 s 底盘撞上障碍后倾斜，之后侧翻。log step 58 服务返回 failure: the robot fell over（评分局结束）。推断：取传真机的第一步（找到并走到传真机处）尚未完成就摔倒。" + }, + "phenomena": [ + { + "t": 21.5, + "log_step": 58, + "evidence_zh": "观察：视频约 21.5 s 起画面快速倾斜，随后一直是倒置/侧倾视角；log step 44 状态读数 base 姿态四元数大幅偏离直立，log step 58 服务给出 failure: the robot fell over。", + "cat": "全身", + "item": "平衡" + } + ], + "root_causes": [ + { + "evidence_zh": "观察：log step 42-44，agent 的脚本以 0.8 m/s 方向的底盘平移命令沿过道前进（advance_aisle），之后 base 倾斜 0.36 rad 以上，agent 自述“drove into an obstacle”。推断：开环地驱动底盘进入有隔板的过道，未做障碍避让；子类不明，停在控制。", + "source_zh": "日志；视频", + "cat": "控制", + "item": "控制" + } + ], + "gap_zh": "无状态日志，碰撞物体在视频中未能看清（头部相机视角被遮挡/倾斜），根因仅依据 agent 日志与倾斜画面推断。", + "unmet": { + "fax_on_carrel": false, + "fax_switched_on": false + } + }, + "summary_zh": "观察：视频 32.5 s 内机器人未找到传真机，未取、未放、未开机，两节点均未达成（0/2）。视频约 21.5 s 机器人驶入隔间过道时撞上障碍后倾倒，评分器判 failure: the robot fell over。断点为传真机上桌（转场阶段），现象全身·平衡，根因控制（开环底盘前进撞障碍，推断）；缺口：无状态日志，碰撞对象看不清。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点未达成、断点 fax_on_carrel（转场）、现象 全身·平衡、约 21 s 视频起倾倒，均与视频帧、log step 40-44/58 一致；根因“控制”较弱但有证据支撑且已标注推断，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-installing-a-fax-machine-i00-standard--vrtewhz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-installing-a-fax-machine-i00-standard--vrtewhz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ffeea997532f0bda026c1e62818537e06f85cfbd1069d409e28e573d7e21b5a4", + "video_sha256": "9d0eecaa96129b1531ae84cafcf92c9af6b4acef3f82885cc18ece7ed245f3d7", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--6aczeta.json b/phaseK/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--6aczeta.json new file mode 100644 index 0000000000000000000000000000000000000000..79dd29b1cc5cd040eeced50532a9c2d28baea243 --- /dev/null +++ b/phaseK/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-privileged--6aczeta.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-laying-tile-floors-i00-privileged--6aczeta", + "taskKey": "behavior-1k/laying_tile_floors", + "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c", + "outcome": { + "success": 0, + "reward": 0.125, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 20428, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 0, + "goal_first_step": -1, + "sim_steps": 6262, + "fallen": 1, + "final_reward": 0.125, + "q_score": 0.125, + "replay_wall_s": 2576.3, + "replay_timeout_s": 14818.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.948, + "peak_memory_gb": 12.515, + "peak_processes": 47, + "peak_disk_gb": 1.12, + "peak_cpus": 8.07, + "peak_pids": 415, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-laying-tile-floors-i00-privileged--6aczeta.mp4", + "duration_s": 208.734, + "fps": 30.0, + "frames": 6262, + "sha256": "a76a3329273bccb357fbabf29ea26b0cc03726d7c4017821531fd728edeed2bb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bathroom_door_opened": { + "method": "visual", + "intervals": [ + [ + 93.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 93.0, + "log_step": null, + "text_zh": "观察：视频 85-90 s 头部相机对着关着的深色门板，约 93-95 s 门已转开，露出浴室（洗手台、小便池、红棕地面）；之后视频 140-155 s 门框仍可见。推断：门在约 93 s 打开（精度约 ±3 s）。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶到门前；夹爪与门板的接触在头部视角中看不清（门把手接触未见）。" + }, + { + "who": "未知", + "how": "未知", + "note_zh": "开门的具体接触方式画面无法确认。" + } + ] + }, + "tiles_on_bathroom_floor_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 118.0, + "log_step": null, + "text_zh": "观察：视频约 100-112 s 腕部相机见白色瓷砖在夹爪中，约 113-125 s 头部相机见一块瓷砖平放在浴室红色地面中央，视野内没有第二块砖（另几块始终在走廊，视频 0-60 s 可见两块相邻砖在走廊）。评分器 q_score=0.125（1/8，推断为仅一个 ontop 目标成立）。推断：浴室内只有 1 块砖且无邻砖，邻接条件不满足，本步未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持走廊上的一块瓷砖（腕部相机可见），随底盘穿过门送入浴室并放在地面。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着瓷砖从走廊驶入浴室（视频约 95-113 s）。" + } + ] + }, + "tiles_on_bathroom_floor_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 125.0, + "log_step": null, + "text_zh": "观察：视频 118-208 s 浴室地面只见 1 块砖；评分器 q_score=0.125 限制了成立目标数。推断：本步未达成，其他砖仍在走廊（视频 135 s 后机器人回走廊，未见第二块砖被送入）。" + } + ] + }, + "tiles_on_bathroom_floor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 125.0, + "log_step": null, + "text_zh": "观察：视频 118-208 s 浴室地面只见 1 块砖；评分器 q_score=0.125 限制了成立目标数。推断：本步未达成，其他砖仍在走廊（视频 135 s 后机器人回走廊，未见第二块砖被送入）。" + } + ] + }, + "tiles_on_bathroom_floor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 125.0, + "log_step": null, + "text_zh": "观察：视频 118-208 s 浴室地面只见 1 块砖；评分器 q_score=0.125 限制了成立目标数。推断：本步未达成，其他砖仍在走廊（视频 135 s 后机器人回走廊，未见第二块砖被送入）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.125, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "tiles_on_bathroom_floor_1", + "t": 118.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 118 s 浴室地面只有 1 块砖，没有第二块与之相邻；之后机器人回到走廊（约 140 s 起），视频 160-208 s 画面异常倾斜、贴近地面，至结束未再送砖入浴室。评分器 success=0、q_score=0.125、fallen=1。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象与根因留空：视频只有头/腕部相机，看不到后续砖是否被抓取，也看不出重放与 agent 会话（log step 239 自述 4 块砖全部成功，是 live 会话，非图像证据）为何不同；重放（20428 个动作开环）仅 1 块砖在浴室，agent 最后的新进程重放结果未在日志中给出（log step 256 仍在等待）。无状态日志。160 s 后的倾斜画面疑为机器人倒下（评分器 fallen=1），但画面无法确认时间与原因。", + "unmet": { + "tiles_on_bathroom_floor_1": false, + "tiles_on_bathroom_floor_2": false, + "tiles_on_bathroom_floor_3": false, + "tiles_on_bathroom_floor_4": false + } + }, + "summary_zh": "观察：被评分的重放视频中，浴室门约视频 93 s 打开，机器人约 113-118 s 把 1 块砖放到浴室地面，但浴室里没有第二块砖，邻接不满足，q_score=0.125，4 个砖节点均未达成。随后机器人回到走廊，视频 160 s 后画面异常。agent 在 log step 239 自述的 live 全部成功未在重放中重现（会话证据，不作节点依据）。无状态日志，失败现象与根因证据不足，故留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点（门约93 s开、浴室仅1块砖、4砖节点未达成）与帧一致；q_score=0.125、fallen=1 支持断点在第1块砖；现象/根因留空并有gap_zh，因无状态日志与agent会话证据不可采信，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-laying-tile-floors-i00-privileged--6aczeta/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-laying-tile-floors-i00-privileged--6aczeta/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5af9b3e8a053167a2ffb4e8073dcd97fe88b027218b0c506230da307cec4d452", + "video_sha256": "a76a3329273bccb357fbabf29ea26b0cc03726d7c4017821531fd728edeed2bb", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--8cstuwe.json b/phaseK/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--8cstuwe.json new file mode 100644 index 0000000000000000000000000000000000000000..9e64c3b8c537761bef11d1cff30b818a0879ba43 --- /dev/null +++ b/phaseK/behavior-1k/laying_tile_floors/trajectories/behavior-laying-tile-floors-i00-standard--8cstuwe.json @@ -0,0 +1,317 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-laying-tile-floors-i00-standard--8cstuwe", + "taskKey": "behavior-1k/laying_tile_floors", + "dag_sha256": "9bf4d7ab26900c399e507d461862a0b11aed154e1aacec0f08de6cb2afc3792c", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14060, + "sim_steps": 14060, + "physics_steps": 56240, + "steps": 4450, + "elapsed_s": 5765.7, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.5, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.231, + "peak_processes": 9, + "peak_disk_gb": 0.355, + "peak_cpus": 1.25, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-laying-tile-floors-i00-standard--8cstuwe.mp4", + "duration_s": 468.7, + "fps": 10.0, + "frames": 4687, + "sha256": "fedb32be3861095ea058b3d399f3ebcc57502f8aefb4d870423903f0a9317c64" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "bathroom_door_opened": { + "method": "visual", + "intervals": [ + [ + 76.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 76.0, + "log_step": null, + "text_zh": "观察：视频 66 s 头部相机仍见关闭的深色门，78 s 起门板已转开，露出浴室地面和洗手台；此后机器人从门口进入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 72 s 附近夹爪/手臂贴近门板，之后门开；是否抓握把手无法从画面确认，按推/扫记。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动配合开门。" + } + ] + }, + "tiles_on_bathroom_floor_1": { + "method": "visual", + "intervals": [ + [ + 113.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 113.0, + "log_step": null, + "text_zh": "观察：视频 108-114 s 头部相机见第1块白瓷砖落在浴室红棕色地面上，夹爪退开；推断：该块之后与第2块邻接（视频 262 s 两块并排），计数成立；q_score 0.5 与两块一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右臂二指夹爪夹住瓷砖角部，经 agent 反复调整后抬起并搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动，带着瓷砖从走廊进入浴室。" + } + ] + }, + "tiles_on_bathroom_floor_2": { + "method": "visual", + "intervals": [ + [ + 262.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 262.0, + "log_step": null, + "text_zh": "观察：视频 244-265 s 机器人在浴室对准并松开第2块，265 s 头部相机见两块白瓷砖并排躺在地面上（log step 234 agent 称第2块已松手，间隙约 7 cm）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右臂二指夹爪夹住瓷砖角部，经 agent 反复调整后抬起并搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动，带着瓷砖从走廊进入浴室。" + } + ] + }, + "tiles_on_bathroom_floor_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 295, + "text_zh": "观察：视频 300-466 s 机器人回走廊，agent 自述第3、4块夹住后（log step 295、349）；视频中未见第3块进入浴室，最后在走廊/办公室方向行驶中画面翻转。q_score 0.5 上限为两块。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住走廊中的第3块（agent 自述深度确认，log step 295），未送到浴室。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "携带瓷砖倒车驱动时翻倒。" + } + ] + }, + "tiles_on_bathroom_floor_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 349, + "text_zh": "观察：左夹爪尝试抓取第4块（log step 316-349），视频中未见其到达浴室；q_score 0.5 排除第4块计数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪多次尝试夹第4块角部，agent 自述最后一次夹住（log step 349），未送达。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "驱动携带时翻倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "tiles_on_bathroom_floor_3", + "t": 455.0, + "log_step": 351, + "where": "操作中", + "evidence_zh": "观察：视频末段（约 452-468 s）画面翻转、视角贴近地面/墙，机器人倒下；log step 356 评分服务返回 done=True，reason=\"failure: the robot fell over\"。agent 自述（log step 351）带着两块砖长距离倒车时底盘倾斜。第3块始终未送入浴室。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 455.0, + "log_step": 356, + "evidence_zh": "观察：视频约 460 s 起视角翻倒；服务报告 robot fell over（log step 356）；agent 自述长距离倒车时底盘倾翻（log step 351）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断：机器人双臂各夹一块砖、躯干曾在行驶中折叠（log step 211），agent 自述长距离倒车使底盘翻倒（log step 351）；具体子类型（负载布局或反馈控制）无法区分。", + "source_zh": "agent 自述 / 日志" + } + ], + "gap_zh": "无状态日志；视频约 10 fps，时间为目测（门 ±6 s，砖 ±3 s）；视频 300-450 s 的具体动作未逐帧核实，第3块在走廊夹住与否仅有 agent 自述。", + "unmet": { + "tiles_on_bathroom_floor_1": true, + "tiles_on_bathroom_floor_2": true, + "tiles_on_bathroom_floor_3": false, + "tiles_on_bathroom_floor_4": false + } + }, + "summary_zh": "观察：视频 468.7 s（=14060 控制步/30）内机器人打开浴室门（视频约 76 s），搬进第1块（约 113 s）和第2块（约 262 s）并排放在浴室地面，共 2/4 块，q_score 0.5。随后回走廊去取第3、4块，agent 自述双臂各夹一块后长距离倒车导致底盘翻倒，服务判定 robot fell over，卡在第3块上。时间为目测，无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点进度（门、前两块砖、q_score 0.5）、断点（第3块，操作中）和平衡现象与视频及服务结果（robot fell over，视频末尾）相符；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-laying-tile-floors-i00-standard--8cstuwe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-laying-tile-floors-i00-standard--8cstuwe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8fdf64d998c3ab869e87f9373e95c56da083bdb40e61884ae372afb9ec37e985", + "video_sha256": "fedb32be3861095ea058b3d399f3ebcc57502f8aefb4d870423903f0a9317c64", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/loading_the_car/trajectories/behavior-loading-the-car-i00-privileged--v7t6jxt.json b/phaseK/behavior-1k/loading_the_car/trajectories/behavior-loading-the-car-i00-privileged--v7t6jxt.json new file mode 100644 index 0000000000000000000000000000000000000000..23c7faadefc3f86bb655a405130fe5328d6ffd89 --- /dev/null +++ b/phaseK/behavior-1k/loading_the_car/trajectories/behavior-loading-the-car-i00-privileged--v7t6jxt.json @@ -0,0 +1,216 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-loading-the-car-i00-privileged--v7t6jxt", + "taskKey": "behavior-1k/loading_the_car", + "dag_sha256": "384f89102dcf627f89b410aa1d68d11d2f454502523ee32a707397692405b580", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 1079, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 1229, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1228.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 5, + "agent_resets": 7, + "agent_sim_steps": 2976, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.124, + "peak_memory_gb": 13.748, + "peak_processes": 76, + "peak_disk_gb": 3.21, + "peak_cpus": 8.08, + "peak_pids": 485, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-loading-the-car-i00-privileged--v7t6jxt.mp4", + "duration_s": 40.967, + "fps": 30.0, + "frames": 1229, + "sha256": "1eb36f0dc1081896a122a673e0534cc46d13839e1b15d8f09986fe4d8cc4e437" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.9, + "log_step": 269, + "text_zh": "观察：视频 0-12 s 机器人在车库内靠近红色汽车（视频 7-11 s 可见车身），未见车门/后盖打开或夹爪碰到把手；约 14 s 起离开车库进入客厅，之后一直在客厅，没有任何帧显示汽车开口。" + } + ] + }, + "camera_in_container": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.9, + "log_step": 269, + "text_zh": "观察：视频 14-41 s 机器人在客厅，桌上的黑色物体可见，未见相机被抓起或进入收纳箱；最后一帧（视频 40.9 s）仍无收纳箱内的相机。" + } + ] + }, + "container_in_car": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.9, + "log_step": 269, + "text_zh": "观察：全程未见收纳箱进入汽车；视频 33-41 s 机器人停在客厅不动，汽车不在视野内。agent 终稿自述“container grasp failed”（log step 269）仅作会话证据。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视角未显示夹爪与收纳箱是否接触；agent 称抓取容器失败（log step 269），视频无法证实。" + } + ] + }, + "racket_in_car": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.9, + "log_step": 269, + "text_zh": "观察：视频约 17 s 与 28-41 s 腕部视角可见红色网球拍（疑似在夹爪附近），但汽车不在视野内，没有球拍进入汽车的帧。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "腕部视角可见球拍，但无法判断是否被夹爪抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "container_in_car", + "t": 14.0, + "log_step": 269, + "where": "转场", + "evidence_zh": "观察：视频 0-12 s 机器人在车库，随后（约 14 s）驶入客厅，33-41 s 静止，全程无汽车打开、无容器/相机/球拍入车。推断：机器人没有先打开汽车就离开车库取物，取容器一环未完成；agent 终稿自述容器抓取失败（log step 269），视频未直接显示该抓取。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视角多为倾斜的头部相机，看不到容器抓取的接触，无状态日志；无法确定现象与根因，故留空。另 agent 在 log step 256 提到机器人转向时倾倒，视频 14-28 s 画面倾斜翻转，但未确认摔倒，不据此标注。", + "unmet": { + "camera_in_container": false, + "container_in_car": false, + "racket_in_car": false + } + }, + "summary_zh": "观察：本次提交的轨迹（1079 步，视频 41 s）中机器人从车库驶入客厅后停住，四个节点均未达成（0/4）。断点记为 容器入车（转场），因视频未见汽车打开或任何物体入车；agent 自述容器抓取失败（log step 269）。无状态日志、视角受限，现象与根因留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点全未达成（0/4）与视频一致：车库内汽车未见打开，客厅帧中无相机/收纳箱入车；断点容器入车、现象与根因留空并附 gap_zh 均可接受。仅注意 where=转场 略保守，但证据不足以改动。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:13:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-loading-the-car-i00-privileged--v7t6jxt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-loading-the-car-i00-privileged--v7t6jxt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "afe04d179e35592214a62dae7fc6ac7ce3c5d91aac00aab55395c4c4040cded7", + "video_sha256": "1eb36f0dc1081896a122a673e0534cc46d13839e1b15d8f09986fe4d8cc4e437", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/loading_the_car/trajectories/behavior-loading-the-car-i00-standard--vx9fqds.json b/phaseK/behavior-1k/loading_the_car/trajectories/behavior-loading-the-car-i00-standard--vx9fqds.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf98f4eccba1b45585920b20bc44ff8c2ce6077 --- /dev/null +++ b/phaseK/behavior-1k/loading_the_car/trajectories/behavior-loading-the-car-i00-standard--vx9fqds.json @@ -0,0 +1,220 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-loading-the-car-i00-standard--vx9fqds", + "taskKey": "behavior-1k/loading_the_car", + "dag_sha256": "384f89102dcf627f89b410aa1d68d11d2f454502523ee32a707397692405b580", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 4507, + "sim_steps": 4507, + "physics_steps": 18028, + "steps": 2265, + "elapsed_s": 1430.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.199, + "peak_processes": 9, + "peak_disk_gb": 0.26, + "peak_cpus": 2.12, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-loading-the-car-i00-standard--vx9fqds.mp4", + "duration_s": 150.3, + "fps": 10.0, + "frames": 1503, + "sha256": "a079f06aaafb3d9b5bdcd2cca73868c642ba51fba8dd514d974b027ef93742ef" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5, + "log_step": null, + "text_zh": "观察：视频 0-150.3 s 机器人只在车库内驶向通往室内的侧门并开门（视频约 85-110 s），从未接触汽车；汽车装载门盖始终合拢（视频约 12 s 仅见红色汽车在远处）。" + } + ] + }, + "camera_in_container": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140, + "log_step": null, + "text_zh": "观察：全程未见数码相机或收纳箱；机器人穿过侧门后在门框处打滑倾倒（视频约 140 s 后画面转向地板），未到达客厅桌面。" + } + ] + }, + "container_in_car": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140, + "log_step": null, + "text_zh": "观察：全程未见收纳箱，更未入车；前置节点 car_opened 未达成。" + } + ] + }, + "racket_in_car": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 140, + "log_step": null, + "text_zh": "观察：全程未见网球拍，未入车。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "camera_in_container", + "where": "转场", + "t": 140, + "evidence_zh": "观察：机器人始终空手，花约 100 s 开侧门，穿过门口后在门框处底盘打滑、斜靠墙，视频约 140 s 后画面转向地板；评分器 failure 为“robot fell over”（log step 85，控制步 4507）。尚未取得任何物体，故停在去客厅取物的转场上。", + "log_step": 82 + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 140, + "log_step": 82, + "evidence_zh": "观察：agent 自述底盘“climbed or tipped against the doorway”（log step 82），视频约 140-150 s 画面转向地面，评分器判 robot fell over（log step 85）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：log step 81 自述转弯时底盘被门/门框挡住而打滑，随后继续操作，底盘倾倒。推断：在狭窄门口附近靠近墙体做原地转向的底盘控制不当；子类不明。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志，头部相机多为遮挡/黑色躯干，倾倒的精确时刻和原因只能由画面和 agent 日志推断；根因子类不明。", + "unmet": { + "camera_in_container": false, + "container_in_car": false, + "racket_in_car": false + } + }, + "summary_zh": "观察：机器人在车库出发，花大量时间开通往室内的侧门（视频约 85-110 s），穿过门后在门框处打滑倾倒（视频约 140 s），四个节点均未达成。断点在去客厅取物的转场（相机入箱），现象为全身·平衡，根因仅能记为控制。缺口：无状态日志，视角遮挡。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个节点均未达成、断点在去客厅取物的转场、全身·平衡（评分器 robot fell over）与视频一致；视频约 136-148 s 画面转向地面，与倾倒相符。未发现需要改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:56:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-loading-the-car-i00-standard--vx9fqds/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-loading-the-car-i00-standard--vx9fqds/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2db6d970206f61abf3572435b79e193ca8e0c8738c4e2df0502f6e1ffe6168cc", + "video_sha256": "a079f06aaafb3d9b5bdcd2cca73868c642ba51fba8dd514d974b027ef93742ef", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq.json b/phaseK/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq.json new file mode 100644 index 0000000000000000000000000000000000000000..e096ac342c5fc5fb8651578c5a07e3a7129f3a03 --- /dev/null +++ b/phaseK/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq.json @@ -0,0 +1,291 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 10178, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 10328, + "fallen": 0, + "final_reward": 0.16666666666666666, + "q_score": 0.16666666666666666, + "replay_wall_s": 3210.9, + "replay_timeout_s": 7985.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 11.107, + "peak_memory_gb": 22.998, + "peak_processes": 113, + "peak_disk_gb": 0.737, + "peak_cpus": 8.13, + "peak_pids": 808, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq.mp4", + "duration_s": 344.267, + "fps": 30.0, + "frames": 10328, + "sha256": "e4d5af8d1fcdafbc6f2325032a56e8158f86bfba584d64dc7dc0b8ff9ff9a154" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 122, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 124, + "log_step": null, + "text_zh": "观察：视频约 124 s 腕部视角可见电视柜上层抽屉被拉出、内腔可见；约 112 s 仍关闭。时间为约数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪拉开抽屉（推断）" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [ + [ + 196, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 198, + "log_step": null, + "text_zh": "观察：视频 186-192 s 茶几上只有白色托盘，约 196-210 s 起腕部视角可见棕色纸袋在茶几上，直至 344 s 末帧仍在。早期搬袋(约 25-60 s)的结果未见袋在茶几上。到达时间约数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓纸袋搬运" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人在餐桌与茶几间移动" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344, + "log_step": null, + "text_zh": "观察：视频 10-344 s 的画面中茶几上始终仅见 1 只纸袋；评分 q=1/6 也只容许 1 个目标关系成立（逻辑推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "约 94 s 起夹爪抓第二只纸袋，未见其落在茶几上" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344, + "log_step": null, + "text_zh": "观察：末段画面（240-344 s）中骰子落在茶几桌面、威化饼仍在夹爪中，均不在袋内；q=1/6 也不允许更多关系成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "约 150 s 夹爪握着骰子靠近茶几，之后骰子留在桌面" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344, + "log_step": null, + "text_zh": "观察：末段画面（240-344 s）中骰子落在茶几桌面、威化饼仍在夹爪中，均不在袋内；q=1/6 也不允许更多关系成立。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344, + "log_step": null, + "text_zh": "观察：末段画面（240-344 s）中骰子落在茶几桌面、威化饼仍在夹爪中，均不在袋内；q=1/6 也不允许更多关系成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "约 240-344 s 夹爪夹着威化饼，未放入袋" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 344, + "log_step": null, + "text_zh": "观察：末段画面（240-344 s）中骰子落在茶几桌面、威化饼仍在夹爪中，均不在袋内；q=1/6 也不允许更多关系成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "sacks_on_table_2", + "t": 100, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 94 s 夹爪抓起第二只纸袋，其后到 344 s 茶几上始终只有 1 只袋；第二只袋上茶几从未完成，之后转去开抽屉、拿骰子/威化饼也都未入袋。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，头部/腕部视角多被遮挡，无法确认第二只纸袋的去向以及失败的可见现象与根因，故现象和根因层留空；节点时间为约数。", + "unmet": { + "sacks_on_table_1": true, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + } + }, + "summary_zh": "观察：本次运行只完成抽屉打开（视频约 122 s）和第1只袋上茶几（约 196 s），第2只袋、骰子和威化饼均未入位，q=1/6。断点在第2只袋上茶几（视频约 94-100 s 起）；现象和根因因画面遮挡且无状态日志未能确定。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "无状态日志，视频头/腕部视角多遮挡。抽屉（约124 s）、第1只袋上茶几（约196 s，此前30-190 s茶几上只见托盘）与q=1/6、最终2/7一致；第2只袋、骰子、威化饼未入位，与末段画面一致；现象/根因留空并附gap_zh可接受。未找到能证明的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-privileged--wmpkasq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9644f86d9d788a858dda7fc9fea224fb07c29a002115c69a5b5c6f27d050145d", + "video_sha256": "e4d5af8d1fcdafbc6f2325032a56e8158f86bfba584d64dc7dc0b8ff9ff9a154", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn.json b/phaseK/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn.json new file mode 100644 index 0000000000000000000000000000000000000000..25d984791c282da448afb12bf4e8a96a9925ec5d --- /dev/null +++ b/phaseK/behavior-1k/make_gift_bags_for_baby_showers/trajectories/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn.json @@ -0,0 +1,352 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn", + "taskKey": "behavior-1k/make_gift_bags_for_baby_showers", + "dag_sha256": "7b0231203ecf0f8f40c0a0d2dedc737f77e9c9869a9ff9e143165a82dfa79100", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 17945, + "sim_steps": 18095, + "physics_steps": 72380, + "steps": 13902, + "elapsed_s": 6452.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.16666666666666666, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.244, + "peak_processes": 9, + "peak_disk_gb": 0.582, + "peak_cpus": 2.75, + "peak_pids": 90, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn.mp4", + "duration_s": 603.2, + "fps": 10.0, + "frames": 6032, + "sha256": "2e0c4e2a70970af7d403f6e1b98d3873d1afcfc5e9573f5e869c61e119beb19b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "wafer_drawer_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 560, + "log_step": 421, + "text_zh": "观察：视频 540-603 s 的帧中柜体（电视下方木柜）台面可见，抽屉始终贴合关闭；agent 日志 log step 421-446 只处理柜面上的骰子，从未拉抽屉。" + } + ] + }, + "sacks_on_table_1": { + "method": "visual", + "intervals": [ + [ + 370.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 370, + "log_step": 283, + "text_zh": "推断：agent 日志 log step 283（agent 钟 4306 s）自述早餐桌上的袋子“released and remains on the table”，按视频 603 s ↔ 日志约 7040 s 的比例换算约对应视频 370 s（比例估计，两钟未精确对齐）；视频 365-380 s 帧茶几上已有橙色袋子、地上另有一只，可核对；之后骰子放在这只袋上（log step 437-446）仍在茶几。评分器 q_score=1/6 与恰有一个目标成立相符。首次放置（log step 88-102）袋子掉到地板，不计入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：第一次放置时袋子滑落地板（log step 88-102）；之后在早餐桌用左夹爪角部捏取，成功搬到茶几并释放（log step 267-283）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在早餐桌与茶几之间移动。" + } + ] + }, + "sacks_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 602, + "log_step": 453, + "text_zh": "观察：agent 日志 log step 450-453 自述把地上的那只袋搬到茶几另一位置并释放；推断：评分器 q_score=1/6，六个目标只有一个成立，故该袋未被计为第二个目标成立（视频帧无法判定原因，可能是位置或关系不合格）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：地上那只袋多次捏取打滑（log step 284-413），最终左夹爪捏住侧壁搬放（log step 450-453）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到地上袋旁，再回到茶几。" + } + ] + }, + "dice_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 590, + "log_step": 446, + "text_zh": "观察：视频约 560 s 起骰子被夹持离开柜面，之后放在茶几上折瘪袋的表面；agent 自述骰子“在袋子上而非袋内”（log step 446-447），袋口未见骰子落入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住骰子，取自柜面，放到茶几上的袋子上（log step 437-446）。" + } + ] + }, + "dice_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 603, + "log_step": 459, + "text_zh": "观察：视频最后帧未见该物品入袋；agent 自述第二颗骰子和两片威化饼均未放置（log step 459）。" + } + ] + }, + "wafers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 603, + "log_step": 459, + "text_zh": "观察：视频最后帧未见该物品入袋；agent 自述第二颗骰子和两片威化饼均未放置（log step 459）。" + } + ] + }, + "wafers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 603, + "log_step": 459, + "text_zh": "观察：视频最后帧未见该物品入袋；agent 自述第二颗骰子和两片威化饼均未放置（log step 459）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "dice_in_sacks_1", + "t": 590, + "log_step": 446, + "where": "操作中", + "evidence_zh": "观察：agent 夹起柜面骰子并放到茶几上折瘪的袋子表面，自检确认“在袋上、未入袋”（log step 437-447，视频约 560-595 s）；该步骤被处理过但未完成，也未修复。推断：第二只袋是否被触碰不作断言（log step 450-453 搬的是地上那只袋，agent 自称 second sack）。" + }, + "unmet": { + "sacks_on_table_1": true, + "sacks_on_table_2": false, + "dice_in_sacks_1": false, + "dice_in_sacks_2": false, + "wafers_in_sacks_1": false, + "wafers_in_sacks_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 590, + "log_step": 446, + "evidence_zh": "观察：骰子被松放在袋表面而非袋口内（松手时物体不在目标里，按 taxonomy 记位姿不准）；log step 446-447 agent 自述“在袋上、未验证入袋”。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：骰子释放位置/高度未对准袋口；agent 自述夹爪每指开合约定在搬运中张开（log step 446，仅自述，未经状态日志核实）。第一只袋早先反复捏取打滑（log step 158-413）只是历史背景，不是本断点的原因。", + "source_zh": "日志" + } + ], + "gap_zh": "视频为头/腕部视角且时间压缩（603 s 对应 agent 约 7040 s），节点时刻为按比例换算的推断；无状态日志，抽屉与各物体位置只能由帧、agent 日志和评分器 q_score=1/6 推断。第二只袋被搬到茶几（log step 450-453）但评分器只记一个目标，原因不能由帧判定。骰子放置的具体原因仅有 agent 自述。" + }, + "summary_zh": "推断：第1只袋约视频 370 s（log step 283，比例换算）放上茶几并保持；断点 dice_in_sacks_1：骰子被夹起后放在袋表面而非袋内（log step 446-447），位姿不准；地上那只袋在末段（log step 450-453）也被放到茶几，但评分器仅记一个目标成立，q_score=1/6；抽屉未开，第二颗骰子与威化饼未完成。缺口：无状态日志，时间为估计。", + "conf": 5, + "review": { + "status": "disputed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值大体与日志/q_score 相符，但断点和现象只写了“第2只袋没尝试”，忽略了 agent 实际做完并失败的步骤（骰子取出后放在袋上而非袋内，log step 437-447），且根因（抓取设计，作用在第1只袋）与“没尝试”现象不对应。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 7, + "summary_zh": "断点（dice_in_sacks_1，位姿不准）大体可接受，但 sacks_on_table_1 的到达时刻和证据有误：日志显示早餐桌上的袋子在 log step 283（agent t≈4306 s，约合视频 370 s）已放到茶几并留在桌上，之后地上那只袋子在 step 450-453 才被放到茶几；标签却写成“视频全程只一只袋被搬动”“592 s 才入位”，并把节点后移约 220 s，且“另一只袋留在早餐桌”不成立。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "fix", + "summary_zh": "I1 的 370 s 与视频帧不符：视频 260-280 s 袋子仍在早餐桌/被夹持，约 285-290 s 才见袋在茶几上，故到达时刻约 288 s 而非 370 s；I4 沿用了该时间。I2、I3 的修改已正确落实。", + "n_issues": 3, + "n_checks": 4 + } + ], + "open_zh": [ + "[I1·第3轮未确认] intervals 已改为 [[370,null]] 并删去 592 s，但 370 s 并非帧所示的到达时刻：视频 268-280 s 袋仍在早餐桌上被夹持，285 s 在茶几边，290 s 茶几上已有橙色袋；330 s 帧茶几上亦已有。按比例换算（4306/7040×603≈369）与帧差约 80 s，应取帧上看到的时刻（约 288 s），且按规则 agent 钟不换算为视频钟。", + "[I4·第3轮未确认] summary_zh 与 gap_zh 已改写、conf 降为 5，但摘要仍写“约视频 370 s（log step 283，比例换算）”，与帧矛盾，需随 I1 改为约 288 s。", + "[第3轮事实错误] progress.nodes.sacks_on_table_1.intervals / summary_zh：到达时刻 370 s 与帧不符，帧显示约 285-290 s 袋已上茶几。" + ], + "confirm": { + "verdict": "not_confirmed", + "summary_zh": "I1 的 370 s 与视频帧不符：视频 260-280 s 袋子仍在早餐桌/被夹持，约 285-290 s 才见袋在茶几上，故到达时刻约 288 s 而非 370 s；I4 沿用了该时间。I2、I3 的修改已正确落实。", + "checks_ok": "2/4", + "n_factual_errors": 1 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:19:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-make-gift-bags-for-baby-showers-i00-standard--d7phwqn/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9940c5292b6d328339263963335ea65ae6a22d4dac422b0c20b0a3499af372d1", + "video_sha256": "2e0c4e2a70970af7d403f6e1b98d3873d1afcfc5e9573f5e869c61e119beb19b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--jzq2zhg.json b/phaseK/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--jzq2zhg.json new file mode 100644 index 0000000000000000000000000000000000000000..91bd23f2bd173bcb34fc23f49f570684da76dce8 --- /dev/null +++ b/phaseK/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-privileged--jzq2zhg.json @@ -0,0 +1,405 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-privileged--jzq2zhg", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 9545, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 9695, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 4527.4, + "replay_timeout_s": 7563.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.553, + "peak_memory_gb": 12.804, + "peak_processes": 47, + "peak_disk_gb": 1.49, + "peak_cpus": 8.08, + "peak_pids": 403, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-make-pizza-i00-privileged--jzq2zhg.mp4", + "duration_s": 323.167, + "fps": 30.0, + "frames": 9695, + "sha256": "c48fe6204f2b0d24d4e96d0151afca7fc7a7de02fe44cab89943bd4a61628e0a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 19, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 40.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 40.0, + "log_step": null, + "text_zh": "观察：视频约 40 s 起头部相机可见冰箱门已转离门框，内部保鲜盒可见（视频 60-160 s 持续敞开，右臂在门边）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：夹爪拉门把手开门，开门瞬间帧稀疏未逐帧核对" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶到冰箱前" + } + ] + }, + "oven_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "oven_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 180-230 s 左夹爪抓着红洋葱，未见切丁" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 322.0, + "log_step": null, + "text_zh": "观察：视频抽帧（约每 5-20 s）中未见该步骤完成的迹象；饼坯在台面上仅见一个红点，无法确认为香肠，未计入。agent 自述未完成披萨（最后一步 say）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "pepperoni_on_dough_1", + "t": 100.0, + "where": "转场", + "evidence_zh": "观察：冰箱开启后（视频约 40 s）机器人在冰箱旁停留至约 160 s，之后携洋葱到灶台旁（约 180-320 s），始终未见从冰箱取出配料并铺到饼坯。推断：冰箱之后的取料铺料一步未完成。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，视频为头/腕相机、画面抽帧稀疏，无法确定具体失败现象与根因；agent 自述未完成并未做权威回放，仅为会话证据，不作根因。", + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + } + }, + "summary_zh": "观察：仅冰箱打开（视频约 40 s）可见，其余 18 个节点未见完成；q_score=0。断点在冰箱之后的取料/铺料步骤，现象和根因因证据不足留空。证据缺口：无状态日志，抽帧稀疏。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签保守且与帧一致：冰箱约40 s 打开可见，其余节点未见完成，q_score=0；断点在冰箱之后的取料/铺料，现象与根因留空并写明 gap_zh，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:21:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun3/runs/behavior-make-pizza-i00-privileged--jzq2zhg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-make-pizza-i00-privileged--jzq2zhg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "49700ea999632a65635a9767702b3b23dc216c1c16b5789beb32ad897dbc21d8", + "video_sha256": "c48fe6204f2b0d24d4e96d0151afca7fc7a7de02fe44cab89943bd4a61628e0a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--cjk9pe9.json b/phaseK/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--cjk9pe9.json new file mode 100644 index 0000000000000000000000000000000000000000..6b7e3ca8aacc598a62704472620908d40b757713 --- /dev/null +++ b/phaseK/behavior-1k/make_pizza/trajectories/behavior-make-pizza-i00-standard--cjk9pe9.json @@ -0,0 +1,441 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-pizza-i00-standard--cjk9pe9", + "taskKey": "behavior-1k/make_pizza", + "dag_sha256": "d6d9df11b8f00b7e0bec05341901a476ef340b5195498408f6ce96ab9b7f72cc", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 6292, + "sim_steps": 6292, + "physics_steps": 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"观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "oven_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "cheese_on_dough": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "pepperoni_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "pepperoni_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "pepperoni_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "pepperoni_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "mushrooms_halved_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "mushrooms_halved_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "mushroom_halves_on_dough_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "mushroom_halves_on_dough_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "mushroom_halves_on_dough_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "mushroom_halves_on_dough_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "onion_diced": { + "method": "visual", + "intervals": [ + [ + 140, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 140, + "log_step": 320, + "text_zh": "观察：视频约 85-145 s 机器人右夹爪握刀柄在面团上的洋葱处多次下压；约 138 s 起面团上可见红色洋葱碎片与碎丁，整颗洋葱消失（时间不确定，约 ±10 s）。推断：已切成碎丁。agent 自述“只剩碎皮与碎丁”（log step 320）。状态日志不存在。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪握刀柄，用刀刃在饼坯上的洋葱处下压切割（agent 先误判刀刃方向，后修正，log step 317）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在台边微调位置" + } + ] + }, + "diced_onion_on_dough": { + "method": "visual", + "intervals": [ + [ + 140, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 140, + "log_step": 320, + "text_zh": "观察：机器人约 63 s 前把整颗洋葱放在饼坯上（约 56-65 s 夹爪持洋葱，随后在饼坯上方松手），在饼坯上原地切丁，碎丁留在饼坯上（约 138 s 画面）。推断：约 140 s 起成立。注：q_score=0，洋葱两节点或非评分目标字面量，与该推断不冲突。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪握住整颗洋葱，随底盘沿台面搬运到饼坯上方放下（约 56-65 s）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "搬运时底盘沿台面移动" + } + ] + }, + "dough_in_oven": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "pizza_baked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + }, + "pizza_on_sheet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：视频全程（约 0-209.8 s）未见该步骤成立的画面；机器人于约 200 s 摔倒、仿真结束，未取出冰箱食材、未触及烤箱、未完成披萨。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 198, + "log_step": 404, + "where": "转场", + "evidence_zh": "观察：洋葱切丁后（约 140 s）机器人转向冰箱，约 170-200 s 驱动底盘接近冰箱；约 200 s 后视角翻转成天花板（摔倒），仿真在 control step 6292（6292/30=209.7 s ≈ 视频总长 209.8 s）以“robot fell over”终止（log step 406-407）。冰箱门从未被打开，是摔倒时正在进行、从未完成的步骤。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 198, + "log_step": 406, + "evidence_zh": "观察：约 200-209.8 s 的头部/腕部相机画面翻转成天花板朝向；服务器返回“failure: the robot fell over”（log step 406，control step 6292）。agent 自述（log step 404）摔倒前的路径经过餐椅区域；视频中未能确认是否撞到椅子。" + } + ], + "root_causes": [], + "gap_zh": "摔倒的直接原因未能确认：视频为头/腕相机，看不到底盘与餐椅的接触；无状态日志；agent 仅说路径穿过餐椅区域，无证据区分碰撞、过快驱动或躯干姿态不稳，故根因留空。洋葱切丁的时刻约 ±10 s，没有状态日志。", + "unmet": { + "pizza_baked": false, + "pizza_on_sheet": false + } + }, + "summary_zh": "观察：机器人先把洋葱放在饼坯上并切丁（视频约 140 s，节点 2/19 成立），随后花大量时间找冰箱，约 170-200 s 驱动底盘接近冰箱时摔倒，仿真在视频约 209.8 s 终止；冰箱、烤箱、奶酪、香肠、蘑菇、入烤箱等均未做。断点为 fridge_opened（转场，全身·平衡）；摔倒的根因证据不足留空。无状态日志，节点时间来自视频，不确定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、log 一致：仅洋葱两节点成立（约 140 s，已标不确定），冰箱等节点未达成；约 200 s 后画面翻转、服务返回 robot fell over（log step 406，control step 6292≈209.7 s）；断点 fridge_opened、全身·平衡、根因留空并写明 gap_zh，均有证据支持。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-make-pizza-i00-standard--cjk9pe9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-pizza-i00-standard--cjk9pe9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "60cd285adadae12f95035f65a9f6eff4b48501e96f26224da02fafd9e047f1fb", + "video_sha256": "8033dc43a83a7d0fac703f61c00a41e329f15e74dcce65307dc48bac7fdbee0e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--e5hfrgg.json b/phaseK/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--e5hfrgg.json new file mode 100644 index 0000000000000000000000000000000000000000..3d43c0d5478fff03f307c2fada26542e957d57f9 --- /dev/null +++ b/phaseK/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-privileged--e5hfrgg.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-privileged--e5hfrgg", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 7243, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 7393, + "fallen": 0, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 3090.9, + "replay_timeout_s": 6028.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 2, + "agent_sim_steps": 10457, + "agent_records": 1, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 11.925, + "peak_memory_gb": 23.259, + "peak_processes": 79, + "peak_disk_gb": 2.125, + "peak_cpus": 8.1, + "peak_pids": 784, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-make-rose-centerpieces-i00-privileged--e5hfrgg.mp4", + "duration_s": 246.434, + "fps": 30.0, + "frames": 7393, + "sha256": "56f6e89ef44c994490baee0d8df3708dc15a4b95ccde008dc26e4c1af2df57c8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": [ + [ + 140.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 140.0, + "log_step": null, + "text_zh": "观察：视频 50-135 s 夹爪夹住一支玫瑰花茎、在柜面与茶几间搬运；视频 140 s 腕部相机俯视瓶口，可见红色花朵与花茎在瓶腔内；之后 227-232 s 的远景仍见一支红玫瑰在瓶内。时刻约 ±3 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：一侧二指夹爪夹住玫瑰花茎送入花瓶。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘在柜子与茶几之间移动。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 246.0, + "log_step": null, + "text_zh": "观察：视频 150-160 s 机器人回到柜面，柜上仍见两支玫瑰；约 165 s 起夹爪抓着第二支玫瑰的花茎在瓶口上方，至视频 246.3 s（末帧）腕部相机仍只见带叶花茎在瓶口，没有第二朵花头在瓶内；瓶内仅一朵红花。评分器 q_score=0.5 也不容许第 2 支入瓶（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住第二支玫瑰花茎送到瓶口，视频 165-246 s 一直持握。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 246.0, + "log_step": null, + "text_zh": "观察：视频 158 s 柜面见两支玫瑰，其一被取走后另一支在视频内未见被抓取；没有第三支入瓶。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 31.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.0, + "log_step": null, + "text_zh": "观察：视频 4-8 s 机器人抓起柜面上的花瓶；视频 29-31 s 头部相机可见其把花瓶放到蓝沙发前的玻璃茶几上并松手；其后视频 100-246 s 头部视图中花瓶一直在茶几上。评分器 q_score=0.5（4 个目标文字中满足 2 个）与『花瓶在茶几 + 1 支玫瑰在瓶内』一致（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4-31 s 夹爪夹住花瓶并搬运到茶几。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：搬运花瓶时底盘移动到茶几前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.5, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_2", + "t": 165.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：第 1 支入瓶后（视频约 140 s），机器人取第 2 支，视频 165-246 s 一直把花茎举在瓶口处，末帧仍在手中、未见入瓶；第 3 支留在柜上。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 200.0, + "log_step": null, + "evidence_zh": "观察：视频 175-246 s 腕部相机里第二支玫瑰的花茎停在瓶口，约 70 s 没有放进瓶腔、也没松手（推断：花朵没对准瓶口）。证据弱。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：图像看不出第 2 支为何没入瓶。日志 step 208 里 agent 自述（会话中的后续重跑，非本次评分视频）称第 2 支已抓取并搬运，但自由臂偏差 30 mm 触发 25 mm 的安全阈值；这只是会话证据，不当作根因。本次评分是回放 7243 个动作的脚本（agent_replays=1），未见状态日志，无法核对物体位姿。", + "unmet": { + "roses_in_vase_1": true, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": true + } + }, + "summary_zh": "观察：评分回放中花瓶于视频约 31 s 放到茶几，第 1 支玫瑰约 140 s 入瓶；第 2 支被夹到瓶口后直到视频结束（246 s）仍未入瓶，第 3 支未取。q_score=0.5，4 个节点中 2 个满足（花瓶在茶几 + 第 1 支）。断点在第 2 支入瓶，现象为位姿不准（证据弱），根因证据不足。无状态日志，节点时间来自视频。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 30/60-130/140/200/245 s：第1支约140 s入瓶、第2支直到末帧仍举在瓶口、花瓶在茶几，均与标签一致；断点、证据弱的位姿不准现象及空根因加 gap_zh 均合理。无状态日志，无法进一步核对。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-privileged--e5hfrgg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-privileged--e5hfrgg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9de7e2dc139fcb716bf628157ba4d13dc27a31df2df4a6489d5eb6e89c0dc78b", + "video_sha256": "56f6e89ef44c994490baee0d8df3708dc15a4b95ccde008dc26e4c1af2df57c8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--8itd6ks.json b/phaseK/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--8itd6ks.json new file mode 100644 index 0000000000000000000000000000000000000000..f5f332ff9130003f932c9e1c30ab4997930011c4 --- /dev/null +++ b/phaseK/behavior-1k/make_rose_centerpieces/trajectories/behavior-make-rose-centerpieces-i00-standard--8itd6ks.json @@ -0,0 +1,334 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-make-rose-centerpieces-i00-standard--8itd6ks", + "taskKey": "behavior-1k/make_rose_centerpieces", + "dag_sha256": "99a423a4fcccb655a97dc2f369da7fd0590adae307151696c7ac30e3aa5dd377", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 16659, + "sim_steps": 16809, + "physics_steps": 67236, + "steps": 2511, + "elapsed_s": 6577.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.25, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.291, + "peak_processes": 9, + "peak_disk_gb": 0.792, + "peak_cpus": 3.67, + "peak_pids": 254, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-make-rose-centerpieces-i00-standard--8itd6ks.mp4", + "duration_s": 560.4, + "fps": 10.0, + "frames": 5604, + "sha256": "8411d870ae432fcc385173d495b4391e1eab4b744106cc939a4022b45cf17ea1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "roses_in_vase_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察+推断：q_score=0.25 即 4 个目标文字仅 1 个成立，终态花瓶在茶几上（见 vase_on_coffee_table），故玫瑰入瓶均不成立；视频 482-545 s 玫瑰躺在茶几面上，agent 日志 id 594/604 仅称玫瑰 C 松放在瓶上方、未见入瓶。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住玫瑰花茎（视频 100-540 s 腕部相机可见）向瓶口送，多次松落。" + } + ] + }, + "roses_in_vase_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：q_score=0.25 只允许 1 个目标文字成立，该节点 final 为 false（评分总量逻辑推断）；视频中玫瑰多次抓起、从花瓶上方松落，没有看到入瓶。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住玫瑰花茎，未成功入瓶。" + } + ] + }, + "roses_in_vase_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：q_score=0.25 只允许 1 个目标文字成立，该节点 final 为 false（评分总量逻辑推断）；视频中玫瑰多次抓起、从花瓶上方松落，没有看到入瓶。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住玫瑰花茎，未成功入瓶。" + } + ] + }, + "vase_on_coffee_table": { + "method": "visual", + "intervals": [ + [ + 79.5, + 178.0 + ], + [ + 482.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 79.5, + "log_step": null, + "text_zh": "观察：视频 76-80 s 头部视角中机器人右手夹着浅色花瓶压在蓝色沙发前的茶几台面上方，约视频 79.5 s 后手离开，花瓶留在茶几上。" + }, + { + "t": 178.0, + "log_step": 180, + "text_zh": "观察：视频 165-176 s 花瓶仍在茶几面上、松放的玫瑰横在瓶身外侧；约 178-182 s 后画面中花瓶消失，186 s 茶几面空，约 200 s 起花瓶躺在木地板上（170-470 s 反复被抓取）。log step 180 称花瓶被碰落（会话读数，仅作旁证）；故约 178 s 失去该状态。" + }, + { + "t": 482.0, + "log_step": 594, + "text_zh": "观察：视频 476 s 左腕相机仍夹着花瓶，482-494 s 起花瓶口朝上立在蓝色沙发前的茶几面上，旁边躺着玫瑰，至结尾（560 s）未见再次被碰落。log step 585-594（agent 日志 id 585-594，服务深度读数）：夹起花瓶、移到茶几上方松放，花瓶 z≈0.41-0.74 m 稳定在茶几上。视频时刻按日志挂钟比例估算，起点以画面为准。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住花瓶瓶身放到茶几（79.5 s 与约 482 s 两次）；中间多次在地面上重抓花瓶，夹合落空。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动携带花瓶从电视柜到茶几旁。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "roses_in_vase_1", + "where": "操作中", + "t": 178.0, + "evidence_zh": "观察：视频 165-176 s 手持玫瑰在瓶口松放，玫瑰落在瓶身外侧、未入瓶；约 178 s 后花瓶不在茶几上，200 s 见躺在地板，原因未见接触（log step 168-180 会话叙述称被碰落，旁证）。此后约 482 s 才把花瓶放回茶几，玫瑰始终没有入瓶。", + "log_step": 180 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 170.0, + "log_step": 168, + "evidence_zh": "观察：视频 165-176 s 玫瑰松放时未对准瓶口，落在瓶身外侧、没入瓶（多次松放重复，100-540 s）。花瓶约 178 s 后不在茶几上，原因未见可见碰撞接触，仅 log step 180 会话叙述称被碰落（旁证）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "alt_feasible": "未知", + "evidence_zh": "推断：视频 160-176 s、520 s 多次松放玫瑰均落在瓶外，松放时瓶口与玫瑰位置未对齐；无状态日志，未取证，仅推断。", + "source_zh": "视频（推断）" + } + ], + "gap_zh": "无状态日志，视频为三路相机拼接，玫瑰是否入瓶靠 q_score=0.25 与花瓶终态位置推断；花瓶约 178 s 离开茶几的原因画面未见，根因仅为推断。", + "unmet": { + "roses_in_vase_1": false, + "roses_in_vase_2": false, + "roses_in_vase_3": false, + "vase_on_coffee_table": true + } + }, + "summary_zh": "观察：视频 79.5 s 机器人把花瓶放到茶几上，约 178 s 后花瓶不在茶几上（原因未见，日志称被碰落），约 482 s 重新夹起放回茶几并留到结尾（560 s），三支玫瑰均未入瓶。推断：q_score 0.25（1/4）对应终态“花瓶在茶几上”成立，三个玫瑰入瓶文字均不成立。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点 vase_on_coffee_table 的终值与区间有误：花瓶在视频约 480 s 被重新放上茶几并留到结尾（log step 585-594），标签只用了更早的 log step 516/576 判为 false。由此 q_score=0.25 更可能对应“花瓶在茶几”，roses_in_vase_1 不应是 unknown。其余（断点、现象）大体可接受。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "主体判断（终态花瓶在茶几、三支玫瑰未入瓶、q=0.25）可接受，但花瓶失去茶几状态的时刻（166 s）与画面不符：166-176 s 腕部/头部相机仍见花瓶立在茶几上、玫瑰松放后横在瓶身外侧，约 177-180 s 后花瓶才消失、200 s 见躺在地板。断点现象“被挡/碰撞”缺少看得见的碰撞接触，实际可见的是玫瑰松放后没入瓶（位姿不准），根因留空也未说明理由。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "三项 accept 均已在 prev/trajectory.json 落实：区间终点与 breakpoint.t 改为 178 s，现象改为运动·位姿不准，补了推断型根因。", + "n_issues": 0, + "n_checks": 3 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "三项 accept 均已在 prev/trajectory.json 落实：区间终点与 breakpoint.t 改为 178 s，现象改为运动·位姿不准，补了推断型根因。", + "checks_ok": "3/3", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:19:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-standard--8itd6ks/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-standard--8itd6ks/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-standard--8itd6ks/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-standard--8itd6ks/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-standard--8itd6ks/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-make-rose-centerpieces-i00-standard--8itd6ks/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ca0ef34aa4dfe6a64f9c081a0584c50f04ba5287e353b9e467d0045ac6e626bf", + "video_sha256": "8411d870ae432fcc385173d495b4391e1eab4b744106cc939a4022b45cf17ea1", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--bp6pe3b.json b/phaseK/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--bp6pe3b.json new file mode 100644 index 0000000000000000000000000000000000000000..35f4be9d79d7847a04ac0aa7028fcd456ffb1c16 --- /dev/null +++ b/phaseK/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-privileged--bp6pe3b.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-privileged--bp6pe3b", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 4344, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 4304, + "sim_steps": 4344, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1748.0, + "replay_timeout_s": 4096.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 7, + "agent_resets": 5, + "agent_sim_steps": 14977, + "agent_records": 2, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.054, + "peak_memory_gb": 13.203, + "peak_processes": 77, + "peak_disk_gb": 2.601, + "peak_cpus": 8.08, + "peak_pids": 424, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-organizing-art-supplies-i00-privileged--bp6pe3b.mp4", + "duration_s": 144.8, + "fps": 30.0, + "frames": 4344, + "sha256": "14a1877780c692173a56e14acdd56ea290014ab40346340222cb2101d85f0f51" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 5, + "final": 5, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [ + [ + 95, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 95, + "log_step": null, + "text_zh": "观察：腕部相机抽帧显示夹爪释放后空手，入袋时间约 95 s，为抽帧估计（误差约 ±3 s，非逐帧）；评分器 success=1、q_score=1.0，故目标节点最终为真（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：腕部相机显示夹爪夹住该物体后送入袋口上方释放；底盘在取放间移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬送期间移动。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [ + [ + 118, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 118, + "log_step": null, + "text_zh": "观察：腕部相机抽帧显示夹爪释放后空手，入袋时间约 118 s，为抽帧估计（误差约 ±3 s，非逐帧）；评分器 success=1、q_score=1.0，故目标节点最终为真（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：腕部相机显示夹爪夹住该物体后送入袋口上方释放；底盘在取放间移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬送期间移动。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [ + [ + 143, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 143, + "log_step": null, + "text_zh": "观察：腕部相机抽帧显示夹爪释放后空手，入袋时间约 143 s，为抽帧估计（误差约 ±3 s，非逐帧）；评分器 success=1、q_score=1.0，故目标节点最终为真（推断）；评分器 goal_first_step=4304（30 fps≈143.5 s）界定最后一个目标不晚于此（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：腕部相机显示夹爪夹住该物体后送入袋口上方释放；底盘在取放间移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬送期间移动。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [ + [ + 63, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 63, + "log_step": null, + "text_zh": "观察：腕部相机抽帧显示夹爪释放后空手，入袋时间约 63 s，为抽帧估计（误差约 ±3 s，非逐帧）；评分器 success=1、q_score=1.0，故目标节点最终为真（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：腕部相机显示夹爪夹住该物体后送入袋口上方释放；底盘在取放间移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬送期间移动。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [ + [ + 30, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30, + "log_step": null, + "text_zh": "观察：袋子被搬到书桌上，时间为粗略估计（视频 30 s 附近，抽帧间隔 3-6 s）；评分器 success=1、q_score=1.0，故目标节点最终为真（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "日志 step 67-73：夹爪抓握提手搬袋上桌（日志自述，视频中见袋出现在桌上）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "驱动底盘搬运袋子。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：评分器 success=1，q_score=1.0（goal_first_step 4304）；五个节点全部到达。节点时间为抽帧粗估（视频 30/60/78/112/140 s 左右），无状态日志。无失败。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "成功运行，五节点最终为真无误，但按视频抽帧，胶棒、橡皮、画笔入袋时间与标注差 4–17 s，conf=5 也偏低于其证据质量；需改时间。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，五节点最终为真由评分器支持；第一轮修正后的时间与抽帧一致，无新增问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-organizing-art-supplies-i00-privileged--bp6pe3b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-organizing-art-supplies-i00-privileged--bp6pe3b/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-organizing-art-supplies-i00-privileged--bp6pe3b/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-organizing-art-supplies-i00-privileged--bp6pe3b/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8ff73fd3c91fcbf95a89584c8f94c93a85a567babded08cb85120c08c5392a41", + "video_sha256": "14a1877780c692173a56e14acdd56ea290014ab40346340222cb2101d85f0f51", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "conf_reason_zh": "入袋时间为抽帧估计（±3 s），终态由评分器确认。" +} diff --git a/phaseK/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--gjknrvq.json b/phaseK/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--gjknrvq.json new file mode 100644 index 0000000000000000000000000000000000000000..0bbb9ec62e68d078e823678657db448938771f97 --- /dev/null +++ b/phaseK/behavior-1k/organizing_art_supplies/trajectories/behavior-organizing-art-supplies-i00-standard--gjknrvq.json @@ -0,0 +1,259 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-art-supplies-i00-standard--gjknrvq", + "taskKey": "behavior-1k/organizing_art_supplies", + "dag_sha256": "a05b0a960700fb93d0f7eacd83754f0d4bb6000a0831d5e2a7b21bdcc373cb9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 12016, + "sim_steps": 12166, + "physics_steps": 48664, + "steps": 9083, + "elapsed_s": 6853.0, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.382, + "peak_processes": 9, + "peak_disk_gb": 0.58, + "peak_cpus": 2.72, + "peak_pids": 216, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-organizing-art-supplies-i00-standard--gjknrvq.mp4", + "duration_s": 405.6, + "fps": 10.0, + "frames": 4056, + "sha256": "d2b61945c801f26c9d6ea0be516477cdeb8bc436ee8d06d52fb1d1cbe818f4d0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "glue_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 404.0, + "log_step": null, + "text_zh": "推断：评分器 q_score=0（仅为总分，不单独证明）意味着满足的目标文字数为0，故该节点终态为假；观察：视频 238-404 s 的采样帧只显示夹爪抓着手提袋/文具的片段镜头，视频仅405.6 s，远短于 agent 的7200 s 会话，未见该物件在袋内静止离手的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 238 s 附近帧显示夹爪夹住绿色胶棒；其余文具的抓取未在采样帧中逐一确认；agent 自述（log step 389-437）逐件抓取并释放。" + } + ] + }, + "eraser_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 404.0, + "log_step": null, + "text_zh": "推断：评分器 q_score=0（仅为总分，不单独证明）意味着满足的目标文字数为0，故该节点终态为假；观察：视频 238-404 s 的采样帧只显示夹爪抓着手提袋/文具的片段镜头，视频仅405.6 s，远短于 agent 的7200 s 会话，未见该物件在袋内静止离手的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 238 s 附近帧显示夹爪夹住绿色胶棒；其余文具的抓取未在采样帧中逐一确认；agent 自述（log step 389-437）逐件抓取并释放。" + } + ] + }, + "brush_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 404.0, + "log_step": null, + "text_zh": "推断：评分器 q_score=0（仅为总分，不单独证明）意味着满足的目标文字数为0，故该节点终态为假；观察：视频 238-404 s 的采样帧只显示夹爪抓着手提袋/文具的片段镜头，视频仅405.6 s，远短于 agent 的7200 s 会话，未见该物件在袋内静止离手的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 238 s 附近帧显示夹爪夹住绿色胶棒；其余文具的抓取未在采样帧中逐一确认；agent 自述（log step 389-437）逐件抓取并释放。" + } + ] + }, + "marker_in_bag": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 404.0, + "log_step": null, + "text_zh": "推断：评分器 q_score=0（仅为总分，不单独证明）意味着满足的目标文字数为0，故该节点终态为假；观察：视频 238-404 s 的采样帧只显示夹爪抓着手提袋/文具的片段镜头，视频仅405.6 s，远短于 agent 的7200 s 会话，未见该物件在袋内静止离手的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 238 s 附近帧显示夹爪夹住绿色胶棒；其余文具的抓取未在采样帧中逐一确认；agent 自述（log step 389-437）逐件抓取并释放。" + } + ] + }, + "bag_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 404.0, + "log_step": null, + "text_zh": "推断：评分器 q_score=0（仅为总分，不单独证明）意味着满足的目标文字数为0，故该节点终态为假；观察：视频 238-404 s 的采样帧只显示夹爪抓着手提袋/文具的片段镜头，视频仅405.6 s，远短于 agent 的7200 s 会话，未见该物件在袋内静止离手的画面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 330-404 s 帧中夹爪提着红色手提袋靠近书桌；底盘移动支撑。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：机器人底盘在搬袋期间移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bag_on_desk", + "where": "操作中", + "t": 404.0, + "log_step": 845, + "evidence_zh": "观察：视频末帧（约 404 s）机器人仍提着手提袋在书桌旁；q_score=0。agent 末段（log step 842-845）仍在放下并释放手提袋、找回散落物品，说明文具曾掉出袋外（agent 自述，log step 474-501、591）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频只有405.6 s且为多相机拼接片段，无状态日志，看不清各文具是否在袋内；现象与根因缺乏足够视频证据，故留空。", + "unmet": { + "glue_in_bag": false, + "eraser_in_bag": false, + "brush_in_bag": false, + "marker_in_bag": false, + "bag_on_desk": false + } + }, + "summary_zh": "观察：评分器 q_score=0、success=0，五个节点终态均判为假；视频（405.6 s，仅为会话片段）末尾机器人提着手提袋靠近书桌，未见袋放稳在书桌上。推断：断点在袋上书桌/文具入袋阶段（agent 自述文具多次滑出袋外，log step 451、501、591）；视频与状态证据不足，现象与根因留空。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注保守且与证据一致：q_score=0 约束五节点终态为假，视频为多相机片段无法判断各件文具是否入袋，断点 bag_on_desk、现象与根因留空并附 gap_zh 均可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:58:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--gjknrvq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-art-supplies-i00-standard--gjknrvq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d9af4873cb8151e74fb313d07f201e581ed996bc39f7bbbc5b0439d3cf7d4236", + "video_sha256": "d2b61945c801f26c9d6ea0be516477cdeb8bc436ee8d06d52fb1d1cbe818f4d0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--vg6r6t3.json b/phaseK/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--vg6r6t3.json new file mode 100644 index 0000000000000000000000000000000000000000..c885dd309d9e2872080ff41d62cdbf9301de618e --- /dev/null +++ b/phaseK/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-privileged--vg6r6t3.json @@ -0,0 +1,249 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-privileged--vg6r6t3", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 214, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 364, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1395.3, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 24, + "agent_sim_steps": 212, + "agent_records": 6, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.315, + "peak_memory_gb": 18.523, + "peak_processes": 79, + "peak_disk_gb": 1.625, + "peak_cpus": 8.09, + "peak_pids": 768, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-organizing-school-stuff-i00-privileged--vg6r6t3.mp4", + "duration_s": 12.134, + "fps": 30.0, + "frames": 364, + "sha256": "30b829472d24911985e8fbdbb626397d8a78062acd0bd6b23bffd1ab505379c3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 12.1 s 末帧中该物品未见于手提包内；机器人只搬运了手提包，视频 0-12.1 s 未见任何用品被夹入包内。推断：评分器 q_score=0（日志/评分字段）说明六项目标关系无一成立。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 12.1 s 末帧中该物品未见于手提包内；机器人只搬运了手提包，视频 0-12.1 s 未见任何用品被夹入包内。推断：评分器 q_score=0（日志/评分字段）说明六项目标关系无一成立。" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 12.1 s 末帧中该物品未见于手提包内；机器人只搬运了手提包，视频 0-12.1 s 未见任何用品被夹入包内。推断：评分器 q_score=0（日志/评分字段）说明六项目标关系无一成立。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 12.1 s 末帧中该物品未见于手提包内；机器人只搬运了手提包，视频 0-12.1 s 未见任何用品被夹入包内。推断：评分器 q_score=0（日志/评分字段）说明六项目标关系无一成立。" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频 12.1 s 末帧中该物品未见于手提包内；机器人只搬运了手提包，视频 0-12.1 s 未见任何用品被夹入包内。推断：评分器 q_score=0（日志/评分字段）说明六项目标关系无一成立。" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.1, + "log_step": null, + "text_zh": "观察：视频约 1.5-2 s 机器人夹住红褐色手提包提手并提起，约 4-8 s 底盘移向床；视频 12.1 s 末帧手提包仍在床沿一侧，腕部相机仍见提手在夹爪中（未见释放静置）。推断：评分器 q_score=0 说明手提包上床关系未成立（视频 0-12.1 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住手提包提手并提起搬运（视频约 2-12 s）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：搬运时底盘带着手提包向床移动（视频约 4-8 s）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "carryall_on_bed", + "t": 12.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 0-12.1 s 机器人先拎起手提包送往床边，12.1 s 末帧包仍在床沿、仍被夹爪提着，五件用品均未入包。推断：这是最先未完成的步骤，用品装包步骤未开始。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅 12.1 s（364 控制步），无状态日志；手提包末帧是否已接触床面、被夹爪释放无法从腕部/头部视角确认，故不给现象与根因。agent 日志为多次会话与重置，不作为本次评分轨迹的证据。", + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": false + } + }, + "summary_zh": "观察：评分轨迹仅 12.1 s，机器人拎起手提包送往床边，没有任何用品入包，q_score=0，6 个节点 final 均为 false。断点为手提包上床（操作中），原因证据不足，现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频一致：全程仅拎起手提包送向床边，五件用品未入包，六节点 final=false 与 q_score=0 相符；断点 carryall_on_bed 合理。现象/根因留空并附 gap_zh，在证据不足时可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:58:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--vg6r6t3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-privileged--vg6r6t3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0933249e9a072a4bde0f54cb6548aa17230b262f3df0786463b92124b774314e", + "video_sha256": "30b829472d24911985e8fbdbb626397d8a78062acd0bd6b23bffd1ab505379c3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--swpex7j.json b/phaseK/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--swpex7j.json new file mode 100644 index 0000000000000000000000000000000000000000..276b44422bad0eda4ff77b3898a23608fa6f0101 --- /dev/null +++ b/phaseK/behavior-1k/organizing_school_stuff/trajectories/behavior-organizing-school-stuff-i00-standard--swpex7j.json @@ -0,0 +1,294 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-organizing-school-stuff-i00-standard--swpex7j", + "taskKey": "behavior-1k/organizing_school_stuff", + "dag_sha256": "6d94495621b002cd6665ebc6a8ff9d45909c21b1d26e77cc83c95f15a52ef769", + "outcome": { + "success": 0, + "reward": 0.16666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 17389, + "sim_steps": 17539, + "physics_steps": 70156, + "steps": 1637, + "elapsed_s": 6674.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.16666666666666666, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.292, + "peak_processes": 10, + "peak_disk_gb": 0.553, + "peak_cpus": 1.68, + "peak_pids": 170, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-organizing-school-stuff-i00-standard--swpex7j.mp4", + "duration_s": 584.7, + "fps": 10.0, + "frames": 5847, + "sha256": "4200465df14bf634bf0409efcb1ae5609202834cdee682375aa190d15b8aa08b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "folder_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 584.7, + "log_step": 432, + "text_zh": "观察：视频末帧（约 584 s）手提包在床上，蓝色书躺在床边地板，包内未见物品；q_score=1/6 仅够计入 carryall_on_bed，故其余五项均未成立（推断，总分上界）。agent 末报称书仍在地板、五件物品未装入（log step 432，其自述）。" + } + ] + }, + "book_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 584.7, + "log_step": 432, + "text_zh": "观察：视频末帧（约 584 s）手提包在床上，蓝色书躺在床边地板，包内未见物品；q_score=1/6 仅够计入 carryall_on_bed，故其余五项均未成立（推断，总分上界）。agent 末报称书仍在地板、五件物品未装入（log step 432，其自述）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "夹爪多次在床上捏书边均夹空（log step 75-111），后用指尖把书推向床边的包，书滑落到床边地板（log step 120-137），书未被抓握" + } + ] + }, + "pencil_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 584.7, + "log_step": 432, + "text_zh": "观察：视频末帧（约 584 s）手提包在床上，蓝色书躺在床边地板，包内未见物品；q_score=1/6 仅够计入 carryall_on_bed，故其余五项均未成立（推断，总分上界）。agent 末报称书仍在地板、五件物品未装入（log step 432，其自述）。" + } + ] + }, + "pen_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 584.7, + "log_step": 432, + "text_zh": "观察：视频末帧（约 584 s）手提包在床上，蓝色书躺在床边地板，包内未见物品；q_score=1/6 仅够计入 carryall_on_bed，故其余五项均未成立（推断，总分上界）。agent 末报称书仍在地板、五件物品未装入（log step 432，其自述）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪在地板抓起钢笔搬运（log step 308-333），因提包倾倒改为暂放在床垫上，未入包" + } + ] + }, + "calculator_in_carryall": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 584.7, + "log_step": 432, + "text_zh": "观察：视频末帧（约 584 s）手提包在床上，蓝色书躺在床边地板，包内未见物品；q_score=1/6 仅够计入 carryall_on_bed，故其余五项均未成立（推断，总分上界）。agent 末报称书仍在地板、五件物品未装入（log step 432，其自述）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "夹爪在地板上捏计算器两次夹空（log step 263-290，视频中可见腕部近景），未抓起" + } + ] + }, + "carryall_on_bed": { + "method": "visual", + "intervals": [ + [ + 562.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 562.0, + "log_step": 402, + "text_zh": "观察：视频 548-560 s 机器人用夹爪提着红褐色手提包；视频约 560-566 s 头部视角包落在床垫上，之后到视频 584.7 s 一直在床上，夹爪张开离开。视频约 76-200 s 床面只见蓝色书，未见手提包在床上。推断：q_score=1/6 与此一致（仅此一项成立）。起始时刻约 562 s 有 ±3 s 不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住提包上沿把它抬到床垫上方放下；多次重抓（视频约 86-200 s、548-560 s）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动带着提包靠近床" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.1667, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "book_in_carryall", + "t": 100.0, + "log_step": 75, + "where": "操作中", + "evidence_zh": "观察：机器人先把包放好后转向床上的书，反复尝试捏取书边都夹空（log step 75、85、99-111），之后改推书而书落到床边地板；至视频 584.7 s 书仍在地板，从未入包。推断：书是第一个被处理且从未修复的物品步骤。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 100.0, + "log_step": 103, + "evidence_zh": "观察：agent 日志记录多次捏书边闭合后书仍留在床上（log step 75、85、103、111）；视频 76-200 s 床上的蓝色书始终未被提起。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：书约 25×14 cm 且很薄，贴床垫，二指夹爪的侧边、竖直、45° 捏取都夹空或碰床垫（log step 75-111 agent 自述），接触几何不合适；未试过先把书拨到床边再抓等其它方案的可行性未验证。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "视频是三路相机拼接且画面小，书、笔、计算器的细节接触难以逐帧确认；无状态日志。时间用尽不作为现象。手提包曾在床上的时刻（log step 61 称放到床上）与视频不符，以视频为准。", + "unmet": { + "folder_in_carryall": false, + "book_in_carryall": false, + "pencil_in_carryall": false, + "pen_in_carryall": false, + "calculator_in_carryall": false, + "carryall_on_bed": true + } + }, + "summary_zh": "观察：图像只能确认手提包最终放在床上（视频约 562 s 起），其余五件物品均未入包（q_score 1/6）。机器人先反复捏书都夹空，推书后书落到床边地板，随后钢笔抓起后暂放床垫、计算器夹空；断点为书入包（操作中），现象没建立接触，根因推断为抓取和接触设计。证据缺口：无状态日志，拼接小画面，节点时间约 ±3 s。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "carryall_on_bed 约 562 s 起成立、其余五项以 q_score=1/6 为界判未成立，与视频一致；断点书入包、没建立接触、抓取和接触设计均有帧或日志支持，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:57:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--swpex7j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-organizing-school-stuff-i00-standard--swpex7j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "09dafe46a4b2f8a3d4e7dc5d6dc2fe595bc1731c575afba6d61afb8484801c22", + "video_sha256": "4200465df14bf634bf0409efcb1ae5609202834cdee682375aa190d15b8aa08b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv.json b/phaseK/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ce5e154d063820a1944443985a2917fdd05c65 --- /dev/null +++ b/phaseK/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv.json @@ -0,0 +1,281 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 1032, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 1182, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 979.9, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 11, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.451, + "peak_memory_gb": 12.232, + "peak_processes": 45, + "peak_disk_gb": 1.381, + "peak_cpus": 8.06, + "peak_pids": 347, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv.mp4", + "duration_s": 39.4, + "fps": 30.0, + "frames": 1182, + "sha256": "13a9fd65cd9acc81660a369500c2b5c92bc971c640331e6bfd10e80e3b29ee44" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 19.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 19.5, + "log_step": null, + "text_zh": "观察：视频 19 s 起腕部夹爪在盖缘，盖沿铰链掀起；20–33 s 头部相机可见盖明显张开露出箱口（视频 19–20 s 起算，约0.5 s精度）。事件锁存，后来关盖不撤销。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.4, + "log_step": null, + "text_zh": "观察：全程 0–39.4 s 抓拍显示五件工具（电钻、黄色手电/螺丝刀等）一直留在箱外桌面，机器人从未抓取任何工具；末帧（视频 39.4 s）电钻仍在箱外。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.4, + "log_step": null, + "text_zh": "观察：全程 0–39.4 s 抓拍显示五件工具（电钻、黄色手电/螺丝刀等）一直留在箱外桌面，机器人从未抓取任何工具；末帧（视频 39.4 s）电钻仍在箱外。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.4, + "log_step": null, + "text_zh": "观察：全程 0–39.4 s 抓拍显示五件工具（电钻、黄色手电/螺丝刀等）一直留在箱外桌面，机器人从未抓取任何工具；末帧（视频 39.4 s）电钻仍在箱外。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.4, + "log_step": null, + "text_zh": "观察：全程 0–39.4 s 抓拍显示五件工具（电钻、黄色手电/螺丝刀等）一直留在箱外桌面，机器人从未抓取任何工具；末帧（视频 39.4 s）电钻仍在箱外。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 39.4, + "log_step": null, + "text_zh": "观察：全程 0–39.4 s 抓拍显示五件工具（电钻、黄色手电/螺丝刀等）一直留在箱外桌面，机器人从未抓取任何工具；末帧（视频 39.4 s）电钻仍在箱外。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 39.4, + "log_step": null, + "text_zh": "观察：工具箱全程在桌面上，未被移动或掉落（视频 0–39.4 s）。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 34.0, + "log_step": null, + "text_zh": "观察：视频约 34 s 盖落回关闭（夹爪松开后），末帧箱盖闭合；但其前置的五件工具入箱均未达成，故该终态节点不成立。" + } + ] + } + }, + "constraints": {}, + "contact_actual": { + "toolbox_opened": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：腕部夹爪在盖缘处推抬盖板，视频 19–33 s 盖张开，松开后约 34 s 盖落回；agent 自述“two-finger attachment to lid”（log 末步）" + } + ] + } + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "drill_in_toolbox", + "t": 34.0, + "where": "首步前", + "evidence_zh": "观察：视频 19–33 s 机器人打开箱盖，之后夹爪撤开、盖于约 34 s 落回闭合；至视频 39.4 s 没有任何工具被抓取或移动。推断：装入工具这一步从未开始。", + "log_step": null + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 39.4, + "log_step": null, + "evidence_zh": "观察：视频 0–39.4 s 五件工具均留在箱外原位，机器人从未接触任何工具。" + } + ], + "root_causes": [], + "gap_zh": "根因层为空：没尝试本身不能推出根因；agent 最终自述（最后一步）称开盖弧线停滞、盖松手后关闭，且回放验证未完成，但这仅为自述；无状态日志，未得到可核实的原因。", + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": true, + "toolbox_closed": false + } + }, + "summary_zh": "观察：视频 19–33 s 机器人掀开工具箱盖（toolbox_opened 达成，视频约 19.5 s），约 34 s 盖松手后落回闭合；五件工具从未被抓取，视频 39.4 s 全部仍在箱外，q_score=0。工具箱始终在桌上。断点为首个装入步骤（电钻），未开始；无状态日志，时间取自视频，精度约 1 s。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：约19–20 s盖掀开，约34 s盖落回，五件工具全程在箱外，q_score=0与五个入箱节点false相容；断点首步前/没尝试及空根因层（有gap_zh）合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-privileged--gnvn6lv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "edd818f036b9ad29704776477802b7a3de2df15413b6341dbffc56bb1337561b", + "video_sha256": "13a9fd65cd9acc81660a369500c2b5c92bc971c640331e6bfd10e80e3b29ee44", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf.json b/phaseK/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf.json new file mode 100644 index 0000000000000000000000000000000000000000..9dd5654327d99c851806b2f42709c549ed39b65c --- /dev/null +++ b/phaseK/behavior-1k/outfit_a_basic_toolbox/trajectories/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf.json @@ -0,0 +1,352 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf", + "taskKey": "behavior-1k/outfit_a_basic_toolbox", + "dag_sha256": "4139a9fc7f1a291c72fd33a94dba792038f26e761f4cdee96373259f36e5a8ad", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9003, + "sim_steps": 9153, + "physics_steps": 36612, + "steps": 2663, + "elapsed_s": 5996.7, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.246, + "peak_processes": 9, + "peak_disk_gb": 0.47, + "peak_cpus": 1.31, + "peak_pids": 183, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf.mp4", + "duration_s": 305.2, + "fps": 10.0, + "frames": 3052, + "sha256": "84d77359a7bc2ff8903334cd5cd0ecea14246e2c6139f74bdfbaa46ab2eff562" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 2, + "peak": 2, + "final": 1, + "nodes": { + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 148, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 148, + "log_step": null, + "text_zh": "观察：头部相机 ≤146 s 盖合着，约 148-152 s 红箱盖立起、箱口露出，箱仍在桌上；217 s 腕部相机见地上的箱盖仍为掀开状（盖不再贴合箱体）。事件达成后保留记录。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "帧中夹爪与盖的接触方式看不清（画面快速移动/遮挡）。" + } + ] + }, + "drill_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": null, + "text_zh": "观察：视频 148 s 后至 304 s 未见任何工具进入箱内；工具仍留在桌面（视频 250/304 s 可见螺丝刀在桌面）；q_score=0。" + } + ] + }, + "pliers_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": null, + "text_zh": "观察：视频 148 s 后至 304 s 未见任何工具进入箱内；工具仍留在桌面（视频 250/304 s 可见螺丝刀在桌面）；q_score=0。" + } + ] + }, + "flashlight_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": null, + "text_zh": "观察：视频 148 s 后至 304 s 未见任何工具进入箱内；工具仍留在桌面（视频 250/304 s 可见螺丝刀在桌面）；q_score=0。" + } + ] + }, + "allen_wrench_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": null, + "text_zh": "观察：视频 148 s 后至 304 s 未见任何工具进入箱内；工具仍留在桌面（视频 250/304 s 可见螺丝刀在桌面）；q_score=0。" + } + ] + }, + "screwdriver_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 250, + "log_step": null, + "text_zh": "观察：视频 148 s 后至 304 s 未见任何工具进入箱内；工具仍留在桌面（视频 250/304 s 可见螺丝刀在桌面）；q_score=0。" + } + ] + }, + "toolbox_on_table": { + "method": "visual", + "intervals": [ + [ + 0, + 185.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 185.0, + "log_step": null, + "text_zh": "观察：头部相机 162 s 红箱仍立在桌面（旁有鼓风机），180 s 夹爪压住箱使其倾斜、箱仍在桌上，184 s 起桌面已无箱（工具仍在）；约 195-211 s 起腕部相机见红箱在木地板上；agent 终述工具箱在地上（log 末步）。离桌时间约 185 s，不确定（头部相机视角）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：夹爪触碰并拖动工具箱离开桌面，未形成稳定抓握；底盘在期间移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动并带动手臂接近工具箱。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 148 + ] + ], + "final": false, + "evidence": [ + { + "t": 148, + "log_step": null, + "text_zh": "观察：视频 20-146 s 头部相机红箱盖合着（初始即成立）；约 148-152 s 盖立起而失去。其后 162 s 箱形看似合着但画面小且模糊、盖状态不确定；217 s 腕部相机见盖为掀开状，故 final=false（盖是否中途合回未能确认）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toolbox_on_table", + "t": 185, + "where": "操作中", + "evidence_zh": "观察：开盖已成功（约 148-152 s），之后箱仍在桌上（162 s），约 180 s 被夹爪压住倾斜，约 185 s 离开桌面，约 195-211 s 起在地板上；工具均未入箱（250/304 s 工具仍在桌面）。", + "log_step": null + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 185, + "log_step": null, + "evidence_zh": "观察：开盖后工具箱被夹爪压住倾斜（约 180 s）并离开桌面落到地面（约 185-211 s）。", + "note_zh": "工具箱被碰落离桌，分类中无对应现象值，候选“带落物体”；具体接触帧模糊。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，视频为三路相机拼图且常被机身遮挡，箱离桌时间与碰落的具体接触不精确；现象/根因分类证据不足，未细分。这是 live 单局（graded_by_live=1），agent 日志即 graded 会话，其开盖→箱落地的记述与帧一致；盖是否中途合回等细节以视频为准（217 s 盖开）。", + "unmet": { + "drill_in_toolbox": false, + "pliers_in_toolbox": false, + "flashlight_in_toolbox": false, + "allen_wrench_in_toolbox": false, + "screwdriver_in_toolbox": false, + "toolbox_on_table": false, + "toolbox_closed": false + } + }, + "summary_zh": "观察：graded 视频中约 148-152 s 箱盖被掀开（toolbox_opened 达成），箱仍在桌上，约 180 s 被夹爪压住倾斜，约 185 s 离开桌面并落到地上（不确定），五件工具均未入箱。初始成立的“已关闭”“在桌上”分别在约 148 s、185 s 失去。断点在开盖之后的装箱阶段（箱离桌），证据受遮挡限制，现象与根因未细分。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "标签称视频全程未见箱盖被打开，与画面不符：头部相机约 147-150 s 起红箱盖已掀起（盖立起、露出箱口），约 152 s 箱仍在桌上，之后箱被碰落；腕部相机 217 s 见落在地板的箱盖仍是掀开状。因此 toolbox_opened 应为已达成，toolbox_closed 应从 0 起成立并在开盖时失去，断点与 summary 也随之改变。", + "n_issues": 4, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "开盖(约148-152 s)判断可接受，但 toolbox_on_table 的失去时间和“158-165 s 离桌”的证据不对：头部相机 162 s、176-184 s 红箱仍在桌面上（180 s 被夹爪压着倾斜，184 s 立在桌上），约 186 s 起头部相机桌面上已无箱，195 s 起腕部相机见箱在地上。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两条 round-2 问题均已在 prev/trajectory.json 中落实，时间与证据一致。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两条 round-2 问题均已在 prev/trajectory.json 中落实，时间与证据一致。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-outfit-a-basic-toolbox-i00-standard--dxuh7uf/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2dfe1836bab017fa7f112b2e48c1b3d6c246c602514c4cb2a669546ccdb31820", + "video_sha256": "84d77359a7bc2ff8903334cd5cd0ecea14246e2c6139f74bdfbaa46ab2eff562", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--fzfe2s3.json b/phaseK/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--fzfe2s3.json new file mode 100644 index 0000000000000000000000000000000000000000..6002ca050ed227a591ed62f73148dd652e19a8aa --- /dev/null +++ b/phaseK/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-privileged--fzfe2s3.json @@ -0,0 +1,264 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-packing-meal-for-delivery-i00-privileged--fzfe2s3", + "taskKey": "behavior-1k/packing_meal_for_delivery", + "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 6, + "agent_resets": 8, + "agent_sim_steps": 0, + "agent_records": 8, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 12.734, + "peak_memory_gb": 24.497, + "peak_processes": 83, + "peak_disk_gb": 1.811, + "peak_cpus": 8.14, + "peak_pids": 766, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "hamburgers_in_sacks_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 318, + "text_zh": "观察：无视频、无状态日志，评分器只给出 missing_trajectory=1、success=0，没有 q_score；日志只有 agent 自己的会话测试，不能当作图节点值。故该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付任何轨迹（missing_trajectory=1），评分的 episode 里没有机器人接触。" + } + ] + }, + "hamburgers_in_sacks_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 318, + "text_zh": "观察：无视频、无状态日志，评分器只给出 missing_trajectory=1、success=0，没有 q_score；日志只有 agent 自己的会话测试，不能当作图节点值。故该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付任何轨迹（missing_trajectory=1），评分的 episode 里没有机器人接触。" + } + ] + }, + "hamburgers_in_sacks_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 318, + "text_zh": "观察：无视频、无状态日志，评分器只给出 missing_trajectory=1、success=0，没有 q_score；日志只有 agent 自己的会话测试，不能当作图节点值。故该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付任何轨迹（missing_trajectory=1），评分的 episode 里没有机器人接触。" + } + ] + }, + "sacks_on_box_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 318, + "text_zh": "观察：无视频、无状态日志，评分器只给出 missing_trajectory=1、success=0，没有 q_score；日志只有 agent 自己的会话测试，不能当作图节点值。故该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付任何轨迹（missing_trajectory=1），评分的 episode 里没有机器人接触。" + } + ] + }, + "sacks_on_box_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 318, + "text_zh": "观察：无视频、无状态日志，评分器只给出 missing_trajectory=1、success=0，没有 q_score；日志只有 agent 自己的会话测试，不能当作图节点值。故该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付任何轨迹（missing_trajectory=1），评分的 episode 里没有机器人接触。" + } + ] + }, + "sacks_on_box_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 318, + "text_zh": "观察：无视频、无状态日志，评分器只给出 missing_trajectory=1、success=0，没有 q_score；日志只有 agent 自己的会话测试，不能当作图节点值。故该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付任何轨迹（missing_trajectory=1），评分的 episode 里没有机器人接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hamburgers_in_sacks_1", + "t": null, + "log_step": 321, + "where": "首步前", + "evidence_zh": "观察：评分器字段 missing_trajectory=1、agent_replays=0；日志 log step 321（agent 工作约 7100 s，时限 7202 s）仍在会话中录制第1个袋/汉堡循环，第一个袋放箱后倾斜，汉堡尚未入袋，没有保存/交付完整轨迹。推断：被评分的尝试里没有任何步骤被执行，故记在第1步、首步前。" + }, + "unmet": { + "hamburgers_in_sacks_1": null, + "hamburgers_in_sacks_2": null, + "hamburgers_in_sacks_3": null, + "sacks_on_box_1": null, + "sacks_on_box_2": null, + "sacks_on_box_3": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志，且未交付轨迹（missing_trajectory=1）；会话内的多次重置和录制（log step 305-321）只是 agent 会话证据，不能作现象或根因。agent 因 10 分钟后台任务限制丢失模拟器（log step 312）、反复重录而耗尽预算，未保存可回放轨迹；原因不足以定现象/根因，两层留空。" + }, + "summary_zh": "观察：没有视频和状态日志，评分器给出 success=0、missing_trajectory=1，无 q_score，所以六个节点都无法判定（unknown）。agent 会话（log step 305-321）反复重录‘袋放箱+汉堡入袋’，直到约 7200 s 预算耗尽仍未保存可回放轨迹；未交付，不贴现象和根因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，评分器只给 missing_trajectory=1、success=0；六个节点 unknown、断点首步前、现象与根因留空并写 gap_zh，符合规则，未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:57:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--fzfe2s3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-packing-meal-for-delivery-i00-privileged--fzfe2s3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2c4814d3383a100a2c2246fca7821857c7b142dd2b01c34053996ce53a3bd4cf", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--cwyyzyr.json b/phaseK/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--cwyyzyr.json new file mode 100644 index 0000000000000000000000000000000000000000..30f76af88294ac4564b1e5d0530337fce850384d --- /dev/null +++ b/phaseK/behavior-1k/packing_meal_for_delivery/trajectories/behavior-packing-meal-for-delivery-i00-standard--cwyyzyr.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-packing-meal-for-delivery-i00-standard--cwyyzyr", + "taskKey": "behavior-1k/packing_meal_for_delivery", + "dag_sha256": "4fcaf2f7983d9623e89a1c1b8bf9493a93ef2e245dcdd37262fa201c9fa6cd68", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 7642, + "sim_steps": 7792, + "physics_steps": 31168, + "steps": 1710, + "elapsed_s": 6187.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.264, + "peak_processes": 9, + "peak_disk_gb": 0.468, + "peak_cpus": 4.05, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-packing-meal-for-delivery-i00-standard--cwyyzyr.mp4", + "duration_s": 259.8, + "fps": 10.0, + "frames": 2598, + "sha256": "6097aa3554395e9dd362dfc392959dbb45c1639bb2a1bb9f6bd403ef55767139" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "hamburgers_in_sacks_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 77, + "log_step": 85, + "text_zh": "观察：视频 75-77 s 左腕相机看到夹爪抓着的汉堡悬在纸袋口上方；视频 86 s 起托盘上只剩两个汉堡，但此后没有任何帧显示汉堡在袋内（袋口被遮挡）。agent 自述汉堡只落下约 5 cm、停在袋沿（log step 89），随后用闭合夹爪下压；之后袋被带离台面落到地上（视频 94 s 起地面可见纸袋）。推断：没有汉堡进入袋内部的过程证据，且最终 q_score=0，按判据不计该步。" + } + ] + }, + "hamburgers_in_sacks_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程只有一个汉堡被抓取，托盘上始终剩两个汉堡（视频 86-110 s），没有第二、三个汉堡的入袋动作；q_score=0。" + } + ] + }, + "hamburgers_in_sacks_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程只有一个汉堡被抓取，托盘上始终剩两个汉堡（视频 86-110 s），没有第二、三个汉堡的入袋动作；q_score=0。" + } + ] + }, + "sacks_on_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频 180 s 之后机器人在地上抓纸袋把手，agent 自述最后一次抓取是空抓（log step 564），袋没有放到储物箱顶面；q_score=0。" + } + ] + }, + "sacks_on_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程未见第二、三只袋被搬动；q_score=0。" + } + ] + }, + "sacks_on_box_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程未见第二、三只袋被搬动；q_score=0。" + } + ] + } + }, + "constraints": {}, + "contact_actual": { + "hamburgers_in_sacks_1": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪抓住包装汉堡并送到袋口上方（视频 66-77 s），松手后又用闭合夹爪下压汉堡（log step 89-94）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘在台面前移动调整位置。" + } + ], + "sacks_on_box_1": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右夹爪在地面抓纸袋把手，抬起后袋没有跟随（log step 564 自述空抓）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘移动靠近地上的纸袋。" + } + ] + } + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "hamburgers_in_sacks_1", + "t": 80, + "log_step": 89, + "where": "操作中", + "evidence_zh": "观察：视频 75-81 s 机器人把唯一抓起的汉堡送到纸袋上方松手；agent 自述汉堡只落下约 5 cm、停在袋沿（log step 89）。其后下压并推动，纸袋被带离台面落到地上（视频 94 s 起），此后再没有汉堡入袋，第一步从未成立。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 80, + "log_step": 89, + "evidence_zh": "观察：汉堡在松手时未在袋内，停在袋沿（agent 自述 log step 89，视频 81 s 后袋口被遮挡）。推断：松手前未对准袋口深处。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断：放置位置对准不足，后续用夹爪下压把袋推落；无证据区分具体子类。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "视频仅 259.8 s 且为广角、模糊的腕/头相机画面，袋口内部看不到；没有状态日志，无法确认汉堡是否曾在袋内，故第 1 步按未成立处理。agent 会话时间（约 6800 s）与视频时钟没有换算。", + "unmet": { + "hamburgers_in_sacks_1": false, + "hamburgers_in_sacks_2": false, + "hamburgers_in_sacks_3": false, + "sacks_on_box_1": false, + "sacks_on_box_2": false, + "sacks_on_box_3": false + } + }, + "summary_zh": "观察：图中只有一个汉堡被抓起并松手到纸袋口，视频 86 s 起托盘上剩两个汉堡，随后袋被带到地上，之后在地上抓袋把手为空抓；q_score=0，六个节点均未达成。断点为第1个汉堡入袋（操作中），现象为位姿不准、根因按证据只能到控制。主要缺口：袋口被遮挡且无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "标签与可见证据基本一致：六个节点均未达成（q_score=0），断点为第1个汉堡入袋（操作中），位姿不准有视频与 agent 自述支持，根因停在控制并标未知，保守合理。未发现需要改内容的错误；袋口被遮挡导致无法进一步细分。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-packing-meal-for-delivery-i00-standard--cwyyzyr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-packing-meal-for-delivery-i00-standard--cwyyzyr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2cf5dfd824f58bb29828102622f17faaaef28f07cc4a5fc4b36cee81f1621033", + "video_sha256": "6097aa3554395e9dd362dfc392959dbb45c1639bb2a1bb9f6bd403ef55767139", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--toejrkg.json b/phaseK/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--toejrkg.json new file mode 100644 index 0000000000000000000000000000000000000000..678cd44d235dc8bd96e26ea585f754392e0d1255 --- /dev/null +++ b/phaseK/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-privileged--toejrkg.json @@ -0,0 +1,324 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-polishing-shoes-i00-privileged--toejrkg", + "taskKey": "behavior-1k/polishing_shoes", + "dag_sha256": "6b512c37aee3d60fb338b2a855d48e655510d37df6d7fc9eeaccf7d625b63a91", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 3410, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 3374, + "sim_steps": 3410, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1374.8, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 6, + "agent_resets": 0, + "agent_sim_steps": 4762, + "agent_records": 2, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 11.309, + "peak_memory_gb": 15.655, + "peak_processes": 77, + "peak_disk_gb": 1.643, + "peak_cpus": 8.07, + "peak_pids": 765, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-polishing-shoes-i00-privileged--toejrkg.mp4", + "duration_s": 113.667, + "fps": 30.0, + "frames": 3410, + "sha256": "5196b343029b9c4133e34ff06359634936c10c9f7e7ce446d95fe5ff7b9e9ed6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 5, + "final": 5, + "nodes": { + "shoes_clean_1": { + "method": "visual", + "intervals": [ + [ + 112.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 112.5, + "log_step": null, + "text_zh": "观察：评分器字段 goal_first_step=3374、sim_steps=3410=视频帧数，对应视频 3374/30=112.5 s 起目标联合条件首次成立（推断：各鞋清洁/摆放的更早时刻腕部画面太暗、被手遮挡，无法逐帧确认，此处取 112.5 s 作为最迟达成时刻）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "推断：夹爪持刷擦鞋；画面未能逐帧确认刷毛接触，仅由成功判定推出" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘带着双臂在房间内移动（头部画面视角持续变化）" + } + ] + }, + "shoes_clean_2": { + "method": "visual", + "intervals": [ + [ + 112.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 112.5, + "log_step": null, + "text_zh": "观察：评分器字段 goal_first_step=3374、sim_steps=3410=视频帧数，对应视频 3374/30=112.5 s 起目标联合条件首次成立（推断：各鞋清洁/摆放的更早时刻腕部画面太暗、被手遮挡，无法逐帧确认，此处取 112.5 s 作为最迟达成时刻）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "推断：夹爪持刷擦鞋；画面未能逐帧确认刷毛接触，仅由成功判定推出" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘带着双臂在房间内移动（头部画面视角持续变化）" + } + ] + }, + "shoes_by_stool_1": { + "method": "visual", + "intervals": [ + [ + 112.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 112.5, + "log_step": null, + "text_zh": "观察：评分器字段 goal_first_step=3374、sim_steps=3410=视频帧数，对应视频 3374/30=112.5 s 起目标联合条件首次成立（推断：各鞋清洁/摆放的更早时刻腕部画面太暗、被手遮挡，无法逐帧确认，此处取 112.5 s 作为最迟达成时刻）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "推断：搬鞋到脚凳旁；视频 98 s 腕部画面可见夹爪持鞋" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘带着双臂在房间内移动（头部画面视角持续变化）" + } + ] + }, + "shoes_by_stool_2": { + "method": "visual", + "intervals": [ + [ + 112.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 112.5, + "log_step": null, + "text_zh": "观察：评分器字段 goal_first_step=3374、sim_steps=3410=视频帧数，对应视频 3374/30=112.5 s 起目标联合条件首次成立（推断：各鞋清洁/摆放的更早时刻腕部画面太暗、被手遮挡，无法逐帧确认，此处取 112.5 s 作为最迟达成时刻）。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "推断：搬鞋到脚凳旁" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘带着双臂在房间内移动（头部画面视角持续变化）" + } + ] + }, + "brush_on_stand": { + "method": "visual", + "intervals": [ + [ + 0, + 3.5 + ], + [ + 110.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 110.0, + "log_step": null, + "text_zh": "观察：视频 0-3 s 红色刷柄在台灯支架顶面；视频 3.8 s 起刷子在夹爪中；视频 108 s 仍在手中，视频 110 s（帧 3300）起红色刷子回到台灯旁支架面，直至视频末。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓握红色刷柄拿离并放回支架" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘带着双臂在房间内移动（头部画面视角持续变化）" + } + ] + }, + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 3.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.8, + "log_step": null, + "text_zh": "观察：视频 3.5 s 腕部画面刚出现红色刷子，3.8 s（帧 115）刷子被夹爪握住离架，此后持续到约 108 s（画面中持刷），事件已达。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓握刷柄" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：轮式底盘带着双臂在房间内移动（头部画面视角持续变化）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 1.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：本次 privileged 运行评分成功（q_score=1.0，goal_first_step=3374 即视频 112.5 s）。机器人在视频约 3.8 s 拿起刷子，约 110 s 放回台灯支架，全部节点 final 为 true。局限：无状态日志，头部/腕部画面狭窄昏暗，两只鞋的清洁与靠凳时刻无法逐帧确认，按评分器目标成立时间 112.5 s 取最迟时刻。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，q_score=1、goal_first_step=3374（视频112.5 s）。刷子 0-3.5 s 在支架、3.8 s 起被夹爪持走、约110 s 放回的标注与帧一致；四个鞋节点按评分器最迟时刻112.5 s 标注并明确写成推断，画面无法更精确判定，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:57:42Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-privileged--toejrkg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-privileged--toejrkg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bdd6b32a04dbb41093c3356602b30ee9fdc25df3260c97fcf3f7ce51e1cb6e69", + "video_sha256": "5196b343029b9c4133e34ff06359634936c10c9f7e7ce446d95fe5ff7b9e9ed6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-standard--geukcvd.json b/phaseK/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-standard--geukcvd.json new file mode 100644 index 0000000000000000000000000000000000000000..4fc21efde8a766ddeeb78a01880023eb66132fb5 --- /dev/null +++ b/phaseK/behavior-1k/polishing_shoes/trajectories/behavior-polishing-shoes-i00-standard--geukcvd.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-polishing-shoes-i00-standard--geukcvd", + "taskKey": "behavior-1k/polishing_shoes", + "dag_sha256": "6b512c37aee3d60fb338b2a855d48e655510d37df6d7fc9eeaccf7d625b63a91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 11864, + "sim_steps": 12014, + "physics_steps": 48056, + "steps": 3823, + "elapsed_s": 6642.5, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.33, + "peak_processes": 9, + "peak_disk_gb": 0.436, + "peak_cpus": 3.61, + "peak_pids": 311, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-polishing-shoes-i00-standard--geukcvd.mp4", + "duration_s": 400.5, + "fps": 10.0, + "frames": 4005, + "sha256": "4e764ec40be9c5601fde1a0202e1ff171f9a0a6a95753b7f01eee6bf95cb1ff5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 1, + "peak": 1, + "final": 0, + "nodes": { + "shoes_clean_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 399, + "log_step": null, + "text_zh": "观察：视频 50-399 s 的各路画面中未见机器人接触或移动鞋、未见刷子擦鞋；视频 100 s 与 150 s 仅远处可见地上小黑色物体。q_score=0，评分器未计入任何目标。" + } + ] + }, + "shoes_clean_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 399, + "log_step": null, + "text_zh": "观察：视频 50-399 s 的各路画面中未见机器人接触或移动鞋、未见刷子擦鞋；视频 100 s 与 150 s 仅远处可见地上小黑色物体。q_score=0，评分器未计入任何目标。" + } + ] + }, + "shoes_by_stool_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 399, + "log_step": null, + "text_zh": "观察：视频 50-399 s 的各路画面中未见机器人接触或移动鞋、未见刷子擦鞋；视频 100 s 与 150 s 仅远处可见地上小黑色物体。q_score=0，评分器未计入任何目标。" + } + ] + }, + "shoes_by_stool_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 399, + "log_step": null, + "text_zh": "观察：视频 50-399 s 的各路画面中未见机器人接触或移动鞋、未见刷子擦鞋；视频 100 s 与 150 s 仅远处可见地上小黑色物体。q_score=0，评分器未计入任何目标。" + } + ] + }, + "brush_on_stand": { + "method": "visual", + "intervals": [ + [ + 0, + 25.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 0-25 s 刷子仍在支架上（初态成立），约 26-27 s 被拿起后全程在夹爪中，到视频 399 s 未放回支架（评分 q_score=0）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪持刷离开支架，之后未放回" + } + ] + }, + "brush_in_hand": { + "method": "visual", + "intervals": [ + [ + 27.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 27.0, + "log_step": null, + "text_zh": "观察：视频 25-28 s 右腕画面中红色刷子由支架上方变为被夹爪握住并随之移动；此后到视频 399 s 的右腕画面一直可见刷子贴在夹爪中。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右腕二指夹爪握住红色刷柄拿离支架（视频约 27 s）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘带着持刷的机械臂移动" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "shoes_clean_1", + "where": "探索", + "t": 27.0, + "log_step": null, + "evidence_zh": "观察：机器人在视频约 27 s 拿起刷子后，到视频 399 s 一直持刷在房间里转动搜索，未见对任何一只鞋的接触、刷擦或搬动；q_score=0。推断：卡在找到并清洁第1只鞋这一步。" + }, + "phenomena": [], + "root_causes": [], + "unmet": { + "shoes_clean_1": false, + "shoes_clean_2": false, + "shoes_by_stool_1": false, + "shoes_by_stool_2": false, + "brush_on_stand": false + }, + "gap_zh": "视频为三路拼接画面，鞋多被遮挡或太暗，无法确认视觉上具体失败现象；日志仅为 agent 会话（agent 自述多次找不到鞋，如 log step 551），不作为现象依据，故现象与根因留空。无状态日志。" + }, + "summary_zh": "观察：视频 27 s 左右右夹爪拿起刷子（可选节点达成），之后至 399 s 持刷搜索，未见鞋被清洁或摆放，5 个必经节点全部未达成（q_score=0），刷子也没放回支架。断点为第1只鞋清洁（探索阶段）；因画面遮挡且无状态日志，现象和根因未给出。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频 100/125/175/250/330 s 及 25 s 间隔总览：右腕画面全程可见刷子在夹爪中，未见刷擦或搬动鞋，无节点被误判为达成；断点（探索、第1只鞋清洁）与空现象/根因加 gap_zh 对遮挡视角的处理是保守且可接受的。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:58:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-standard--geukcvd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-polishing-shoes-i00-standard--geukcvd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fb8f11ac1675d2722dd0ef6ef6dc44a9539f032c6147b125582389a0545e222e", + "video_sha256": "4e764ec40be9c5601fde1a0202e1ff171f9a0a6a95753b7f01eee6bf95cb1ff5", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--cxf4q3f.json b/phaseK/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--cxf4q3f.json new file mode 100644 index 0000000000000000000000000000000000000000..676e28db92a6c0abeab3411bdf01b64b3703ed18 --- /dev/null +++ b/phaseK/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-privileged--cxf4q3f.json @@ -0,0 +1,262 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-privileged--cxf4q3f", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 1, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 151, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1413.2, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.007, + "peak_memory_gb": 13.052, + "peak_processes": 48, + "peak_disk_gb": 0.923, + "peak_cpus": 8.12, + "peak_pids": 408, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-preparing-lunch-box-i00-privileged--cxf4q3f.mp4", + "duration_s": 5.034, + "fps": 30.0, + "frames": 151, + "sha256": "cb5ac443647ff0c22c243c4412e658e78ce414cf3c69147c6b23205cff9cd8b9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 全程为同一静止画面（机器人头部相机对着木质台面，腕部相机无变化），机器人未移动，冰箱和打包盒均不可见；评分器 n_actions=1、sim_steps=151（仅 150 步静置）、q_score=0。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 全程为同一静止画面（机器人头部相机对着木质台面，腕部相机无变化），机器人未移动，冰箱和打包盒均不可见；评分器 n_actions=1、sim_steps=151（仅 150 步静置）、q_score=0。" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 全程为同一静止画面（机器人头部相机对着木质台面，腕部相机无变化），机器人未移动，冰箱和打包盒均不可见；评分器 n_actions=1、sim_steps=151（仅 150 步静置）、q_score=0。" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 全程为同一静止画面（机器人头部相机对着木质台面，腕部相机无变化），机器人未移动，冰箱和打包盒均不可见；评分器 n_actions=1、sim_steps=151（仅 150 步静置）、q_score=0。" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 全程为同一静止画面（机器人头部相机对着木质台面，腕部相机无变化），机器人未移动，冰箱和打包盒均不可见；评分器 n_actions=1、sim_steps=151（仅 150 步静置）、q_score=0。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 0-5.0 s 全程为同一静止画面（机器人头部相机对着木质台面，腕部相机无变化），机器人未移动，冰箱和打包盒均不可见；评分器 n_actions=1、sim_steps=151（仅 150 步静置）、q_score=0。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：冰箱初始关闭（DAG 初态），视频 0-5.0 s 机器人没有动作，推断：冰箱一直保持关闭；q_score=0 与此一致（初始即成立的条件不计分）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "fridge_opened", + "t": 0.0, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：回放视频 5.0 s 内画面静止，机器人未动，冰箱未被打开；评分器 n_actions=1、sim_steps=151。agent 会话到 log step 413 仍在探测冰箱把手的 IK（log step 410-413），推断：没有交付任何有效操作轨迹。" + }, + "unmet": { + "apple_halves_in_box_1": false, + "apple_halves_in_box_2": false, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": null, + "evidence_zh": "观察：视频 0-5.0 s 机器人完全没有动作，第一步（打开冰箱）从未开始。" + } + ], + "root_causes": [], + "gap_zh": "根因留空：agent 会话中大量本地调试（log step 2-413，含 4 次重置）但最终交付的轨迹仅 1 个动作；未见到交付记录（agent_replays=0），无法据此判定具体根因，不从没尝试或缺失交付推断。视频无状态日志，冰箱不在视野内，fridge_closed 由初态与机器人未动推断。" + }, + "summary_zh": "观察：回放视频 5.0 s 内画面完全静止，机器人没有动作，七个节点中只有初始即成立的“关上冰箱”保持为真，其余均未达成（q_score=0）。断点为打开冰箱（首步前），现象为没尝试；agent 会话在 log step 413 仍在调试冰箱把手 IK，最终交付只有 1 个动作，根因证据不足故留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频 0-5.0 s（视频时钟）画面静止，与标注一致；只有初始即成立的 fridge_closed 为真，其余为假；断点 fridge_opened/首步前/没尝试成立；根因留空并有 gap_zh，符合规则（agent 自身预算耗尽无交付，不从缺失交付推根因）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:58:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--cxf4q3f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-preparing-lunch-box-i00-privileged--cxf4q3f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "23b14090e8192ac3ed6bb85ce2109e0b6bdee5b137d2231f25eac039322d3b20", + "video_sha256": "cb5ac443647ff0c22c243c4412e658e78ce414cf3c69147c6b23205cff9cd8b9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--aqt2wvz.json b/phaseK/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--aqt2wvz.json new file mode 100644 index 0000000000000000000000000000000000000000..ccf06c6946ea2964255e3316c52a5c8f60142681 --- /dev/null +++ b/phaseK/behavior-1k/preparing_lunch_box/trajectories/behavior-preparing-lunch-box-i00-standard--aqt2wvz.json @@ -0,0 +1,327 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-preparing-lunch-box-i00-standard--aqt2wvz", + "taskKey": "behavior-1k/preparing_lunch_box", + "dag_sha256": "13ccee1b01706e6c1e54d733c8a0aad46f4334041c109c5ec7a4cb7681fcab72", + "outcome": { + "success": 0, + "reward": 0.3333333333333333, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 11468, + "sim_steps": 11468, + "physics_steps": 45872, + "steps": 1493, + "elapsed_s": 5276.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.3333333333333333, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.246, + "peak_processes": 9, + "peak_disk_gb": 0.422, + "peak_cpus": 1.21, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-preparing-lunch-box-i00-standard--aqt2wvz.mp4", + "duration_s": 382.3, + "fps": 10.0, + "frames": 3823, + "sha256": "5312c4593f15e879d5f70898b7046e2300f19e94db2c7f0f9b25794de95e8662" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 3, + "final": 3, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 382.0, + "log_step": null, + "text_zh": "观察：全程头部/腕部画面未见冰箱门被打开；机器人始终在台面和打包盒之间作业，茶瓶未取。" + } + ] + }, + "apple_halves_in_box_1": { + "method": "visual", + "intervals": [ + [ + 96.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 96.0, + "log_step": 140, + "text_zh": "观察：视频 97 s 起腕部相机俯看白色打包盒，已见一块苹果半块在盒内、夹爪空（94 s 未见）；约 96 s 起算；log step 148 agent 自述“第一块在盒内”。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹起第一块苹果半块（第一次抓空，第二次成功），送到盒上方松开" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "携物驱动底盘去盒边，途中撞到台面致倾斜" + } + ] + }, + "apple_halves_in_box_2": { + "method": "visual", + "intervals": [ + [ + 292.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 292.0, + "log_step": 282, + "text_zh": "观察：视频约 292-300 s 腕部相机俯看打包盒，盒内可见两块苹果半块；log step 282 agent 自述两块均入盒，评分 q=1/3（2/6 个目标）与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹起第二块苹果半块送至盒上方松开" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "携物驱动底盘靠近盒" + } + ] + }, + "sandwich_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380.0, + "log_step": 333, + "text_zh": "观察：视频 316-382 s 腕部相机只见三明治仍在砧板上、夹爪在其上方对位，未见夹起；机器人随后倾倒，回合结束。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘靠近砧板调整位置；夹爪下降对位，未见夹住三明治，随后机器人倾倒" + } + ] + }, + "cookie_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380.0, + "log_step": null, + "text_zh": "观察：全程未见夹取饼干；q 总分仅允许 2 个目标满足（均为苹果）。" + } + ] + }, + "tea_bottle_in_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 380.0, + "log_step": null, + "text_zh": "观察：冰箱从未打开，茶瓶未取出；q 总分仅允许 2 个目标满足。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：冰箱始终关闭（初始关闭，全程未见开启）。推断：关闭条件自 0 s 起一直成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "sandwich_in_box", + "t": 375.0, + "where": "操作中", + "log_step": 333, + "evidence_zh": "观察：视频 316-382 s 机器人在砧板前对位三明治，未夹起；视频末（约 382 s）机器人倾倒，评分结束（reward 记 failure: robot fell over；agent 自述 log step 333）。" + }, + "phenomena": [ + { + "t": 380.0, + "log_step": 333, + "evidence_zh": "观察：视频末尾画面剧烈倾斜，log step 333 服务端报告“机器人倒下”，此前 log step 121、156、186 已多次出现底盘倾斜。", + "cat": "全身", + "item": "平衡" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "agent 自述", + "evidence_zh": "log step 109-125、156、186 agent 自述底盘与台面接触导致倾斜，其接近砧板的驱动动作反复造成底盘倾斜，最终倒下；具体子类不明（视频 120 s 起可见底盘倾斜）。" + } + ], + "gap_zh": "无状态日志；腕部相机为主，倒地瞬间的具体接触未能看清，根因子类未定。", + "unmet": { + "apple_halves_in_box_1": true, + "apple_halves_in_box_2": true, + "sandwich_in_box": false, + "cookie_in_box": false, + "tea_bottle_in_box": false, + "fridge_closed": true + } + }, + "summary_zh": "观察：视频 382 s 中机器人先后把两块苹果半块放入盒（约 96 s、292 s），随后去取三明治时底盘倾倒，评分 q=1/3。冰箱始终未开，三明治、饼干、茶瓶未入盒。断点在三明治入盒（操作中），现象为平衡丧失，根因为底盘驱动控制，证据不足无细分。无状态日志，时间来自视频抽帧。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "整体（断点=三明治入盒、平衡丧失、q=1/3 对应两块苹果）与证据一致；仅第1块苹果入盒的起始时间偏晚约 3 s。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点（三明治入盒、操作中）、平衡丧失现象、q=1/3 对应两块苹果入盒均与服务端读数（log step 332 'robot fell over'）及视频一致；第1块苹果起点已按上一轮改为 96 s。未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-preparing-lunch-box-i00-standard--aqt2wvz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-preparing-lunch-box-i00-standard--aqt2wvz/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-preparing-lunch-box-i00-standard--aqt2wvz/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-preparing-lunch-box-i00-standard--aqt2wvz/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a226ce7bf3d9b2819ea6b4af1e2f9b4ed0a6f9374b375f6f2ab2fa10620a8077", + "video_sha256": "5312c4593f15e879d5f70898b7046e2300f19e94db2c7f0f9b25794de95e8662", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc.json b/phaseK/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc.json new file mode 100644 index 0000000000000000000000000000000000000000..41358e54187abfde55342ef447a10002aeee2a2f --- /dev/null +++ b/phaseK/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc.json @@ -0,0 +1,332 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc", + "taskKey": "behavior-1k/put_together_a_basic_pruning_kit", + "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79", + "outcome": { + "success": 0, + "reward": 0.5, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 10021, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 10171, + "fallen": 0, + "final_reward": 0.5, + "q_score": 0.5, + "replay_wall_s": 1595.1, + "replay_timeout_s": 7880.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 6, + "agent_resets": 1, + "agent_sim_steps": 20664, + "agent_records": 67, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc.mp4", + "duration_s": 339.034, + "fps": 30.0, + "frames": 10171, + "sha256": "2ffac522411126f2185d60aae5dc99b178581c01899aa85a50c489d4640893e5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 2, + "peak": 4, + "final": 4, + "nodes": { + "toolbox_on_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 338.5, + "log_step": null, + "text_zh": "观察：视频 338.5 s 末帧工具箱仍平放在车库地板上，盖敞开。无状态日志，推断全程在地面（未见抬离）。" + } + ] + }, + "toolbox_opened": { + "method": "visual", + "intervals": [ + [ + 12, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 20, + "log_step": null, + "text_zh": "观察：视频 20 s 头部相机可见红色箱盖已翻起竖立；末帧 338.5 s 盖仍敞开。到达时刻约 12 s（不确定）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓住箱盖把手翻开（log step 63-71 自述）。" + } + ] + }, + "pruner_in_toolbox": { + "method": "visual", + "intervals": [ + [ + 105, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 115, + "log_step": null, + "text_zh": "观察：视频 105-115 s 腕部相机可见箱内腔体红色底面，修枝剪已放入；q_score 0.5 与两件剪具入箱一致。时刻约 105 s（不确定）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓握修枝剪根部携带并放入箱内，随后松手（log step 113-119）。" + } + ] + }, + "shears_in_toolbox": { + "method": "visual", + "intervals": [ + [ + 105, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 115, + "log_step": null, + "text_zh": "观察：视频 105-115 s 腕部相机可见箱内的剪刀；时刻约 105 s（不确定）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪抓握大剪刀手柄携带并放入箱内，松手。" + } + ] + }, + "toolbox_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 13 + ] + ], + "final": false, + "evidence": [ + { + "t": 3, + "log_step": null, + "text_zh": "观察：视频 3 s 头/腕相机箱盖闭合（开局即成立）；约 12-16 s 盖翻开后失去（视频时钟，不确定）。" + }, + { + "t": 338.5, + "log_step": null, + "text_zh": "观察：视频 338.5 s 末帧箱盖仍敞开，夹爪停在盖沿附近；agent 自述最终盖未关闭（log step 242）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓盖沿尝试合盖（log step 145、225-236 自述抓取卡住或未建立）；视频只见夹爪停在敞开的盖沿旁，是否接触未能从画面确认。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toolbox_closed", + "t": 300, + "where": "操作中", + "evidence_zh": "观察：视频 338.5 s 末帧箱盖敞开；两件剪具已在箱内；q_score 0.5。agent 末次总结称盖仍开（log step 242）。", + "log_step": 242 + }, + "phenomena": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "alt_feasible": "已验证有", + "evidence_zh": "log step 159-160：开发会话（含一次 reset）曾 q_score 1.0、success True；step 182：fresh 进程回放同一 7473 行得 q_score 0.0（reset 相关分歧）；随后重录的 9 段拼接轨迹（step 241 meta segments 9, live_success False）未能再合盖，且最终版 fresh 回放未完成（step 242）。成功的会话录制不可重放，属录制操作出错；alt_feasible=已验证有（会话内已合盖成功）。", + "source_zh": "agent 自述 / run.json 日志" + } + ], + "gap_zh": "被评分回放中合盖失败的物理原因视频无法证实（会话自述不计），故不列现象；根因保留交付·交付操作出错，仅解释曾成功的会话录制不可重放。", + "unmet": { + "toolbox_on_floor": true, + "pruner_in_toolbox": true, + "shears_in_toolbox": true, + "toolbox_closed": false + } + }, + "summary_zh": "观察：graded 回放中机器人打开工具箱盖，把修枝剪和大剪刀放入箱内（约视频 105 s），工具箱始终在地面，但最终合盖失败（末帧 338.5 s 盖敞开）；q_score 0.5。断点为合盖步骤。开发会话曾合盖成功（q=1.0），但含 reset 的录制 fresh 回放分歧（log step 182），后续重录未再成功。无状态日志，时刻为视觉估计。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 大体可信（两件剪具入箱、末帧盖敞开、q=0.5 与此一致），但 toolbox_closed 漏记开局即成立的区间（base 应为 2），断点/现象的日志证据引用错误（step 240-242 是打包与最终回复，并非抓盖沿尝试），且 trajectory 由 9 段拼接、fresh replay 未通过，应考虑交付类根因。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标注（节点时刻、两件剪具入箱、末帧盖敞开、q=0.5、断点在 toolbox_closed、交付根因）与视频和日志一致；唯一需改的是现象「没建立接触」只靠 agent 会话自述，视频无法证实。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按审阅建议完整采纳：phenomena 置空，gap_zh 说明，断点证据不再引用自述，根因保留。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按审阅建议完整采纳：phenomena 置空，gap_zh 说明，断点证据不再引用自述，根因保留。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-privileged--wu8g7fc/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "447f71aa57eb9e92e4cd62ab7cab14b9db2e145aaea8d9f9b49f2f933ca9503d", + "video_sha256": "2ffac522411126f2185d60aae5dc99b178581c01899aa85a50c489d4640893e5", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "gap_zh": "被评分回放中合盖失败的物理原因视频无法证实（会话自述不计），故不列现象；根因保留交付·交付操作出错，仅解释曾成功的会话录制不可重放。" +} diff --git a/phaseK/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9.json b/phaseK/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9.json new file mode 100644 index 0000000000000000000000000000000000000000..018a4abacd9b67bee23e245ea1787e0a4476334a --- /dev/null +++ b/phaseK/behavior-1k/put_together_a_basic_pruning_kit/trajectories/behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9", + "taskKey": "behavior-1k/put_together_a_basic_pruning_kit", + "dag_sha256": "45588bc2f9af512dc48078f6ad004600b8d7191ff8df999c957949771ce64a79", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 10150, + "sim_steps": 10300, + "physics_steps": 41200, + "steps": 10150, + "elapsed_s": 6319.5, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.312, + "peak_processes": 10, + "peak_disk_gb": 0.382, + "peak_cpus": 1.34, + "peak_pids": 215, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9.mp4", + "duration_s": 343.4, + "fps": 10.0, + "frames": 3434, + "sha256": "1cce9dae9d66e58dd6d829327252ea3f0bcd714f27f915ff7b9728b68aa9482c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "toolbox_on_floor": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 342, + "log_step": null, + "text_zh": "观察：视频三路相机交替，头部相机各时刻（约 0 s 至 343 s）红色工具箱均在车库灰色地板上；末段 342 s 仍在地面。推断：未被带离地面（箱底接触地板细节被遮挡）。" + } + ], + "contact_actual": [ + { + "who": "无接触", + "how": "不适用", + "note_zh": "机器人未专门接触箱体来维持落地；agent 抓把手时曾短暂抬起箱体（log step 62-63 自述）。" + } + ] + }, + "toolbox_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 634, + "text_zh": "观察：agent 自述多次抓盖把手开盖（log step 37-75、634-640）；视频是三路相机交替的低分辨率画面，大部分时间被夹爪/红盖遮挡，未能确认盖转开的帧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手夹爪抓箱盖黑色把手，试图翻盖；视频中可见黑色把手被夹持（约 339 s 手腕相机）。" + } + ] + }, + "pruner_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 342, + "log_step": 661, + "text_zh": "观察：评分器 q_score=0（终局无目标谓词新增满足）；视频末段看不到工具在箱内。agent 末条自述“两件工具已放入”（log step 661）未得到帧或评分支持。推断：终局时该工具未处于箱内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 自述用夹爪抓取剪具放入箱；视频头部相机可见剪刀在地板上、夹爪在其附近，无法确认放入。" + } + ] + }, + "shears_in_toolbox": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 342, + "log_step": 661, + "text_zh": "观察：评分器 q_score=0（终局无目标谓词新增满足）；视频末段看不到工具在箱内。agent 末条自述“两件工具已放入”（log step 661）未得到帧或评分支持。推断：终局时该工具未处于箱内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "agent 自述用夹爪抓取剪具放入箱；视频头部相机可见剪刀在地板上、夹爪在其附近，无法确认放入。" + } + ] + }, + "toolbox_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 342, + "log_step": 661, + "text_zh": "观察：末段画面中红盖贴合箱体，但agent自述盖比闭合位高约 2 cm，评分器 done=False。q_score 不计开局即成立的关闭，故无法由总分判定；帧不足以判断闭合。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "agent 用张开的左手按压盖前缘（log step 610-632、658-660），视频末段手停在箱盖上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pruner_in_toolbox", + "t": null, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：q_score=0，评分器终局未满足任何新增目标谓词；agent 在 log step 62-75 开盖受阻，之后反复开关盖，视频三路相机均未显示剪具落入箱内。推断：第一个未修复的步骤是修枝剪入箱（其前置开盖也不确定）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为三路相机交替的低清画面且多被遮挡，没有状态日志，无法定位剪具入箱/开盖的具体失败帧，故现象与根因留空；agent 自述不作现象依据。", + "unmet": { + "toolbox_on_floor": true, + "pruner_in_toolbox": false, + "shears_in_toolbox": false, + "toolbox_closed": null + } + }, + "summary_zh": "观察：工具箱全程留在地面（on_floor 为真）；评分器 q_score=0，两件剪具终局未入箱（final false）。开盖、闭盖因视频被遮挡标为未知。断点取修枝剪入箱（操作中）；缺口：无状态日志、画面三路交替且遮挡，现象与根因未标。agent 自述已完成但评分器 done=False（log step 661）。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 4, + "summary_zh": "标签保守但与可得证据一致：q_score=0 约束了两件剪具终局未入箱；开盖/闭盖因三视图低清遮挡标 unknown，视频与评分器均无法决定，现象/根因留空并有 gap_zh。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-put-together-a-basic-pruning-kit-i00-standard--rfwbvz9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a2b7fdb7e8597a5069dd58819b9ab94c0fc977f81936a66fbb9607c09ae0eaa7", + "video_sha256": "1cce9dae9d66e58dd6d829327252ea3f0bcd714f27f915ff7b9728b68aa9482c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--qrtgj9j.json b/phaseK/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--qrtgj9j.json new file mode 100644 index 0000000000000000000000000000000000000000..c229ad72805e8202a817d13ef58a2a8d1b5a0330 --- /dev/null +++ b/phaseK/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-privileged--qrtgj9j.json @@ -0,0 +1,368 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-privileged--qrtgj9j", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 8687, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 8651, + "sim_steps": 8687, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 2814.9, + "replay_timeout_s": 6991.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 17374, + "agent_records": 24, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-putting-away-toys-i00-privileged--qrtgj9j.mp4", + "duration_s": 289.567, + "fps": 30.0, + "frames": 8687, + "sha256": "0a9d5bf7943db54b5e30ea616e6aa36bdbcdfbc4ce4b5ee6b9951fb0a4fb7295" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 8, + "final": 8, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [ + [ + 14, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 14, + "log_step": null, + "text_zh": "观察：视频约 14 s（粗采样，约±3 s），腕部相机显示机器人夹爪把怪物送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第1个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住怪物并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [ + [ + 29, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 29, + "log_step": null, + "text_zh": "观察：视频约 29 s（粗采样，约±3 s），腕部相机显示机器人夹爪把奶牛送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第2个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住奶牛并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [ + [ + 58, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58, + "log_step": null, + "text_zh": "观察：视频约 58 s（粗采样，约±3 s），腕部相机显示机器人夹爪把粉色玩偶送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第3个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住粉色玩偶并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": [ + [ + 126, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 126, + "log_step": null, + "text_zh": "观察：视频约 126 s（粗采样，约±3 s），腕部相机显示机器人夹爪把白色独角兽送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第4个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住白色独角兽并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": [ + [ + 170, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 170, + "log_step": null, + "text_zh": "观察：视频约 170 s（粗采样，约±3 s），腕部相机显示机器人夹爪把霸王龙送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第5个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住霸王龙并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": [ + [ + 216, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 216, + "log_step": null, + "text_zh": "观察：视频约 216 s（粗采样，约±3 s），腕部相机显示机器人夹爪把橙色马送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第6个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住橙色马并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": [ + [ + 257, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 257, + "log_step": null, + "text_zh": "观察：视频约 257 s（粗采样，约±3 s），腕部相机显示机器人夹爪把狮子送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第7个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住狮子并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": [ + [ + 287, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 287, + "log_step": null, + "text_zh": "观察：视频约 287 s（粗采样，约±3 s），腕部相机显示机器人夹爪把棘龙送到地面绿色玩具箱上方并放入，随后箱内可见该玩偶；累计第8个。推断：评分器 goal_first_step 8651（视频 288.4 s）与第8个入箱时间一致，且 q_score=1.0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单个夹爪夹住棘龙并送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘载着机器人在拾取点与绿箱之间行驶" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：八个玩偶依次被夹爪放入地面绿箱（视频约 14、29、58、126、170、216、257、287 s，时间为粗采样，±3 s），评分器 q_score=1.0，goal_first_step 对应视频 288.4 s。无状态日志，节点时间来自视频；未发现需标注的失败。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行，八个入箱节点与视频一致（约14…287 s 视频时间，粗采样），评分器 q_score=1.0、goal_first_step 8651 对应视频288.4 s，与第8个节点吻合；无失败标注，校验通过。节点时间为粗采样，未逐一精确核对前七个。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:59:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--qrtgj9j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-away-toys-i00-privileged--qrtgj9j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "80ccadfb19f495cd70fd0830de473c6b0ad32dd398773a3c2dac9a5ff7fbaea7", + "video_sha256": "0a9d5bf7943db54b5e30ea616e6aa36bdbcdfbc4ce4b5ee6b9951fb0a4fb7295", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--cpgfmhx.json b/phaseK/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--cpgfmhx.json new file mode 100644 index 0000000000000000000000000000000000000000..a91ccb49d95dbb57bcdcd04757e9f796cd4455fe --- /dev/null +++ b/phaseK/behavior-1k/putting_away_toys/trajectories/behavior-putting-away-toys-i00-standard--cpgfmhx.json @@ -0,0 +1,361 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-away-toys-i00-standard--cpgfmhx", + "taskKey": "behavior-1k/putting_away_toys", + "dag_sha256": "335669259132e6e3781489edc4059c3b1f7f791c60276348736cffe3197bc030", + "outcome": { + "success": 0, + "reward": 0.375, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 6053, + "sim_steps": 6053, + "physics_steps": 24212, + "steps": 1240, + "elapsed_s": 1983.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.375, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.232, + "peak_processes": 9, + "peak_disk_gb": 0.397, + "peak_cpus": 1.83, + "peak_pids": 120, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-putting-away-toys-i00-standard--cpgfmhx.mp4", + "duration_s": 201.8, + "fps": 10.0, + "frames": 2018, + "sha256": "74bbd06aeeacf77b8389f50583fc37df0da1bc57ee26b42a7314abad1acd42ec" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": null, + "peak": null, + "final": 3, + "nodes": { + "toys_in_box_1": { + "method": "visual", + "intervals": [ + [ + 36.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.5, + "log_step": 83, + "text_zh": "观察：视频 36-38 s 头部相机见机器人左夹爪（黑色手指）持灰黑色玩偶移到绿色地面玩具箱上方，38 s 起玩偶躺在绿箱内。agent 自述（log step 83）首个玩偶入箱。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂二指夹爪夹住玩偶躯干，送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人和夹持的玩偶驶向绿箱" + } + ] + }, + "toys_in_box_2": { + "method": "visual", + "intervals": [ + [ + 101, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 101, + "log_step": 109, + "text_zh": "观察：视频约 100-102 s 头部视图见橙色狗形玩偶被夹持移到绿箱上方，102 s 箱内已见狗和第一个玩偶两个。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂二指夹爪夹住玩偶躯干，送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人和夹持的玩偶驶向绿箱" + } + ] + }, + "toys_in_box_3": { + "method": "visual", + "intervals": [ + [ + 146.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 146.5, + "log_step": 143, + "text_zh": "观察：视频约 146-148 s 紫红色玩偶被带到绿箱上方，其后箱内可见三个玩偶（视频 148 s 及后续帧）。评分器 q_score=0.375=3/8，与三个入箱一致（推断）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左臂二指夹爪夹住玩偶躯干，送入绿箱" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人和夹持的玩偶驶向绿箱" + } + ] + }, + "toys_in_box_4": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": 157, + "text_zh": "观察：视频全程只见三个玩偶入绿箱；约 150 s 后机器人在客厅搜寻第四个玩偶，未再见抓取入箱，末段（约 190-201 s）机器人倾倒、画面为墙面和地面倾斜视角。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在沙发旁移动寻找第4个玩偶，爬上沙发边缘后翻倒；未抓取任何玩偶" + } + ] + }, + "toys_in_box_5": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": 157, + "text_zh": "观察：视频全程只见三个玩偶入绿箱；约 150 s 后机器人在客厅搜寻第四个玩偶，未再见抓取入箱，末段（约 190-201 s）机器人倾倒、画面为墙面和地面倾斜视角。" + } + ] + }, + "toys_in_box_6": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": 157, + "text_zh": "观察：视频全程只见三个玩偶入绿箱；约 150 s 后机器人在客厅搜寻第四个玩偶，未再见抓取入箱，末段（约 190-201 s）机器人倾倒、画面为墙面和地面倾斜视角。" + } + ] + }, + "toys_in_box_7": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": 157, + "text_zh": "观察：视频全程只见三个玩偶入绿箱；约 150 s 后机器人在客厅搜寻第四个玩偶，未再见抓取入箱，末段（约 190-201 s）机器人倾倒、画面为墙面和地面倾斜视角。" + } + ] + }, + "toys_in_box_8": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": 157, + "text_zh": "观察：视频全程只见三个玩偶入绿箱；约 150 s 后机器人在客厅搜寻第四个玩偶，未再见抓取入箱，末段（约 190-201 s）机器人倾倒、画面为墙面和地面倾斜视角。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toys_in_box_4", + "where": "转场", + "t": 185.0, + "evidence_zh": "观察：三个玩偶入箱后，机器人在客厅搜寻第四个玩偶，未见任何抓取。log step 152 的横向 goto 返回值显示底盘 base_z=0.35、姿态四元数明显倾斜（step 150 同类移动 z=0.005），即底盘已爬上沙发边缘；agent 在 step 154 才自述发现；step 156 右手下压恢复动作后，step 157 服务返回 done=True、reason=机器人翻倒；视频末段画面倾斜，与此一致。", + "log_step": 152 + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 185.0, + "log_step": 152, + "evidence_zh": "观察：log step 152 横向 goto 后底盘读数 base_z=0.35 且姿态四元数倾斜（step 150 为 0.005、未倾斜），说明底盘撞上并爬上沙发边缘；视频约185-190 s 起头部视图倾斜。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 190.0, + "log_step": 157, + "evidence_zh": "观察：视频约 190-201 s 头部视图持续倾斜（墙、地板斜向）；log step 152 本体读数已倾斜，step 157 服务返回 done=True，原因“robot fell over”。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 在沙发旁做横向底盘移动时爬上沙发边缘（log step 154），随后尝试用右手下压恢复反而触发翻倒（log step 156-157）；底盘运动缺少碰撞/倾角闭环。子类型不明。", + "source_zh": "日志", + "alt_feasible": "未知" + } + ], + "gap_zh": "无状态日志，视频为头/腕三视图，翻倒的精确时刻和第4个玩偶是否在沙发后无法确认；第4步 4 之前的搜寻是否属认知问题无证据。", + "unmet": { + "toys_in_box_1": true, + "toys_in_box_2": true, + "toys_in_box_3": true, + "toys_in_box_4": false, + "toys_in_box_5": false, + "toys_in_box_6": false, + "toys_in_box_7": false, + "toys_in_box_8": false + } + }, + "summary_zh": "观察：视频只见 3 个玩偶先后入绿色地面箱（约 36.5、101、146.5 s），q_score=0.375 与之一致。机器人随后搜寻第 4 个玩偶时底盘爬上沙发边缘并翻倒，评分器终止（log step 157），止于第 4 个玩偶；证据缺口：无状态日志，翻倒时刻由视频与日志推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "三个入箱节点（视频约36.5/101/146.5 s）、final=3（q=0.375）、断点 toys_in_box_4 与 平衡 现象基本成立；但翻倒前的碰撞（底盘爬上沙发边缘）这一有 log 读数支持的接触事实没有被记为现象，且倾斜起点证据引用偏晚（log step 152 已倾斜）。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "三个入箱节点、final=3（q=0.375）、断点 toys_in_box_4（转场）、被挡/碰撞 + 平衡、控制根因均有视频与 log 读数支持；第1轮意见已采纳，未发现新的实质错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:45Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-away-toys-i00-standard--cpgfmhx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-away-toys-i00-standard--cpgfmhx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-away-toys-i00-standard--cpgfmhx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-away-toys-i00-standard--cpgfmhx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8b7dc1e446b0e0366d3073bd4cbc300be5517521f3db8da50220b890addbdc7d", + "video_sha256": "74bbd06aeeacf77b8389f50583fc37df0da1bc57ee26b42a7314abad1acd42ec", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--3yjznhx.json b/phaseK/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--3yjznhx.json new file mode 100644 index 0000000000000000000000000000000000000000..efee41dbdf1ff2e75d394b0aaca91e81d53dfb23 --- /dev/null +++ b/phaseK/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-privileged--3yjznhx.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-privileged--3yjznhx", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 1, + "agent_resets": 18, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.741, + "peak_memory_gb": 12.942, + "peak_processes": 47, + "peak_disk_gb": 0.619, + "peak_cpus": 8.09, + "peak_pids": 415, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bowls_in_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 282, + "text_zh": "观察：无视频、无状态日志；奖励记录 missing_trajectory=1、agent_records=0、agent_replays=0，即没有交付轨迹，评分器未回放任何动作。agent 在 log step 282 自述运行到时限仍未生成 trajectory（其会话内测试不作节点值）。该节点无法判定，按无视频规则 intervals=null、final=null。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：未交付轨迹（missing_trajectory=1），无被评分的尝试。" + } + ] + }, + "bowls_in_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 282, + "text_zh": "观察：无视频、无状态日志；奖励记录 missing_trajectory=1、agent_records=0、agent_replays=0，即没有交付轨迹，评分器未回放任何动作。agent 在 log step 282 自述运行到时限仍未生成 trajectory（其会话内测试不作节点值）。该节点无法判定，按无视频规则 intervals=null、final=null。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：未交付轨迹（missing_trajectory=1），无被评分的尝试。" + } + ] + }, + "plates_in_sink_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 282, + "text_zh": "观察：无视频、无状态日志；奖励记录 missing_trajectory=1、agent_records=0、agent_replays=0，即没有交付轨迹，评分器未回放任何动作。agent 在 log step 282 自述运行到时限仍未生成 trajectory（其会话内测试不作节点值）。该节点无法判定，按无视频规则 intervals=null、final=null。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：未交付轨迹（missing_trajectory=1），无被评分的尝试。" + } + ] + }, + "plates_in_sink_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 282, + "text_zh": "观察：无视频、无状态日志；奖励记录 missing_trajectory=1、agent_records=0、agent_replays=0，即没有交付轨迹，评分器未回放任何动作。agent 在 log step 282 自述运行到时限仍未生成 trajectory（其会话内测试不作节点值）。该节点无法判定，按无视频规则 intervals=null、final=null。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：未交付轨迹（missing_trajectory=1），无被评分的尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 282, + "where": "首步前", + "evidence_zh": "观察：reward.missing_trajectory=1，agent_records=0，agent_replays=0；log step 270-282 中 agent 的完整录制运行到 agent 工作约 7112 s（时限 7203 s 附近）仍未写出 trajectory.npz（log step 279/281 显示文件大小为 0）。没有交付任何可回放轨迹，故无法确定失败在哪个步骤。agent 在会话中另有 18 次 reset 和分段测试，仅为会话证据。" + }, + "unmet": { + "bowls_in_sink_1": null, + "bowls_in_sink_2": null, + "plates_in_sink_1": null, + "plates_in_sink_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志（inputs/ 中只有 run.json），且未交付轨迹，评分器没有可评的图景；四个节点均无法判定，现象与根因不予标注。会话内测试（如板子抓取、碗入槽）只是 agent 自述，不作图景证据。agent 把时间花在分段调试而未及时保存可交付轨迹，但这属于用尽预算，不是现象或根因。" + }, + "summary_zh": "该次运行未交付任何轨迹（missing_trajectory=1，log step 279/281 中 trajectory.npz 大小为 0，agent 在 log step 282 自述到时限仍未生成），无视频和状态日志，四个节点（两碗两盘入槽）均无法判定，断点未知、现象与根因留空。主要证据缺口是没有被评分的图景。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1，log 中 trajectory.npz 大小为 0）；四个节点 unknown、断点 unknown、现象与根因留空并写了 gap_zh，符合规则，未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:58:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--3yjznhx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dirty-dishes-in-sink-i00-privileged--3yjznhx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "76b5f0a3f882a8520a5e654a884a02e08688687deff5dea2d07aeb9bcbcde424", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj.json b/phaseK/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj.json new file mode 100644 index 0000000000000000000000000000000000000000..b65667aa439ce3f68b39c55f93047f479c5e5867 --- /dev/null +++ b/phaseK/behavior-1k/putting_dirty_dishes_in_sink/trajectories/behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj", + "taskKey": "behavior-1k/putting_dirty_dishes_in_sink", + "dag_sha256": "0ae83395c13ee3df9019df559327fe10e26a960f6acd108d99bcbe4e135e8d04", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3539, + "sim_steps": 3539, + "physics_steps": 14156, + "steps": 998, + "elapsed_s": 1502.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj.mp4", + "duration_s": 118.0, + "fps": 10.0, + "frames": 1180, + "sha256": "4f2bcbc9a1815892779379fb7a5777adea449cdbb315d0af070b380fc6b94278" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bowls_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 106.0, + "log_step": 113, + "text_zh": "观察：视频 0-118 s 没有任何餐具进入厨房水槽（末段头部相机只见厨房台面与红色凳子，机器人倾倒）；agent 自述“None of the dishes were placed in the sink”（log step 122），与视频一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪在约视频 55-60 s 起夹住餐桌上一只碗的边缘并抬起，随后夹着碗行驶；碗未放入水槽。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人和所持碗驶向厨房，在凳子处倾翻。" + } + ] + }, + "bowls_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 106.0, + "log_step": 113, + "text_zh": "观察：视频 0-118 s 没有任何餐具进入厨房水槽（末段头部相机只见厨房台面与红色凳子，机器人倾倒）；agent 自述“None of the dishes were placed in the sink”（log step 122），与视频一致。" + } + ] + }, + "plates_in_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 106.0, + "log_step": 113, + "text_zh": "观察：视频 0-118 s 没有任何餐具进入厨房水槽（末段头部相机只见厨房台面与红色凳子，机器人倾倒）；agent 自述“None of the dishes were placed in the sink”（log step 122），与视频一致。" + } + ] + }, + "plates_in_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 106.0, + "log_step": 113, + "text_zh": "观察：视频 0-118 s 没有任何餐具进入厨房水槽（末段头部相机只见厨房台面与红色凳子，机器人倾倒）；agent 自述“None of the dishes were placed in the sink”（log step 122），与视频一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bowls_in_sink_1", + "t": 105.0, + "log_step": 113, + "where": "操作中", + "evidence_zh": "观察：机器人夹着一只碗向水槽前进，约视频 104-106 s 在红色吧台凳旁底盘倾翻（头部相机画面倾斜、只见凳子与地面）；agent 自述“forward pass drove into an obstacle and the base has tipped severely”（log step 113），此后未能扶正，直到结束（视频 118 s）。碗从未入槽。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 105.0, + "log_step": 113, + "evidence_zh": "观察：携碗接近水槽时底盘撞到凳子后侧翻，机器人失去支撑；评分器 task_failure=1，agent 最终报告“failure: the robot fell over”（log step 122）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述早先在 log step 103 侧移时底盘已被凳脚抬起倾斜，随后仍向前穿过凳子旁通道而倾翻（log step 113）；视频可见凳子在通道中。是路径或速度控制不当还是感知误判，证据不足以区分。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志，倾翻精确时刻只由头部相机画面推断（约视频 104-106 s）；碰撞对象与具体控制原因未能直接看到，故根因仅停在控制。", + "unmet": { + "bowls_in_sink_1": false, + "bowls_in_sink_2": false, + "plates_in_sink_1": false, + "plates_in_sink_2": false + } + }, + "summary_zh": "观察：agent 用左夹爪夹起一只碗并驶向厨房，但约视频 104-106 s 在凳子旁底盘侧翻，直到视频 118 s 未能扶正，四件餐具都没有入槽（0/4）。断点为第1只碗入槽，现象为全身·平衡，根因仅归控制（证据不足）。无状态日志，时间由视频推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "0/4、断点（第1只碗入槽，操作中，携碗途中倾翻）、全身·平衡与控制根因均与视频及 log 一致；未发现需改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-dirty-dishes-in-sink-i00-standard--awznpbj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bba2dae2248682f593d50bc54ccb559b52ade2c8266a8557a5566246091fec65", + "video_sha256": "4f2bcbc9a1815892779379fb7a5777adea449cdbb315d0af070b380fc6b94278", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk.json b/phaseK/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk.json new file mode 100644 index 0000000000000000000000000000000000000000..099515b5c45a3341ed7a57b20ffd50c35c92ea17 --- /dev/null +++ b/phaseK/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk.json @@ -0,0 +1,390 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk", + "taskKey": "behavior-1k/putting_dishes_away_after_cleaning", + "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 1208, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 1358, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1313.8, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 27, + "agent_sim_steps": 0, + "agent_records": 22, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 10.255, + "peak_memory_gb": 12.168, + "peak_processes": 47, + "peak_disk_gb": 2.004, + "peak_cpus": 8.04, + "peak_pids": 375, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk.mp4", + "duration_s": 45.267, + "fps": 30.0, + "frames": 1358, + "sha256": "932cd98b511f994ba284ed836d7e3e4a5b1d2ea1a63664e59213dd93b4360d85" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 15, + "base": 6, + "peak": 6, + "final": 6, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.0, + "log_step": 196, + "text_zh": "观察：视频 0-45 s 中机器人只在厨房里底盘移动、转向，头部画面始终看不到有柜门被拉开露出内腔；视频 29-30 s 画面里有一块深色板，但是随镜头翻转移动，无法确认是门被打开。推断：未打开任何橱柜。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频中底盘在厨房移动，未见夹爪握住把手。" + } + ] + }, + "plates_in_same_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "plates_in_same_cabinet_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 45.2, + "log_step": 196, + "text_zh": "观察：视频 22-30 s 头部画面中盘子仍在两条台面上，从未被夹起；视频 45 s 仍无盘子入柜。agent 末条自述（log step 196）称未完成成功轨迹，且提交的轨迹在抓 plate_1 时失败。" + } + ] + }, + "kitchen_cabinets_closed_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 196, + "text_zh": "观察：视频起点橱柜全部关闭，全程未见柜门被打开，故一直保持关闭。推断：该计数在 t=0 即成立，并非本次尝试的进展（q_score=0）。" + } + ] + }, + "kitchen_cabinets_closed_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 196, + "text_zh": "观察：视频起点橱柜全部关闭，全程未见柜门被打开，故一直保持关闭。推断：该计数在 t=0 即成立，并非本次尝试的进展（q_score=0）。" + } + ] + }, + "kitchen_cabinets_closed_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 196, + "text_zh": "观察：视频起点橱柜全部关闭，全程未见柜门被打开，故一直保持关闭。推断：该计数在 t=0 即成立，并非本次尝试的进展（q_score=0）。" + } + ] + }, + "kitchen_cabinets_closed_4": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 196, + "text_zh": "观察：视频起点橱柜全部关闭，全程未见柜门被打开，故一直保持关闭。推断：该计数在 t=0 即成立，并非本次尝试的进展（q_score=0）。" + } + ] + }, + "kitchen_cabinets_closed_5": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 196, + "text_zh": "观察：视频起点橱柜全部关闭，全程未见柜门被打开，故一直保持关闭。推断：该计数在 t=0 即成立，并非本次尝试的进展（q_score=0）。" + } + ] + }, + "kitchen_cabinets_closed_6": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": 196, + "text_zh": "观察：视频起点橱柜全部关闭，全程未见柜门被打开，故一直保持关闭。推断：该计数在 t=0 即成立，并非本次尝试的进展（q_score=0）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "where": "操作中", + "t": null, + "evidence_zh": "观察：视频 0-45 s 只见底盘驶过厨房，无夹爪抓握门把或盘子的画面；agent 末条自述（log step 196）：提交的轨迹在抓取 plate_1 时失败。推断：最早未完成的步骤是打开橱柜（其 session 中多次开门尝试因机器人本体与门碰撞而卡住，log step 125-139）。", + "log_step": 196 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频画面剧烈旋转、倾斜，无状态日志，无法判断具体机械失误（抓取失败的原因、是否倾倒）；因此现象与根因留空。agent 的 session 测试（log step 125-168）不是被评分尝试的证据。", + "unmet": { + "plates_in_same_cabinet_1": false, + "plates_in_same_cabinet_2": false, + "plates_in_same_cabinet_3": false, + "plates_in_same_cabinet_4": false, + "plates_in_same_cabinet_5": false, + "plates_in_same_cabinet_6": false, + "plates_in_same_cabinet_7": false, + "plates_in_same_cabinet_8": false, + "kitchen_cabinets_closed_1": true, + "kitchen_cabinets_closed_2": true, + "kitchen_cabinets_closed_3": true, + "kitchen_cabinets_closed_4": true, + "kitchen_cabinets_closed_5": true, + "kitchen_cabinets_closed_6": true + } + }, + "summary_zh": "观察：被评分的 1208 步轨迹在视频 45.3 s 内只有底盘移动，盘子留在台面、无柜门被打开，q_score=0，无节点达成（六个柜关闭为初始即成立）。推断：断点是打开橱柜；agent 自述（log step 196）未得到成功轨迹，并在 7200 s 预算内终止。主要缺口：无状态日志且画面晃动，无法确定具体失败现象。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频帧（0-45 s）显示只有底盘移动和镜头倾斜，盘子留在台面、无柜门打开，节点全未达成、六个关柜计数 t=0 成立并保持，与标注一致；现象/根因留空并有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:58:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-privileged--xo7a7gk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a206ce04e4ea57a33f3cda2c1ec93d6149db45bc35d4e7b0e13a6fce97feb5b8", + "video_sha256": "932cd98b511f994ba284ed836d7e3e4a5b1d2ea1a63664e59213dd93b4360d85", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf.json b/phaseK/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf.json new file mode 100644 index 0000000000000000000000000000000000000000..a9a4d38c0001b4744285f9fc5767f69e6a068d14 --- /dev/null +++ b/phaseK/behavior-1k/putting_dishes_away_after_cleaning/trajectories/behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf.json @@ -0,0 +1,410 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf", + "taskKey": "behavior-1k/putting_dishes_away_after_cleaning", + "dag_sha256": "930fb7d3e67544053d5db0daf06fdea40b0df09de9dd00b7f34599a37a484f43", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9704, + "sim_steps": 9854, + "physics_steps": 39416, + "steps": 3195, + "elapsed_s": 6582.2, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf.mp4", + "duration_s": 328.5, + "fps": 10.0, + "frames": 3285, + "sha256": "418bfb930f2a920b7c1c1d65cbddcffe42a3f7dfc46ca06abac2d3569ef912c9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 15, + "base": 6, + "peak": 6, + "final": 6, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 256, + "text_zh": "观察：视频三联画面（头部/腕部）全程未见任何厨房橱柜门板离开柜体露出内腔；agent 在 log step 135-146 拉开的是下方“向下翻的电器门”，随后自行关回，并在 log step 255 起反复尝试上柜把手，自述抓握未啮合（agent 自述，非视频证实）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "agent 的夹爪指尖多次伸到上柜把手/下缘尝试钩拉或夹持，未见门板打开；仅为尝试接触。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到橱柜前调整位置。" + } + ] + }, + "plates_in_same_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住地上的盘沿拾起（log step 125-128），最终放在岛台上，未入柜。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘承载机械臂并移动。" + } + ] + }, + "plates_in_same_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "plates_in_same_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "plates_in_same_cabinet_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "plates_in_same_cabinet_5": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "plates_in_same_cabinet_6": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "plates_in_same_cabinet_7": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "plates_in_same_cabinet_8": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：视频中未见有盘子进入任何橱柜内腔；最终 log step 505 服务状态 done=False，q_score=0。agent 自述一只盘被碰落到地面、拾起后只放在岛台上。" + } + ] + }, + "kitchen_cabinets_closed_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：六柜初始关闭，视频全程未见橱柜门被打开（agent 打开的是电器门并关回，log step 146），故保持关闭；q_score=0 与此不矛盾（初始即成立的条件不计分）。" + } + ] + }, + "kitchen_cabinets_closed_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：六柜初始关闭，视频全程未见橱柜门被打开（agent 打开的是电器门并关回，log step 146），故保持关闭；q_score=0 与此不矛盾（初始即成立的条件不计分）。" + } + ] + }, + "kitchen_cabinets_closed_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：六柜初始关闭，视频全程未见橱柜门被打开（agent 打开的是电器门并关回，log step 146），故保持关闭；q_score=0 与此不矛盾（初始即成立的条件不计分）。" + } + ] + }, + "kitchen_cabinets_closed_4": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：六柜初始关闭，视频全程未见橱柜门被打开（agent 打开的是电器门并关回，log step 146），故保持关闭；q_score=0 与此不矛盾（初始即成立的条件不计分）。" + } + ] + }, + "kitchen_cabinets_closed_5": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：六柜初始关闭，视频全程未见橱柜门被打开（agent 打开的是电器门并关回，log step 146），故保持关闭；q_score=0 与此不矛盾（初始即成立的条件不计分）。" + } + ] + }, + "kitchen_cabinets_closed_6": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：六柜初始关闭，视频全程未见橱柜门被打开（agent 打开的是电器门并关回，log step 146），故保持关闭；q_score=0 与此不矛盾（初始即成立的条件不计分）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 255, + "where": "操作中", + "evidence_zh": "观察：全程未见橱柜被打开；log step 135-146 agent 拉的是电器翻门，之后 log step 255-460 反复对上柜把手尝试抓/钩均未成功（agent 自述），最终 log step 505 done=False。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为三联小画面且视角常被遮挡，无状态日志；把手接触失败的具体形态（没建立接触/位姿不准）仅有 agent 自述，不足以定现象与根因，故留空。", + "unmet": { + "plates_in_same_cabinet_1": false, + "plates_in_same_cabinet_2": false, + "plates_in_same_cabinet_3": false, + "plates_in_same_cabinet_4": false, + "plates_in_same_cabinet_5": false, + "plates_in_same_cabinet_6": false, + "plates_in_same_cabinet_7": false, + "plates_in_same_cabinet_8": false, + "kitchen_cabinets_closed_1": true, + "kitchen_cabinets_closed_2": true, + "kitchen_cabinets_closed_3": true, + "kitchen_cabinets_closed_4": true, + "kitchen_cabinets_closed_5": true, + "kitchen_cabinets_closed_6": true + } + }, + "summary_zh": "观察：graded 视频 328.5 s 内未见任何橱柜被打开，八个盘子均未入柜，q_score=0；agent 曾把一只盘碰落地面，拾起后只放在岛台上。断点在“打开橱柜”（操作中），反复尝试把手抓握/钩拉未成功。六柜关闭节点按初始关闭且未被打开记为保持；现象与根因缺视频/状态日志证据，留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "cabinet_opened 未达成、盘子均未入柜、六柜保持关闭（初始即成立，final 6/15）与视频抽帧和 run.json 日志（step 505 done=False）一致；断点在 cabinet_opened 合理。现象/根因留空并有 gap_zh，证据确实只有 agent 自述，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:59:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-putting-dishes-away-after-cleaning-i00-standard--i4d2vaf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "83d17314b6055bd26c31e00be55df175fba9a6327c784abb8bea3fdd2bdf84bd", + "video_sha256": "418bfb930f2a920b7c1c1d65cbddcffe42a3f7dfc46ca06abac2d3569ef912c9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--4xjmdga.json b/phaseK/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--4xjmdga.json new file mode 100644 index 0000000000000000000000000000000000000000..db20fe16ba989d0e375eecf4d77c182b5b29f2f7 --- /dev/null +++ b/phaseK/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-privileged--4xjmdga.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-privileged--4xjmdga", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + 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s远景可见三个礼盒在树旁。推断：达标时间为粗略估计（±30 s）；评分器 q_score=1/3 与三个礼盒达标一致，agent 自述（log step 82/114/128起）称礼盒谓词成立，仅作旁证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持礼盒搬运到树旁；第2个礼盒曾用闭合夹爪推动（log step 107-114，agent自述）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并搬运礼盒" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [ + [ + 150, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 150, + "log_step": null, + "text_zh": "观察：头部/腕部相机显示机器人夹爪搬运红色礼盒到圣诞树旁，约视频220 s远景可见三个礼盒在树旁。推断：达标时间为粗略估计（±30 s）；评分器 q_score=1/3 与三个礼盒达标一致，agent 自述（log step 82/114/128起）称礼盒谓词成立，仅作旁证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持礼盒搬运到树旁；第2个礼盒曾用闭合夹爪推动（log step 107-114，agent自述）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并搬运礼盒" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [ + [ + 200, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 200, + "log_step": null, + "text_zh": "观察：头部/腕部相机显示机器人夹爪搬运红色礼盒到圣诞树旁，约视频220 s远景可见三个礼盒在树旁。推断：达标时间为粗略估计（±30 s）；评分器 q_score=1/3 与三个礼盒达标一致，agent 自述（log step 82/114/128起）称礼盒谓词成立，仅作旁证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持礼盒搬运到树旁；第2个礼盒曾用闭合夹爪推动（log step 107-114，agent自述）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并搬运礼盒" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约240-345 s 机器人仍在篮子附近/客厅空间转动，未见蜡烛上餐桌、拐杖糖或花环放到沙发上的画面；评分器 q=1/3 仅够三个礼盒，故其余字面量未满足。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约240-345 s 机器人仍在篮子附近/客厅空间转动，未见蜡烛上餐桌、拐杖糖或花环放到沙发上的画面；评分器 q=1/3 仅够三个礼盒，故其余字面量未满足。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约240-345 s 机器人仍在篮子附近/客厅空间转动，未见蜡烛上餐桌、拐杖糖或花环放到沙发上的画面；评分器 q=1/3 仅够三个礼盒，故其余字面量未满足。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约240-345 s 机器人仍在篮子附近/客厅空间转动，未见蜡烛上餐桌、拐杖糖或花环放到沙发上的画面；评分器 q=1/3 仅够三个礼盒，故其余字面量未满足。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约240-345 s 机器人仍在篮子附近/客厅空间转动，未见蜡烛上餐桌、拐杖糖或花环放到沙发上的画面；评分器 q=1/3 仅够三个礼盒，故其余字面量未满足。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约240-345 s 机器人仍在篮子附近/客厅空间转动，未见蜡烛上餐桌、拐杖糖或花环放到沙发上的画面；评分器 q=1/3 仅够三个礼盒，故其余字面量未满足。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "wreath_on_sofa", + "t": 230, + "where": "操作中", + "evidence_zh": "观察：视频约210-230 s 腕部相机拍到花环/篮子，之后到345 s 花环未上沙发；推断：礼盒之后做的是篮子内装饰物步骤，具体先后（花环或蜡烛）视角不清，agent 自述蜡烛未能抓取（log step 244）。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "头部/腕部相机视角混乱且无状态日志，无法确定花环/蜡烛具体失败的可见现象与原因；agent 自述不作为现象依据，故现象与根因留空。", + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": true, + "gift_boxes_by_tree_3": true, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + } + }, + "summary_zh": "观察：三个礼盒约视频110/150/200 s（粗略）到树旁，评分器 q=1/3 与此一致；蜡烛、拐杖糖、花环均未完成。断点定在花环上沙发（操作中），因无状态日志且视角混乱，现象与根因未能判定。礼盒时间为估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "礼盒三个节点final=true与q_score=1/3一致，其余未达成，断点在装饰物（花环/篮子）步骤的判断在现有证据下可接受；现象/根因留空并有gap_zh，合理。视角混乱，无state日志，无法更精确核对礼盒时间（已标注粗略）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:36Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--4xjmdga/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-up-christmas-decorations-inside-i00-privileged--4xjmdga/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "32fe01f5663969a318143edc4cd19ddac14218b39a165fee86b847d24be8865c", + "video_sha256": "80df8984e25a8dc103099ad94fc60d4160d89cf483073deb48f35be93d25cc6f", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri.json b/phaseK/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri.json new file mode 100644 index 0000000000000000000000000000000000000000..2ffdd0a03e0ac0f21d2e8efc90acfa16054a5a45 --- /dev/null +++ b/phaseK/behavior-1k/putting_up_Christmas_decorations_inside/trajectories/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri.json @@ -0,0 +1,378 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri", + "taskKey": "behavior-1k/putting_up_Christmas_decorations_inside", + "dag_sha256": "ff205aa53c28e4c5ed90954f2662c546f50165c51c74d5ed77e4ece4a9ffd6bf", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 15899, + "sim_steps": 16049, + "physics_steps": 64196, + "steps": 3368, + "elapsed_s": 6430.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.2222222222222222, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.261, + "peak_processes": 9, + "peak_disk_gb": 0.418, + "peak_cpus": 1.03, + "peak_pids": 171, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri.mp4", + "duration_s": 535.0, + "fps": 10.0, + "frames": 5350, + "sha256": "2043ebee2463c3747b105d69945a03af76b96d00a71e1c61f4029136453e7814" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "gift_boxes_by_tree_1": { + "method": "visual", + "intervals": [ + [ + 122.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 122.0, + "log_step": 128, + "text_zh": "观察：log id 128 的服务读数 sim_time=121.8 s，agent 自述首个礼盒已在树下枝旁；视频约 125 s 右侧相机可见礼盒在树根旁，210 s 帧树根处也见礼盒。映射：control_steps/30=视频时间（6471 步=215.7 s；总 16049 步≈535 s）。推断：第1个礼盒约 122 s 起靠树（视频帧仅部分确认）；q_score=2/9 与两个达标目标相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人用夹爪指尖沿地面推动礼盒向圣诞树移动（agent 自述 log step 84-128），底盘随行移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动并支撑机器人，随推礼盒行进。" + } + ] + }, + "gift_boxes_by_tree_2": { + "method": "visual", + "intervals": [ + [ + 209.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 209.0, + "log_step": 156, + "text_zh": "观察：log id 146 的推第二个礼盒脚本 sim_time 189.0–208.7 s，id 156 自述第二次推完有礼盒在树旁，id 161 sim_time 215.7 s 已转向餐厅；视频 210 s 树根处可见礼盒。推断：第2个礼盒约 209 s 起靠树（由 sim_time 上界约束，约 ±10 s）。视频 250 s 机器人已在餐厅，不能作为起点。q_score=2/9 与之相符。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机器人用夹爪指尖沿地面推动礼盒向圣诞树移动（agent 自述 log step 84-128），底盘随行移动。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动并支撑机器人，随推礼盒行进。" + } + ] + }, + "gift_boxes_by_tree_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频全程未见第3个礼盒被推到树旁；agent 自述最后一个礼盒未转运（log step 563）。推断：未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "candles_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频 300-534 s 的画面中该目标物未见到放到目标桌/沙发上；推断：q_score=2/9 已被两个礼盒用满，故未达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "agent 自述夹起第一根蜡烛放到餐桌（log step 419-433），视频中未能确认。" + } + ] + }, + "candles_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频 300-534 s 的画面中该目标物未见到放到目标桌/沙发上；推断：q_score=2/9 已被两个礼盒用满，故未达成。" + } + ] + }, + "candy_cane_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频 300-534 s 的画面中该目标物未见到放到目标桌/沙发上；推断：q_score=2/9 已被两个礼盒用满，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪多次闭合在拐杖糖旁落空，拐杖糖被推动滚动（视频 330-360 s 附近可见拐杖糖在白桌上），没有形成有效夹持。" + } + ] + }, + "wreath_on_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频 300-534 s 的画面中该目标物未见到放到目标桌/沙发上；推断：q_score=2/9 已被两个礼盒用满，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪试夹地面花环边缘，花环仍在地面（视频约 400 s），没有形成有效夹持。" + } + ] + }, + "candy_canes_on_sofa_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频 300-534 s 的画面中该目标物未见到放到目标桌/沙发上；推断：q_score=2/9 已被两个礼盒用满，故未达成。" + } + ] + }, + "candy_canes_on_sofa_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 534.0, + "log_step": null, + "text_zh": "观察：视频 300-534 s 的画面中该目标物未见到放到目标桌/沙发上；推断：q_score=2/9 已被两个礼盒用满，故未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222222222222222, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "candy_cane_on_table", + "where": "操作中", + "t": null, + "evidence_zh": "观察：两个礼盒后机器人先转去餐厅找篮子（log id 161/166），第3个礼盒是被推迟、直到结束前（id 538-544）才尝试并因 IK/底盘受限未推，属“被推迟”而非“尝试后失败”。小物件中实际最先尝试并失败的是拐杖糖（log id 255 夹爪闭合 GRIP≈0 落空，早于 id 392+ 的蜡烛尝试）。推断：断点取最早实际失败的拐杖糖转运；蜡烛、花环为后续同类失败；视频未见任何放置确认。", + "log_step": 255 + }, + "phenomena": [ + { + "t": null, + "log_step": null, + "evidence_zh": "观察：agent 自述（log step 257-382）夹爪多次闭合落空，拐杖糖和花环仍留在桌/地面；视频约 330-400 s 可见夹爪在拐杖糖/花环旁。", + "cat": "接触", + "item": "没建立接触" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述指尖高度/横向偏差导致夹空（log step 308, 430），二指夹爪夹细小物件的方案不稳；仅为自述。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志；候选目标物在视频中遮挡，蜡烛是否上桌无法确认；礼盒时间由 sim_time 映射（≈视频时间）上界约束；phenomena 标签名称需按 taxonomy 核对。视频 535 s 仿真钟与 agent 会话时间不能互换。", + "unmet": { + "gift_boxes_by_tree_1": true, + "gift_boxes_by_tree_2": true, + "gift_boxes_by_tree_3": false, + "candles_on_table_1": false, + "candles_on_table_2": false, + "candy_cane_on_table": false, + "wreath_on_sofa": false, + "candy_canes_on_sofa_1": false, + "candy_canes_on_sofa_2": false + } + }, + "summary_zh": "观察：由 sim_time 映射，约 122 s 与 209 s 两个礼盒被推到圣诞树旁（q_score 2/9）；其余小物件未达成。断点为最先失败的拐杖糖抓取（二指夹爪夹细小物体落空，agent 自述）；第3个礼盒被推迟未成。无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "两个礼盒达标的结论与 q_score=2/9 相符，但礼盒2的时间（视频 250 s）与帧矛盾：视频 250 s 机器人已在餐厅篮子处；log 的 control_steps/sim_time 显示第二次推完约在视频 ~220 s。礼盒1 的 190 s 也缺乏映射依据。另外第3个礼盒被 agent 推迟到最后才尝试，断点选择需说明理由。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个礼盒达标与 q_score=2/9 相符；礼盒时间已按 control_steps/30 映射并写明；断点取最早实际失败的拐杖糖并说明理由；视频 210 s 树旁可见礼盒、340 s 夹爪在拐杖糖旁，与标注一致。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-putting-up-christmas-decorations-inside-i00-standard--kedazri/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9a9a4905da65d29cf43350f0c7cb023521447a019efeb5f7dda871ef6a708b90", + "video_sha256": "2043ebee2463c3747b105d69945a03af76b96d00a71e1c61f4029136453e7814", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/re_shelving_library_books/trajectories/behavior-re-shelving-library-books-i00-privileged--esbhsef.json b/phaseK/behavior-1k/re_shelving_library_books/trajectories/behavior-re-shelving-library-books-i00-privileged--esbhsef.json new file mode 100644 index 0000000000000000000000000000000000000000..dc880e009a5ec79afa32e9e4a60697c70b303b68 --- /dev/null +++ b/phaseK/behavior-1k/re_shelving_library_books/trajectories/behavior-re-shelving-library-books-i00-privileged--esbhsef.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-re-shelving-library-books-i00-privileged--esbhsef", + "taskKey": "behavior-1k/re_shelving_library_books", + "dag_sha256": "180905a042e2c1a91f574fec6849e3d47fa606674a84c78c7b0e7b202d92a7fa", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 4410, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4560, + "fallen": 0, + "final_reward": 0.6666666666666666, + "q_score": 0.6666666666666666, + "replay_wall_s": 1012.0, + "replay_timeout_s": 4140.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 5, + "agent_resets": 6, + "agent_sim_steps": 13734, + "agent_records": 1, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 14.619, + "peak_memory_gb": 22.329, + "peak_processes": 79, + "peak_disk_gb": 1.134, + "peak_cpus": 8.05, + "peak_pids": 662, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-re-shelving-library-books-i00-privileged--esbhsef.mp4", + "duration_s": 152.0, + "fps": 30.0, + "frames": 4560, + "sha256": "cf079bdbe0ecdfb8bde05f4e11c2611dd1fb3b533027f3354832b2c3999a4a9c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "books_in_bookcases_1": { + "method": "visual", + "intervals": [ + [ + 35, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 35, + "log_step": null, + "text_zh": "观察：视频 32 s 绿色书仍在夹爪中，34-36 s 起绿色书留在白色格柜格内，夹爪离开（推断：约 35 s 释放入柜；视频无状态日志，静止/速度无法核对）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住书（绿色书视频 28-32 s 在手腕视角被夹持），送到书柜前松开；底盘驱动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘载着机器人和所持书从桌边驶向客厅书柜。" + } + ] + }, + "books_in_bookcases_2": { + "method": "visual", + "intervals": [ + [ + 91, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 91, + "log_step": null, + "text_zh": "观察：视频 60-84 s 机器人夹持红色《IQ Testing》书转运，视频 90-93 s 书进入白色格口，93 s 起格内可见红色书边，夹爪空出（推断：约 91 s 释放入柜）。评分器 q_score=2/3 与两本入柜一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住红色《IQ Testing》书（视频约 60-90 s）送到书柜格口前松开；底盘驱动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘载着机器人和所持书从桌边驶向客厅书柜。" + } + ] + }, + "books_in_bookcases_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 151, + "log_step": null, + "text_zh": "观察：视频 118-126 s 桌上仍有蓝色书、机器人正接近；132-151 s 左夹爪夹着一本白色封面带文字的书在书柜格口前，直到视频结束未见入格。该书与桌上蓝书、已入柜红书的关系无法从画面确定；q_score 2/3 限定最多两本入柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 132-151 s 左夹爪夹着一本书（白色封面带文字）在书柜前，结束仍夹持未松开；该书是否为桌上的蓝书无法确定，蓝书 118 s 后未见被夹持（手指/夹爪的对象：未知）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘带着机器人从桌边驶向书柜（推断，持书对象未知）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "books_in_bookcases_3", + "where": "操作中", + "t": 140, + "evidence_zh": "观察：交付轨迹重放后，132-151 s 左夹爪夹着一本书在书柜格口前，直到视频结束未入格；蓝色书 118 s 后未再见被夹持，被夹书与已入柜的红书及桌上蓝书的关系无法判断（是否把已入柜书取出不明）；重放 success false、q_score 2/3，评分限定最多两本入柜。agent 最后一次生成脚本的 IK 报错（log step 252）属未交付的会话证据，不作为本断点原因。", + "log_step": 252 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频只显示第三本书一直被夹持、未入格，视觉上无法判断是够不着、被柜挡住还是轨迹问题；agent 自述 IK 不可行属会话证据，不足以确定现象类别，故现象与根因留空。无状态日志。 第3本的身份（蓝书/其他）视觉上无法确定。", + "unmet": { + "books_in_bookcases_1": true, + "books_in_bookcases_2": true, + "books_in_bookcases_3": false + } + }, + "summary_zh": "观察：视频 35 s 第1本（绿）、约 91 s 第2本（红）先后放入书柜，第3本未入格（132-151 s 左夹爪夹着一本书在书柜前未放入，该书是否为桌上蓝书无法确定），评分 q_score=2/3，success 0。断点为第3本入书柜（操作中）。缺口：无状态日志，释放/静止时间由视觉估计；第3本失败原因证据不足（agent 最后一次未交付脚本的 IK 报错不能对应已交付轨迹）。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点时间与终值（2/3、q_score）与视频相符，断点选第3本入柜合理，现象/根因留空并附 gap 可接受。需修正两处：第2本 contact_actual 照抄第1本（写成绿色书），以及断点证据把最新一次未交付生成的 IK 失败当作已交付轨迹的失败原因。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点 1/2 的时间与 q_score 2/3 大体相符，但第3本的身份与视频不符：标签把第3本写成“红色《IQ Testing》”，与第2本是同一本；而视频 60 s 桌上另有一本蓝色书，118-126 s 仍在桌上，之后从未被看到入柜或被夹持。第3本的断点证据和 contact_actual 因此被误认，需要重写。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两项 accept 均已在 prev/trajectory.json 中完整落实：第3本夹持书身份改为未知，断点证据按建议改写，与视频一致。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两项 accept 均已在 prev/trajectory.json 中完整落实：第3本夹持书身份改为未知，断点证据按建议改写，与视频一致。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:19:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-re-shelving-library-books-i00-privileged--esbhsef/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-re-shelving-library-books-i00-privileged--esbhsef/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-re-shelving-library-books-i00-privileged--esbhsef/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-re-shelving-library-books-i00-privileged--esbhsef/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-re-shelving-library-books-i00-privileged--esbhsef/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-re-shelving-library-books-i00-privileged--esbhsef/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3c00b9faedd99b0adcee08e711dc916d7b1f328a1e6df63b1af8c5fc80151ef0", + "video_sha256": "cf079bdbe0ecdfb8bde05f4e11c2611dd1fb3b533027f3354832b2c3999a4a9c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/re_shelving_library_books/trajectories/behavior-re-shelving-library-books-i00-standard--m82dstn.json b/phaseK/behavior-1k/re_shelving_library_books/trajectories/behavior-re-shelving-library-books-i00-standard--m82dstn.json new file mode 100644 index 0000000000000000000000000000000000000000..3b82ac617a57ee52dc01ed0ab56cfffae8bc3e4b --- /dev/null +++ b/phaseK/behavior-1k/re_shelving_library_books/trajectories/behavior-re-shelving-library-books-i00-standard--m82dstn.json @@ -0,0 +1,236 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-re-shelving-library-books-i00-standard--m82dstn", + "taskKey": "behavior-1k/re_shelving_library_books", + "dag_sha256": "180905a042e2c1a91f574fec6849e3d47fa606674a84c78c7b0e7b202d92a7fa", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 10979, + "sim_steps": 10983, + "physics_steps": 43932, + "steps": 9518, + "elapsed_s": 6507.6, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 4, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.317, + "peak_processes": 11, + "peak_disk_gb": 0.483, + "peak_cpus": 1.42, + "peak_pids": 278, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-re-shelving-library-books-i00-standard--m82dstn.mp4", + "duration_s": 366.2, + "fps": 10.0, + "frames": 3662, + "sha256": "ea9789a28aa1689f20fce582f17fbddee752323620238f9a066b052ba35a922c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "books_in_bookcases_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.0, + "log_step": 212, + "text_zh": "观察：agent 自述蓝书已插入上排格口并松爪（log step 212），视频约 70-88 s 的腕部/头部画面可见书在柜前格口附近；但松爪后撤手时书被带出，此后落在地板上（视频 ≈ 88 s）。推断：书最多短暂入格，未见释放并静止的状态，节点记未达成（时刻不精确）。" + }, + { + "t": 88.0, + "log_step": 228, + "text_zh": "观察：视频 ≈ 88 s 起，蓝色书躺在书柜格口外的地板上，此后到视频结束（366.2 s）任何画面里都没有书留在书柜格内；agent 自述“书被拖到柜外地板上，不计入”（log step 228）；评分器 q_score = 0，success = 0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住蓝书送入格口，半张开松爪后撤手时拖动了书，书掉到柜外地板；之后多次下探地板上的书夹取均未夹起。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘多次移动调整站位（含带书移到书柜前）。" + } + ] + }, + "books_in_bookcases_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 88.0, + "log_step": 228, + "text_zh": "观察：视频 ≈ 88 s 起，蓝色书躺在书柜格口外的地板上，此后到视频结束（366.2 s）任何画面里都没有书留在书柜格内；agent 自述“书被拖到柜外地板上，不计入”（log step 228）；评分器 q_score = 0，success = 0。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：视频后段（约 200-366 s）未见绿色或白红书被夹起放入书柜；agent 自述后期仍在重试（log step 625）。最终报告称没有书被重新上架（log step 729）。" + } + ] + }, + "books_in_bookcases_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 88.0, + "log_step": 228, + "text_zh": "观察：视频 ≈ 88 s 起，蓝色书躺在书柜格口外的地板上，此后到视频结束（366.2 s）任何画面里都没有书留在书柜格内；agent 自述“书被拖到柜外地板上，不计入”（log step 228）；评分器 q_score = 0，success = 0。" + }, + { + "t": null, + "log_step": null, + "text_zh": "观察：视频后段（约 200-366 s）未见绿色或白红书被夹起放入书柜；agent 自述后期仍在重试（log step 625）。最终报告称没有书被重新上架（log step 729）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "books_in_bookcases_1", + "t": 88.0, + "log_step": 228, + "where": "操作中", + "evidence_zh": "观察：视频 ≈ 88 s 蓝书出现在书柜外地板上；agent 自述松爪后撤手时书被拖出（log step 228）。此后的数次地板夹取和再入柜尝试均未成功，没有任何一本书最终留在柜内，第1本书入柜从未修复。" + }, + "unmet": { + "books_in_bookcases_1": false, + "books_in_bookcases_2": false, + "books_in_bookcases_3": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 88.0, + "log_step": 228, + "evidence_zh": "观察：书已被插入格口（agent 自述 log step 212），松爪撤手时被带出落到地板（视频 ≈ 88 s 可见书在柜外地板上）；agent 称是半张开松爪时下指拖动所致。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述半张开松爪后撤手拖动了书（log step 228、236），并且自己提出改为放到格底、完全张开后再退出；视频只佐证书落在柜外地板，拖动机理来自自述。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志，视频为腕部/头部视角，书入格与被拖出的精确时刻看不清（视频 70-88 s 之间）；绿书、白红书的尝试未在视频中逐一核对。" + }, + "summary_zh": "观察：3 本书都没留在书柜内（q_score=0）。蓝书约在视频 70-88 s 被插入格口，松爪撤手时被拖出落到地板，之后到视频 366.2 s 的多次地板夹取和再放置均失败。断点为第1本书入柜（操作中），现象没保持住，根因推断为松爪/撤手接触设计（来自 agent 自述）；入格时刻不精确，无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频一致：蓝书约 80 s 在柜前格口，88 s 起落在柜外地板，其后到 366.2 s 没有书留在柜内；q_score=0，三节点未达成、断点第1本入柜、现象没保持住均成立。根因为 agent 自述，已如实标注且 conf 偏低。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:01:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-re-shelving-library-books-i00-standard--m82dstn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-re-shelving-library-books-i00-standard--m82dstn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a22740c964140d4b5504fea5d0aa1303c755c94b38b61ac7cb39a403c544527d", + "video_sha256": "ea9789a28aa1689f20fce582f17fbddee752323620238f9a066b052ba35a922c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--qsn2cqy.json b/phaseK/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--qsn2cqy.json new file mode 100644 index 0000000000000000000000000000000000000000..591eff2108c6f30c8dff63144d1fb93c743c9185 --- /dev/null +++ b/phaseK/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-privileged--qsn2cqy.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-privileged--qsn2cqy", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 4606, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4756, + "fallen": 0, + "final_reward": 0.6666666666666666, + "q_score": 0.6666666666666666, + "replay_wall_s": 1521.7, + "replay_timeout_s": 4270.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 11, + "agent_sim_steps": 9173, + "agent_records": 5, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.612, + "peak_memory_gb": 12.877, + "peak_processes": 77, + "peak_disk_gb": 0.743, + "peak_cpus": 8.09, + "peak_pids": 481, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-rearrange-your-room-i00-privileged--qsn2cqy.mp4", + "duration_s": 158.534, + "fps": 30.0, + "frames": 4756, + "sha256": "f978ca186c16767608801a8e92f6ae3a9fe37d91b1ad1ad6ac9ac6c031d3cf47" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [ + [ + 152.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：视频 126-132 s 纸巾盒在扶手椅上，夹爪靠近；138-146 s 机器人转向电视墙；视频 152-158.4 s 左腕相机可见白色纸巾盒落在电视下的木质长台面上（至最后一帧仍在）。推断：约 152 s 放妥，是否已离手只能由台面上位置判断；且 q_score=2/3 与 枕头1+纸巾盒两项满足一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪从扶手椅取起纸巾盒搬到电视下长台（视频约 126-152 s）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘携带纸巾盒驶向电视台柜。" + } + ] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：视频 20-34 s 机器人左腕夹爪抱着蓝点浅色枕头走向床边，视频 38 s 起头部视角可见枕头平放在白色床面上、夹爪已离开；其后 60 s、82 s 的画面中它仍在床上。推断：到达时刻约视频 36 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪夹住枕头搬到床边放下（视频约 14-36 s）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着所持枕头驶向床边。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 104.0, + "log_step": null, + "text_zh": "观察：视频 54-104 s 头部和腕部视角都显示第二只蓝点枕头一直躺在地毯上、床边，从未出现在床面上；视频最后一帧床面上仍只见第一只枕头。q_score=2/3，推断三个目标最多满足两个，与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：约 66-86 s 腕部视角可见夹爪靠近/触及枕头，但枕头没被搬到床上（推断，画面模糊）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pillows_on_beds_2", + "where": "操作中", + "t": 60.0, + "log_step": null, + "evidence_zh": "观察：第一只枕头上床后（视频约 36 s），第二只蓝点枕头留在床边地毯上（视频 54-104 s 可见），机器人此后转去搬纸巾盒，第二只枕头始终没放上床。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅有头部和腕部相机、无状态日志，枕头2被抓起后为何没上床（抓握失败、掉落或被放弃）画面不足以判定，故现象与根因留空；agent 日志只有评分器复测阶段的叙述，不作依据。", + "unmet": { + "tissue_on_stand": true, + "pillows_on_beds_1": true, + "pillows_on_beds_2": false + } + }, + "summary_zh": "观察：图像画面显示第1个枕头约视频 36 s 上床，纸巾盒约视频 152 s 落在电视下长台，第2个枕头始终留在地毯上；评分 q_score=2/3 与之一致。断点为第2个枕头上床（操作中）。证据缺口：无状态日志，纸巾盒到达时刻及枕头2失败原因不能确定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标注与视频一致：第1个枕头约视频36 s上床，第2个枕头在视频54-104 s一直留在床边地毯，纸巾盒约152 s到电视台；q_score=2/3 与之相符。无状态日志，现象与根因留空并写了gap_zh，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:00:16Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--qsn2cqy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-privileged--qsn2cqy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec370b1435db39d919fb3d7f396553a0e4332113a60f14c6e0006ccb91582bf0", + "video_sha256": "f978ca186c16767608801a8e92f6ae3a9fe37d91b1ad1ad6ac9ac6c031d3cf47", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--5evag3f.json b/phaseK/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--5evag3f.json new file mode 100644 index 0000000000000000000000000000000000000000..c9ac9d1664525e7304c899d0f8c756eb727c151d --- /dev/null +++ b/phaseK/behavior-1k/rearrange_your_room/trajectories/behavior-rearrange-your-room-i00-standard--5evag3f.json @@ -0,0 +1,229 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearrange-your-room-i00-standard--5evag3f", + "taskKey": "behavior-1k/rearrange_your_room", + "dag_sha256": "70f0904f1b16483ad518f0a5db5d80d7e537e1442fcfe1c08c6afb0a8657f110", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2894, + "sim_steps": 2894, + "physics_steps": 11576, + "steps": 782, + "elapsed_s": 1974.9, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.208, + "peak_processes": 9, + "peak_disk_gb": 0.313, + "peak_cpus": 1.24, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-rearrange-your-room-i00-standard--5evag3f.mp4", + "duration_s": 96.5, + "fps": 10.0, + "frames": 965, + "sha256": "b7a0965a61f824d609a23df15cbb0daba0dd70f56ad1b9f6c7f37564a5ac3e7f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "tissue_on_stand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 起纸巾盒在扶手椅上；全程未见机器人靠近扶手椅或抓取纸巾盒（log 的 agent 自述也说纸巾盒未处理，仅作旁证）。" + } + ], + "contact_actual": [] + }, + "pillows_on_beds_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 78.5, + "log_step": 145, + "text_zh": "观察：视频 66-76 s 机器人右爪夹着枕头角（腕部相机）在床边移动；视频 79-82 s 枕头已离手，落在床尾的灰色毛绒长凳/床边地面一侧，头部全景里白色床面上没有枕头，视频 85 s 全景仍无枕头在床上。推断：枕头未落到床垫上，不满足“与床面接触且床在正下方”。agent 自述“枕头松手并躺在床垫上”（log step 145）与画面不符，以视频为准；评分 q_score=0 与此相容（仅作旁证）。该判断有一定不确定（画面为翻滚/近距离视角）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：右二指夹爪夹住枕头一角（log step 122-126 自述抓起，视频 66-76 s 腕部相机可见枕头被夹持）搬到床边后松手。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘驱动携带枕头移动到床边。" + } + ] + }, + "pillows_on_beds_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 85.0, + "log_step": 156, + "text_zh": "观察：视频 82-86 s 第二个枕头仍躺在地毯上（头部全景，床旁），机器人未抓取；视频约 87 s 起头部相机转向天花板，机器人倾倒。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘向第二个枕头驱动时在床边倾倒（视频约 87 s），夹爪未接触枕头。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pillows_on_beds_1", + "t": 78.5, + "log_step": 145, + "where": "操作中", + "evidence_zh": "观察：视频 76-82 s 机器人右爪在床边松开枕头，枕头落在床尾毛绒长凳/床边而非白色床面（头部全景无枕头在床上）；此步此后未被修复（枕头始终未上床），之后机器人转去第二个枕头并在视频约 87 s 倾倒（终止原因 the robot fell over，log step 191）。" + }, + "unmet": { + "tissue_on_stand": false, + "pillows_on_beds_1": false, + "pillows_on_beds_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 78.5, + "log_step": 145, + "evidence_zh": "观察：枕头在床边被释放时位置偏出床垫，落到床尾长凳/地面一侧（视频 79-85 s）。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：agent 记录的床垫高度/位置估计（log step 137）没有与状态日志对照（无状态日志），无法区分感知与控制；倾倒（视频约 87 s，仿真控制步 2714→90.5 s 附近，仅按 30 Hz 推算，未在单一事件核对）发生在第二个枕头步，不是断点。对第1个枕头的“落点”判断来自翻滚视角的画面，存在不确定。" + }, + "summary_zh": "观察：视频 96.5 s 内纸巾盒未被处理；第1个枕头被右爪夹起搬到床边，但视频 79-85 s 画面显示它落在床尾长凳/床边而非床面（agent 自述放上床垫，log step 145，与画面不符）；随后转向第二个枕头时机器人在视频约 87 s 倾倒，评分器报告 the robot fell over。0/3 节点达成，断点为第1个枕头上床（操作中，位姿不准）；根因缺证据，枕头落点判断有一定不确定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽帧核对：视频 76-86 s 枕头落在床边地毯/长凳侧，未在床面；0/3、断点第1个枕头、位姿不准、根因留空附 gap_zh 均有依据，未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:01:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--5evag3f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-rearrange-your-room-i00-standard--5evag3f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3b234c4e3c1136afe41115910ae601b10b78be511d99a64c6e5638cefe71c0a8", + "video_sha256": "b7a0965a61f824d609a23df15cbb0daba0dd70f56ad1b9f6c7f37564a5ac3e7f", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c.json b/phaseK/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c.json new file mode 100644 index 0000000000000000000000000000000000000000..0904fc8cb795d768bbe4afe4959c6828441b5c5a --- /dev/null +++ b/phaseK/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c.json @@ -0,0 +1,244 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 12765, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 12915, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 4318.8, + "replay_timeout_s": 9710.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.325, + "peak_memory_gb": 21.659, + "peak_processes": 79, + "peak_disk_gb": 0.927, + "peak_cpus": 8.07, + "peak_pids": 723, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c.mp4", + "duration_s": 430.5, + "fps": 30.0, + "frames": 12915, + "sha256": "22ed0fe04897bb8e288943b043bcb53a18bbc5184f6bc67ba4ad529987e46392" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 298, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 300, + "log_step": null, + "text_zh": "观察：视频约 295 s 吊柜门仍贴合柜体，300 s 起头部相机可见一扇柜门向外打开，门板离开柜体（至 325 s 仍开着）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：机器人夹爪拉开柜门；把手接触未逐帧看清" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到柜前" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 420, + "log_step": null, + "text_zh": "观察：全程帧中烤面包机只在台面或被夹爪搬动，未见进入吊柜内腔；评分器 q_score=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：约 150 s 与 420 s 前后夹爪抓起烤面包机" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 420, + "log_step": null, + "text_zh": "观察：全程帧中料理机只在台面或被夹爪搬动，未见进入吊柜内腔；评分器 q_score=0。" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 420, + "log_step": null, + "text_zh": "观察：全程帧中法压壶只在台面或被夹爪搬动，未见进入吊柜内腔；评分器 q_score=0。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 420, + "log_step": null, + "text_zh": "观察：门打开后三件电器均未入柜，末段仍见机器人手持烤面包机在水槽附近；评分器 goal=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toaster_in_cabinet", + "where": "操作中", + "t": 420, + "evidence_zh": "观察：柜门约 300 s 打开后，视频至 430.5 s 仍见机器人持烤面包机在水槽/台面一带，没有任何电器进入柜内；评分器 q_score=0。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为多视角、画面晃动，无状态日志；未能确认夹爪与烤面包机/柜内具体失败的接触细节，故现象与根因留空。agent 自述未在时限内成功（log step 442）不作为原因。", + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": false + } + }, + "summary_zh": "观察：视频约 300 s 打开一扇吊柜门（1/5 节点），三件电器均未入柜、柜未关闭；q_score=0。断点在烤面包机入柜（操作中，视频约 420 s 仍持烤面包机）。无状态日志且视角混乱，现象与根因无足够证据，留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "cabinet_opened 约 300 s 达成、三件电器未入柜、柜未关，与视频一致；断点（烤面包机入柜，操作中）合理；现象/根因留空并附 gap_zh，agent 的超时自述未作为原因，符合规则。未发现需改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:29Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-rearranging-kitchen-furniture-i00-privileged--thjcb7c/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "142566a633cc754d94e88fb6e9d1f77053c00c3318a36d9539551b650b47cbed", + "video_sha256": "22ed0fe04897bb8e288943b043bcb53a18bbc5184f6bc67ba4ad529987e46392", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt.json b/phaseK/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt.json new file mode 100644 index 0000000000000000000000000000000000000000..c33b81ef8a35e52e5c5757ac0c6346c8cf8b9c17 --- /dev/null +++ b/phaseK/behavior-1k/rearranging_kitchen_furniture/trajectories/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt", + "taskKey": "behavior-1k/rearranging_kitchen_furniture", + "dag_sha256": "c2cd92aef5b1a32fe7dfa519e8e28b4115648494e5b651c881fe0bce10664da7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14272, + "sim_steps": 14422, + "physics_steps": 57688, + "steps": 4252, + "elapsed_s": 6514.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.241, + "peak_processes": 9, + "peak_disk_gb": 0.289, + "peak_cpus": 1.27, + "peak_pids": 136, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt.mp4", + "duration_s": 480.8, + "fps": 10.0, + "frames": 4808, + "sha256": "3144494b288afedd3b6f1a3fa48b0912e930e927f6207f863ecf9bdbdb48039f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 52.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52.0, + "log_step": 66, + "text_zh": "观察：log step 64-68 对应 control_steps 1500-1600（约视频 50-53 s，按 30 Hz 推断），agent 用左夹爪抓把手拉开左柜门；视频该段头部/腕部画面可见门板离开柜体。推断：门在后续插入时多次被agent报告回弹/被用力，但柜体至少一次开启，节点锁存。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓住上柜左门把手拉开，后用右夹爪重新开门；底盘移动到柜前" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到橱柜前" + } + ] + }, + "toaster_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 470.0, + "log_step": 452, + "text_zh": "观察：视频 468-478 s 画面中白色烤面包机仍在台面；agent 自述在 log step 173（约视频 122 s）把烤面包机放入柜内，但终态 log step 452 又称其仍在台面。q_score=0，视频未能证实入柜保持。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪顶抓烤面包机抬起并送向左柜，底盘配合挪位" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动搬运" + } + ] + }, + "processor_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 460.0, + "log_step": 450, + "text_zh": "观察：log step 450-452 左夹爪抓食物料理机边沿，在上柜附近松手但未验证在柜内；q_score=0；视频末段无法看到其在柜内。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓握料理机边沿搬运至上柜" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动搬运" + } + ] + }, + "press_in_cabinet": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 470.0, + "log_step": 461, + "text_zh": "观察：agent 最终报告称法压壶未被碰过；视频未见其被抓取，未尝试。" + } + ] + }, + "cabinet_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 470.0, + "log_step": 461, + "text_zh": "观察：视频末段上柜左门处于打开状态，三物未同柜；该节点在 after 前置未达成时不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "toaster_in_cabinet", + "where": "操作中", + "t": 122.0, + "evidence_zh": "观察：agent 自述 log step 108-165 烤面包机多次卡在柜前沿/门板，step 173（约视频 122 s）放入；视频 468 s 以后画面里烤面包机仍在台面，料理机仅'松手于柜附近'，法压壶未动。推断：烤面包机入柜未稳定保持，后续步骤未达成。", + "log_step": 173 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 122.0, + "log_step": 173, + "evidence_zh": "观察：log step 108-122、161-165 烤面包机多次停在柜前沿，终态仍在台面；推断：放置位姿未落入柜内腔（视频证据有限）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "轨迹或逆解", + "evidence_zh": "观察：agent 日志 step 108、250、260 记录多次 IK 失败、躯干5 rad 缠绕解、双臂联合配置受限，导致带物体扫到门板。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志；视频为多相机拼接且常黑，烤面包机入柜与终态位置只能部分核对；料理机是否在柜内未能确认。法压壶因第二件未完成而未尝试。", + "unmet": { + "toaster_in_cabinet": false, + "processor_in_cabinet": false, + "press_in_cabinet": false, + "cabinet_closed": false + } + }, + "summary_zh": "观察：仅打开了上柜(约视频 52 s)；烤面包机、料理机、法压壶均未确认同柜，q_score=0，视频 480 s 结束时烤面包机仍在台面。断点在烤面包机/料理机入柜：双臂开门并携物的IK多次失败、物体碰门，烤面包机最终仍在台面。证据缺口：无状态日志，视频视角常黑。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值、断点（烤面包机入柜）和 q_score=0 一致，未见主要错误；但 summary 中「耗时过多」是没有证据的时间分配解读（FAIL-4），应删除。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 4, + "summary_zh": "节点值、断点（烤面包机入柜）与 q_score=0 一致；视频多相机拼接且昏暗，无法推翻标注，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-rearranging-kitchen-furniture-i00-standard--zk6cuzt/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d500754e6b9f7079e4d068416e9d9f973dcc220959d48a8b53a1b3a478246730", + "video_sha256": "3144494b288afedd3b6f1a3fa48b0912e930e927f6207f863ecf9bdbdb48039f", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--nmv2mt9.json b/phaseK/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--nmv2mt9.json new file mode 100644 index 0000000000000000000000000000000000000000..13c4a4ef1f7e013b4d74336bebd2a6dc108bcf6d --- /dev/null +++ b/phaseK/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-privileged--nmv2mt9.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-privileged--nmv2mt9", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 6, + "agent_resets": 21, + "agent_sim_steps": 2707, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 7, + "base": null, + "peak": null, + "final": null, + "nodes": { + "newspaper_in_fireplace": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "firewood_positioned_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "firewood_positioned_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "newspaper_on_fire": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "firewood_on_fire_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "firewood_on_fire_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "lighter_off": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + }, + "lighter_on": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 248, + "text_zh": "观察：无视频、无状态日志；run.json 显示未交付 trajectory.npz（missing_trajectory=1），最后一条 say（log step 248+）称未产出可回放轨迹。该节点无法判断。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，没有被评分的尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "newspaper_in_fireplace", + "t": null, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：reward.missing_trajectory=1，agent 最终报告称未产出 trajectory.npz，最后一次会话尝试把报纸放在壁炉外（agent 自述）。无被评分的轨迹，故断在第一步（报纸入壁炉）之前。" + }, + "unmet": { + "firewood_positioned_1": null, + "firewood_positioned_2": null, + "newspaper_on_fire": null, + "firewood_on_fire_1": null, + "firewood_on_fire_2": null, + "lighter_off": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志，且 agent 因自身原因（7200 s 内未得到回放验证的轨迹）没有交付；会话内的尝试只是会话证据，不能作为现象或根因，故两层均留空。" + }, + "summary_zh": "agent 在 7200 s 限时内未交付可回放轨迹（missing_trajectory=1），所有节点无法判断（无视频、无状态日志），finals 为未知。断点为第一步报纸入壁炉之前；会话内最后一次尝试把报纸松在壁炉外（agent 自述），不作为被评分尝试的证据。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1）；所有节点 unknown、两层留空并写 gap_zh 符合规则，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:00:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-privileged--nmv2mt9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-privileged--nmv2mt9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a6cc1b609f736419bf17855a7b5347bdc17dc7d65425bf79cc66e5ded7b0edc6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--dxzbzke.json b/phaseK/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--dxzbzke.json new file mode 100644 index 0000000000000000000000000000000000000000..49f2e462e228b3b4eb6f4475df4797d56035cb0c --- /dev/null +++ b/phaseK/behavior-1k/setting_the_fire/trajectories/behavior-setting-the-fire-i00-standard--dxzbzke.json @@ -0,0 +1,355 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-fire-i00-standard--dxzbzke", + "taskKey": "behavior-1k/setting_the_fire", + "dag_sha256": "19507bd718341b3403b2bc2e2fbad8d813135099c25a0278caeff61f37511fd7", + "outcome": { + "success": 0, + "reward": 0.625, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14622, + "sim_steps": 14772, + "physics_steps": 59088, + "steps": 5779, + "elapsed_s": 6843.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.625, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-setting-the-fire-i00-standard--dxzbzke.mp4", + "duration_s": 492.5, + "fps": 10.0, + "frames": 4925, + "sha256": "0c5455a0b0e7e90765b7aaee2f6d51ec0e8a95dd2bf9bb2a7cb04c2a638b5a87" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "newspaper_in_fireplace": { + "method": "visual", + "intervals": [ + [ + 300, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 300, + "log_step": 84, + "text_zh": "观察：视频 300 s 头部画面壁炉内腔可见，其后 394 s 起炉内有火焰；推断：报纸已在炉内（agent 自述 log step 84 报纸放入炉底，仅作佐证）。具体入炉时刻无法从视频精确定位，约 300 s 为不确定上界。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住报纸搬入壁炉；报纸薄，agent 多次重抓（log step 84-324）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动到壁炉前" + } + ] + }, + "firewood_positioned_1": { + "method": "visual", + "intervals": [ + [ + 300, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 300, + "log_step": 406, + "text_zh": "推断：评分器 q_score=5/8，按“报纸着火+两柴入炉在报纸上”可得 5 项；agent 自述 log step 406 炉内柴堆在报纸上。视频中柴被报纸遮挡/视角杂乱，时刻约 300 s 不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹柴放入炉内报纸上（推断）" + } + ] + }, + "firewood_positioned_2": { + "method": "visual", + "intervals": [ + [ + 300, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 300, + "log_step": 406, + "text_zh": "推断：同上，两块柴均在炉内报纸上（q_score 5/8 的逻辑推断，视频未能直接看清两块柴）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹柴放入炉内报纸上（推断）" + } + ] + }, + "newspaper_on_fire": { + "method": "visual", + "intervals": [ + [ + 394, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 394, + "log_step": 408, + "text_zh": "观察：视频 394 s 起头部画面炉内出现黄色火焰，至 488 s 持续；agent 自述 log step 408 报纸区域在烧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "夹爪持打火机，以火焰点燃报纸；火焰接触而非夹爪接触报纸，候选“火焰点燃”" + } + ] + }, + "firewood_on_fire_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 488, + "log_step": 410, + "text_zh": "推断：q_score=5/8 已被两柴就位(4)+报纸着火(1)用尽，故柴着火不计；agent 自述 log step 410 左侧在烧、右侧柴无火焰，视频无法分辨柴自身着火。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "夹爪持火机尝试加热柴；agent 自述 log step 412-418 手腕路径被壁炉挡住，候选“火焰点燃”" + } + ] + }, + "firewood_on_fire_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 488, + "log_step": 418, + "text_zh": "推断：同上，右侧柴 agent 自述无火焰（log step 410, 418），q_score 不允许其成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "同上，右侧柴未被点燃" + } + ] + }, + "lighter_off": { + "method": "visual", + "intervals": [ + [ + 0, + 335 + ] + ], + "final": false, + "evidence": [ + { + "t": 488, + "log_step": 421, + "text_zh": "观察：打火机初始关闭；视频约 335-346 s 手腕画面出现打火机火焰，直到 470-488 s 手腕画面仍有火焰，从未关闭。agent 自述 log step 421 松手于炉口，未能关闭。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓打火机，关闭尝试失败，打火机在炉口被松开（log step 421）" + } + ] + }, + "lighter_on": { + "method": "visual", + "intervals": [ + [ + 335, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 335, + "log_step": null, + "text_zh": "观察：视频约 335 s 起左腕画面可见打火机火焰（开关被切换）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪手指触打火机开关切换点火" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.625, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "firewood_on_fire_1", + "t": 394, + "log_step": 410, + "where": "操作中", + "evidence_zh": "观察：视频 394-488 s 炉内持续有火焰，但打火机始终点亮；推断：q_score 5/8 表明柴未被评分器认定着火。agent 自述 log step 410-418 称右侧柴无火焰，手腕接近被壁炉挡住。" + }, + "unmet": { + "firewood_positioned_1": true, + "firewood_positioned_2": true, + "newspaper_on_fire": true, + "firewood_on_fire_1": false, + "firewood_on_fire_2": false, + "lighter_off": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频为三路相机拼接且视角杂乱，柴及柴是否着火看不清，未能确认可见现象；根因仅有 agent 自述，故两层留空。时间节点为粗估。" + }, + "summary_zh": "观察：视频 492.5 s，约 394 s 起炉内有火；打火机点亮后一直未关。推断：q_score 5/8，报纸入炉、两柴就位、报纸着火，但两柴未着火且打火机未关，未成功。节点时刻和就位情况多为推断，证据缺口：无状态日志，视频视角难辨。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点值与 q_score 5/8 自洽（报纸入炉、两柴就位、报纸着火=5；两柴着火与打火机关闭未达成），打火机点亮约 335 s 视频可见，断点取第一个未达成的柴点燃合理。现象/根因两层留空并给出 gap_zh：服务读数 stopped 全为 null，“被壁炉挡住”仅为 agent 自述，故留空有依据。报纸入炉时刻只是上界，已如实标注不确定。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:02:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--dxzbzke/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-setting-the-fire-i00-standard--dxzbzke/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c941180ee0ee903871624fe8797dff9bdf81819ba772c56e50c67b28d0fbe65", + "video_sha256": "0c5455a0b0e7e90765b7aaee2f6d51ec0e8a95dd2bf9bb2a7cb04c2a638b5a87", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--eel8gah.json b/phaseK/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--eel8gah.json new file mode 100644 index 0000000000000000000000000000000000000000..d64f0bde39e2d00550438f775023d76539a69282 --- /dev/null +++ b/phaseK/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-privileged--eel8gah.json @@ -0,0 +1,321 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-privileged--eel8gah", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 778, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 928, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 1101.1, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 7, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.567, + "peak_memory_gb": 13.913, + "peak_processes": 76, + "peak_disk_gb": 0.927, + "peak_cpus": 8.09, + "peak_pids": 435, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-setting-the-table-i00-privileged--eel8gah.mp4", + "duration_s": 30.934, + "fps": 30.0, + "frames": 928, + "sha256": "552f9ce58d5c269f03dd42384b5b5242c910dedd7f8fc5cb15d32df70c4f0c81" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 厨房上柜的两扇门板在所有抽帧中保持闭合，未见门离开柜体；腕部相机只见夹爪与台面。q_score=0 与此一致。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：视频中底盘带着机械臂在厨房柜前移动、转向（视频约 0–30 s）；未见夹爪握住柜门把手。" + }, + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "未知：腕部画面不能确认夹爪是否钩/碰到柜门；交付的 778 行是开柜尝试前缀（log step 226/229），柜门保持关闭。" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 画面从未出现冰箱，冰箱门未被碰触或打开。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 30.9, + "log_step": 275, + "text_zh": "观察：视频 0–30.9 s 头部相机始终只拍到厨房上柜（门板闭合）、灶台、微波炉和远处餐厅；没有出现盘/纸杯蛋糕/叉/刀被取出或放到餐桌的画面（视频 5、10、15、20、25、30.9 s 抽帧）。agent 最终自述未得到成功轨迹（log step 275）；评分器 q_score=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": 30.9, + "log_step": 275, + "where": "操作中", + "evidence_zh": "观察：交付的 778 行是 agent 录得的“开柜前缀”（log step 226），agent 在 log step 229 自述该文件使柜门保持关闭；视频 0–30.9 s 柜门始终闭合，没有物体被取出。推断：第一个未完成的步骤是开柜（柜门未开），原因未知。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；交付的 778 行是开柜尝试前缀（log step 226/229：柜门保持关闭）。视频只能看到门未开，无法判定夹爪是否碰到柜门、碰到后是否拉动，故不标现象与根因。会话内的取盘试验不作旁证。", + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + } + }, + "summary_zh": "观察：被评分的是一条 778 步、仅 30.9 s 的开柜前缀，视频中机器人在厨房上柜前移动，柜门始终闭合，冰箱未出现，10 个节点均未达成（q_score=0）。断点在 打开橱柜；夹爪是否接触柜门无法判定，现象与根因留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全 false、final=0 与视频、q_score=0 一致（柜门全程闭合）。问题在失败原因：log 显示交付的 778 行是'开柜前缀'（step 223/226），即曾尝试钩拉开门而门仍关；标签却写成'夹爪没有接触柜门'的没建立接触，视频与日志并不能证明夹爪未碰门，且 cabinet_opened 的 contact_actual 只写了底盘。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全 false、final=0 与视频（柜门全程闭合）及 q_score=0 一致；现象与根因留空并附 gap_zh，符合证据（无法区分未碰到/碰到未拉动）。未发现需改动的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-privileged--eel8gah/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-privileged--eel8gah/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-privileged--eel8gah/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-privileged--eel8gah/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5fabd263dacf89a519ea2e786dadb2e1040eed48cf9a3cf25cf1911fb8128b9d", + "video_sha256": "552f9ce58d5c269f03dd42384b5b5242c910dedd7f8fc5cb15d32df70c4f0c81", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--grb5mb2.json b/phaseK/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--grb5mb2.json new file mode 100644 index 0000000000000000000000000000000000000000..1c501056902fe566108c7e80495ded439816956e --- /dev/null +++ b/phaseK/behavior-1k/setting_the_table/trajectories/behavior-setting-the-table-i00-standard--grb5mb2.json @@ -0,0 +1,327 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setting-the-table-i00-standard--grb5mb2", + "taskKey": "behavior-1k/setting_the_table", + "dag_sha256": "6a5f1eba95ccc5ad25db2527a55c61eff05dce14bb67bf276b11bab2a1d89016", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 11922, + "sim_steps": 12072, + "physics_steps": 48288, + "steps": 3618, + "elapsed_s": 6087.8, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.255, + "peak_processes": 9, + "peak_disk_gb": 0.374, + "peak_cpus": 1.3, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-setting-the-table-i00-standard--grb5mb2.mp4", + "duration_s": 402.5, + "fps": 10.0, + "frames": 4025, + "sha256": "07f2460e9f4da8fba15f226c86a4dff9d8b4dd026ff68557a3cc80622be66339" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 10, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [ + [ + 72.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 72.0, + "text_zh": "观察：视频约 72-110 s 头部相机可见橱柜门板已摆开离开柜体，开度不易精确判定。agent 自述（非视频）第二扇门已打开（log step 165，agent 墙钟，与视频时间不同钟、不对应）。推断：开度足以取物，时间约 ±6 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪握住把手拉开柜门（视频约 40-80 s）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶近橱柜" + } + ] + }, + "fridge_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频未见冰箱门被打开，机器人从未在冰箱前操作。" + } + ] + }, + "plates_on_table_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + }, + "plates_on_table_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + }, + "cupcakes_on_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + }, + "cupcakes_on_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + }, + "forks_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "视频约 330-400 s 右夹爪抓住水槽台面上的一件餐具并带到桌边，但未见放到盘旁（桌上无盘）" + } + ] + }, + "forks_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + }, + "knives_next_to_plates_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + }, + "knives_next_to_plates_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 402.0, + "log_step": 456, + "text_zh": "观察：视频全程未见该关系达成（盘子未出柜、杯子蛋糕未取出，桌上无摆放）；末段仅见右夹爪持餐具运送。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "plates_on_table_1", + "t": 130.0, + "where": "探索", + "evidence_zh": "观察：橱柜门开后（视频约 72 s 起）直到 402 s，未见夹爪对盘子做任何抓取尝试，盘子未出柜、桌上无摆放。agent 自述“浅色形状是门上的反光，不是盘子”（log step 225，agent 自述，非视频），随后转去抓餐具。", + "log_step": 225 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象层为空：视频 72-330 s 没有对盘子的夹取动作，不能标“没建立接触”（无接触尝试）；也不标“没尝试”（机器人已开柜、在该步骤上工作）。根因证据不足：无状态日志，头部相机常看不见柜内；agent 自述与反射误判有关，但未验证感知误差，故根因留空。底盘行动受限（log step 443 自述底盘不动）未在视频核实。", + "unmet": { + "plates_on_table_1": false, + "plates_on_table_2": false, + "cupcakes_on_plates_1": false, + "cupcakes_on_plates_2": false, + "forks_next_to_plates_1": false, + "forks_next_to_plates_2": false, + "knives_next_to_plates_1": false, + "knives_next_to_plates_2": false + } + }, + "summary_zh": "观察：视频 402.5 s 内仅打开橱柜（约 72 s），盘子未取出，冰箱未开，餐桌上无任何摆放，q=0。推断：卡在取盘子步骤，视频未见对盘子的抓取尝试（agent 自述把柜内亮面当反射）；最后只运送了一件餐具到桌边。无状态日志，时间为目测。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值（仅橱柜开、其余未达成，q=0）与视频大体一致；但断点处的现象“没建立接触”没有对应的抓盘尝试，且 cabinet_opened 的时间/证据混用了 agent 日志时间与视频时间。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点值（仅 cabinet_opened 达成、其余未达成，q=0）、断点（plates_on_table_1，探索）和留空现象/根因（有 gap_zh）均与视频和日志一致；头部/腕部相机画面质量差，无法证明盘子被误判，故不强加感知现象。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:05Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-standard--grb5mb2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-standard--grb5mb2/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-standard--grb5mb2/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-setting-the-table-i00-standard--grb5mb2/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "97125d2f6af16bc4204dfdca60d059237cb50f37024584731b0cf04854c9e56d", + "video_sha256": "07f2460e9f4da8fba15f226c86a4dff9d8b4dd026ff68557a3cc80622be66339", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w.json b/phaseK/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w.json new file mode 100644 index 0000000000000000000000000000000000000000..6b31ecc20e50d18eaf7a21243dea40c25a17d90b --- /dev/null +++ b/phaseK/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w.json @@ -0,0 +1,430 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.3, + "source": "catalog", + 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"resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w.mp4", + "duration_s": 211.0, + "fps": 30.0, + "frames": 6330, + "sha256": "d54697a7caa58ace00df14a894b2a9bf5835c3efe834328c432381539b458266" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 14, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bottle_on_counter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：头部/腕部镜头未能清楚显示酒瓶/汽水罐是否由台面支承。agent 自述（log step 431）酒瓶与1罐汽水已放好，仅为会话证据；评分器 q=0.3 不能逐项确定。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "sodas_on_counter_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：头部/腕部镜头未能清楚显示酒瓶/汽水罐是否由台面支承。agent 自述（log step 431）酒瓶与1罐汽水已放好，仅为会话证据；评分器 q=0.3 不能逐项确定。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "sodas_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：视频中未见该目标（第2/3罐汽水、酒杯、开瓶器）被放到吧台台面；视频末段仍在搬运一罐汽水。q_score=0.3 也限制了满足项数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓住并搬运该物体（冰桶/汽水罐），底盘移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动搬运" + } + ] + }, + "sodas_on_counter_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：视频中未见该目标（第2/3罐汽水、酒杯、开瓶器）被放到吧台台面；视频末段仍在搬运一罐汽水。q_score=0.3 也限制了满足项数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓住并搬运该物体（冰桶/汽水罐），底盘移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动搬运" + } + ] + }, + "ice_in_bucket_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：腕部视角几乎看不到桶内冰块；视频约100-115 s柜面托盘/冰块仍在。q_score=0.3只允许约6个目标文字满足，无法确定每块冰。agent 自述（log step 431）3块冰入桶，仅为会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "ice_in_bucket_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：腕部视角几乎看不到桶内冰块；视频约100-115 s柜面托盘/冰块仍在。q_score=0.3只允许约6个目标文字满足，无法确定每块冰。agent 自述（log step 431）3块冰入桶，仅为会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "ice_in_bucket_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：腕部视角几乎看不到桶内冰块；视频约100-115 s柜面托盘/冰块仍在。q_score=0.3只允许约6个目标文字满足，无法确定每块冰。agent 自述（log step 431）3块冰入桶，仅为会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "ice_in_bucket_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：腕部视角几乎看不到桶内冰块；视频约100-115 s柜面托盘/冰块仍在。q_score=0.3只允许约6个目标文字满足，无法确定每块冰。agent 自述（log step 431）3块冰入桶，仅为会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "ice_in_bucket_5": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：腕部视角几乎看不到桶内冰块；视频约100-115 s柜面托盘/冰块仍在。q_score=0.3只允许约6个目标文字满足，无法确定每块冰。agent 自述（log step 431）3块冰入桶，仅为会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "ice_in_bucket_6": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：腕部视角几乎看不到桶内冰块；视频约100-115 s柜面托盘/冰块仍在。q_score=0.3只允许约6个目标文字满足，无法确定每块冰。agent 自述（log step 431）3块冰入桶，仅为会话证据，不作节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "bucket_on_counter": { + "method": "visual", + "intervals": [ + [ + 130.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 130.0, + "log_step": null, + "text_zh": "观察：视频约130 s起浅色吧台台面上可见冰桶，视频最后几秒（195-210 s）远景中冰桶仍在台面上；起始时间不确定（±15 s）。推断：q_score 0.3 与此一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓住并搬运该物体（冰桶/汽水罐），底盘移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动搬运" + } + ] + }, + "glasses_on_counter_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：视频中未见该目标（第2/3罐汽水、酒杯、开瓶器）被放到吧台台面；视频末段仍在搬运一罐汽水。q_score=0.3 也限制了满足项数。" + } + ] + }, + "glasses_on_counter_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：视频中未见该目标（第2/3罐汽水、酒杯、开瓶器）被放到吧台台面；视频末段仍在搬运一罐汽水。q_score=0.3 也限制了满足项数。" + } + ] + }, + "corkscrew_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 431, + "text_zh": "观察：视频中未见该目标（第2/3罐汽水、酒杯、开瓶器）被放到吧台台面；视频末段仍在搬运一罐汽水。q_score=0.3 也限制了满足项数。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.3, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sodas_on_counter_2", + "where": "操作中", + "t": 205.0, + "evidence_zh": "观察：视频末段（约195-210 s）机器人夹着一罐汽水，其余汽水、酒杯、开瓶器未到台面；视频结束时目标未全部达成（q_score 0.3，success 0）。推断：第2罐汽水为第一个未完成且正在处理的步骤。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，镜头多被夹爪遮挡；无法确定失败的具体现象。agent 自述（log step 436）“时间用完”只是停止原因，不作现象或根因。agent 在 log step 431 称因缺少底盘驱动行而保留旧检查点，属会话证据，未核实。", + "unmet": { + "bottle_on_counter": null, + "sodas_on_counter_1": null, + "sodas_on_counter_2": false, + "sodas_on_counter_3": false, + "ice_in_bucket_1": null, + "ice_in_bucket_2": null, + "ice_in_bucket_3": null, + "ice_in_bucket_4": null, + "ice_in_bucket_5": null, + "ice_in_bucket_6": null, + "bucket_on_counter": true, + "glasses_on_counter_1": false, + "glasses_on_counter_2": false, + "corkscrew_on_counter": false + } + }, + "summary_zh": "观察：视频211 s，仅冰桶上吧台可由画面确认（约130 s起，不确定），末段仍在搬运汽水；q_score=0.3。酒瓶、冰块、第1罐汽水因无状态日志且镜头遮挡为未知，其余未达成。断点在第2罐汽水，现象与根因因缺少证据留空。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "标签整体保守且与证据一致：无状态日志、镜头遮挡，多数节点为 unknown 合理；冰桶上台（约130 s起）、断点第2罐汽水、现象/根因留空并附 gap_zh 均无法被画面推翻。agent 自述仅作会话证据，未被当作事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:16:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-privileged--b27fm7w/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--rxc7m5b.json b/phaseK/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--rxc7m5b.json new file mode 100644 index 0000000000000000000000000000000000000000..263f0dcbf3126f4840b23a1b9776fc5c41882ac3 --- /dev/null +++ b/phaseK/behavior-1k/setup_a_bar_for_a_cocktail_party/trajectories/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--rxc7m5b.json @@ -0,0 +1,344 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-setup-a-bar-for-a-cocktail-party-i00-standard--rxc7m5b", + "taskKey": "behavior-1k/setup_a_bar_for_a_cocktail_party", + "dag_sha256": "8a072e1994997f39932c0ca13678b0cb7a0584e1170e22d888b0466840d1f291", + "outcome": { + "success": 0, + "reward": 0.3, + "source": "catalog", + "raw": 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"unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频仅为腕部相机视角（615 s），画面大多为地砖、台面局部和夹爪，抽查视频 100/250/400/520/600/614 s 等帧看不清目标物与吧台台面的关系；无状态日志，无法判定该节点。评分器 q_score=0.3 只给总量，不能逐节点分配。" + } + ] + }, + "glasses_on_counter_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频仅为腕部相机视角（615 s），画面大多为地砖、台面局部和夹爪，抽查视频 100/250/400/520/600/614 s 等帧看不清目标物与吧台台面的关系；无状态日志，无法判定该节点。评分器 q_score=0.3 只给总量，不能逐节点分配。" + } + ] + }, + "corkscrew_on_counter": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频仅为腕部相机视角（615 s），画面大多为地砖、台面局部和夹爪，抽查视频 100/250/400/520/600/614 s 等帧看不清目标物与吧台台面的关系；无状态日志，无法判定该节点。评分器 q_score=0.3 只给总量，不能逐节点分配。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.3, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "where": "未知", + "t": null, + "log_step": null, + "evidence_zh": "观察：success=0，q_score=0.3（评分器字段）；视频为腕部视角，看不出哪一步最先失败且未修复。agent 自述（log step 末步）称酒瓶、第二只杯、两罐汽水、四块冰未放置，仅为其自述，未获视频核实。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象与根因为空：视频只有腕部相机、无状态日志，看不出具体失败现象；不以 agent 自述定因。视频 615 s 与 agent 会话约 6500 s 的时钟不同，未做换算。", + "unmet": { + "bottle_on_counter": null, + "sodas_on_counter_1": null, + "sodas_on_counter_2": null, + "sodas_on_counter_3": null, + "ice_in_bucket_1": null, + "ice_in_bucket_2": null, + "ice_in_bucket_3": null, + "ice_in_bucket_4": null, + "ice_in_bucket_5": null, + "ice_in_bucket_6": null, + "bucket_on_counter": null, + "glasses_on_counter_1": null, + "glasses_on_counter_2": null, + "corkscrew_on_counter": null + } + }, + "summary_zh": "观察：运行失败（success=0, q_score=0.3），视频只有腕部视角，各节点均无法由画面判定，故全部标为 unknown。agent 自述放置了1罐汽水、冰桶（含2块冰）、开瓶器和1只酒杯，酒瓶等未放（未经视频核实）。主要缺口：无状态日志且腕部画面看不清台面关系。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅为三联腕部相机画面（地砖、台面局部），抽查 30/150/300/450/560/614 s 帧确实无法判定各节点与吧台台面的支承关系；无状态日志，q_score=0.3 无法逐节点分配，故全部 unknown、断点 unknown、现象与根因为空并附 gap_zh 是合理的，agent 自述未被当作事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--rxc7m5b/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-setup-a-bar-for-a-cocktail-party-i00-standard--rxc7m5b/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9607c013f64b30cb63e80124ec6a72b40b92e324962f2e084cc9cab682894468", + "video_sha256": "d1e2fd800f881b58efce164b1ebabe6b6dfaabf95d84fd1de628863d6a4dc5de", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--u2bwj7t.json b/phaseK/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--u2bwj7t.json new file mode 100644 index 0000000000000000000000000000000000000000..7735d362167070ef9cbc7880093238c08914c8b4 --- /dev/null +++ b/phaseK/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-privileged--u2bwj7t.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-privileged--u2bwj7t", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + 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{ + "t": 268.7, + "log_step": null, + "text_zh": "观察：视频抽样帧中机器人在厨房内不断移动、手臂乱摆，未见冰箱打开，也未见任何蔬菜被切开或产生丁；评分器 q_score=0、goal=0。" + } + ], + "contact_actual": [ + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在厨房内全程移动；约视频 40 s 腕部相机可见刀具，但未见切割接触" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 268.7, + "log_step": null, + "text_zh": "观察：视频抽样帧中机器人在厨房内不断移动、手臂乱摆，未见冰箱打开，也未见任何蔬菜被切开或产生丁；评分器 q_score=0、goal=0。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 268.7, + "log_step": null, + "text_zh": "观察：视频抽样帧中机器人在厨房内不断移动、手臂乱摆，未见冰箱打开，也未见任何蔬菜被切开或产生丁；评分器 q_score=0、goal=0。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 268.7, + "log_step": null, + "text_zh": "观察：视频抽样帧中机器人在厨房内不断移动、手臂乱摆，未见冰箱打开，也未见任何蔬菜被切开或产生丁；评分器 q_score=0、goal=0。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 268.7, + "log_step": null, + "text_zh": "观察：视频抽样帧中机器人在厨房内不断移动、手臂乱摆，未见冰箱打开，也未见任何蔬菜被切开或产生丁；评分器 q_score=0、goal=0。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频 0-268.7 s 抽样帧（每 9 s 一帧及 30 s 内每 5 s）中未见冰箱门被打开；推断：冰箱从开局即关闭并保持关闭，该节点自 t=0 成立。q_score=0 不含初始即成立的条件。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "where": "探索", + "t": 30, + "log_step": null, + "evidence_zh": "观察：视频 10-268.7 s 机器人只是在厨房中到处移动、手臂摆动，未见冰箱门被拉开，也没有蔬菜被切。推断：第一步（开冰箱）从未完成，后续步骤都在其后。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "source_zh": "观察：log 139/142 s.reset 重录；log 147-156、200-205 在检查点上恢复后续录；log 260 追加复位 settle 段；log 268 自写 gen.py 嵌入 7911×25 动作并保存；log 281/287 官方重放无结果即结束，agent 自述 partial；agent_replays=0、deterministic=1。session 中 log 153-178 自述冰箱已开到 1.93 rad 并切蔬菜，而 graded 视频 5-265 s 未见冰箱打开。推断：交付动作由跨恢复拼接而成且从未完整重放验证，session 结果因此未复现；deterministic=1，不是基准回放不一致。", + "evidence_zh": "观察：log 139/142 s.reset 重录；log 147-156、200-205 在检查点上恢复后续录；log 260 追加复位 settle 段；log 268 自写 gen.py 嵌入 7911×25 动作并保存；log 281/287 官方重放无结果即结束，agent 自述 partial；agent_replays=0、deterministic=1。session 中 log 153-178 自述冰箱已开到 1.93 rad 并切蔬菜，而 graded 视频 5-265 s 未见冰箱打开。推断：交付动作由跨恢复拼接而成且从未完整重放验证，session 结果因此未复现；deterministic=1，不是基准回放不一致。" + } + ], + "gap_zh": "无状态日志；视频为多相机拼接画面且画质模糊，看不清机器人在画面上为何失败，故现象留空。但根因有日志证据：交付的是跨多次 reset/检查点恢复拼接、从未完整重放的动作（见根因）。", + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": true + } + }, + "summary_zh": "观察：graded 视频（268.7 s）中机器人在厨房里游走、手臂乱摆，未见冰箱打开，也未见蔬菜被切开，七个节点中只有初始即关闭的“冰箱关闭”成立（0/6 个目标动作节点，评分 q_score=0）。断点判为打开冰箱（探索）。无状态日志、画面模糊，现象未标（画面不清）；根因标为交付·交付操作出错（动作跨恢复拼接且从未重放验证，agent_replays=0）。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点和断点基本站得住（视频未见冰箱打开，q_score=0，refrigerator_closed 自 0 成立），但根因被留空是错的：agent 的交付轨迹是跨多次 reset/检查点拼接、整体从未重放验证就保存，graded 回放完全没有复现 session 中已开冰箱、切三种蔬菜的结果，应标根因 交付·交付操作出错。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点（仅 refrigerator_closed 自 0 成立）、断点（打开冰箱，首步未完成）与根因（交付·交付操作出错）均有视频、log 与 outcome 字段支持；现象留空并有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:22:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun3/runs/behavior-slicing-vegetables-i00-privileged--u2bwj7t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-slicing-vegetables-i00-privileged--u2bwj7t/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-slicing-vegetables-i00-privileged--u2bwj7t/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun3/runs/behavior-slicing-vegetables-i00-privileged--u2bwj7t/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0b71724867b41709aba3cf5731f6cbaaca116df3b7979105f69bf8c509c0b8ed", + "video_sha256": "2580e3001821a7079ff78df2a623110a75d03f2a3c47cfa2d633a5f12d442325", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--ukroeyg.json b/phaseK/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--ukroeyg.json new file mode 100644 index 0000000000000000000000000000000000000000..3ef045abd4de2765af4356a0c2dc1f5df92f7fae --- /dev/null +++ b/phaseK/behavior-1k/slicing_vegetables/trajectories/behavior-slicing-vegetables-i00-standard--ukroeyg.json @@ -0,0 +1,274 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-slicing-vegetables-i00-standard--ukroeyg", + "taskKey": "behavior-1k/slicing_vegetables", + "dag_sha256": "99d09e28bac5957b4feb1a4ef7ff3a7d55e0b7e9535a2cb9387a47fa9e6c206f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 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+ } + ] + }, + "bell_peppers_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": 122, + "text_zh": "观察：视频 0-36.7 s 机器人只在厨房里导航（视频 5-20 s 经过岛台），随后底盘爬上岛台并倾斜（视频 25-36 s），全程没有靠近冰箱、取刀或切菜；评分器 q_score=0，agent 自述“No vegetables were cut”（log step 122）。该节点未达成。" + } + ] + }, + "bell_peppers_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": 122, + "text_zh": "观察：视频 0-36.7 s 机器人只在厨房里导航（视频 5-20 s 经过岛台），随后底盘爬上岛台并倾斜（视频 25-36 s），全程没有靠近冰箱、取刀或切菜；评分器 q_score=0，agent 自述“No vegetables were cut”（log step 122）。该节点未达成。" + } + ] + }, + "beets_diced_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": 122, + "text_zh": "观察：视频 0-36.7 s 机器人只在厨房里导航（视频 5-20 s 经过岛台），随后底盘爬上岛台并倾斜（视频 25-36 s），全程没有靠近冰箱、取刀或切菜；评分器 q_score=0，agent 自述“No vegetables were cut”（log step 122）。该节点未达成。" + } + ] + }, + "beets_diced_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": 122, + "text_zh": "观察：视频 0-36.7 s 机器人只在厨房里导航（视频 5-20 s 经过岛台），随后底盘爬上岛台并倾斜（视频 25-36 s），全程没有靠近冰箱、取刀或切菜；评分器 q_score=0，agent 自述“No vegetables were cut”（log step 122）。该节点未达成。" + } + ] + }, + "zucchini_diced": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": 122, + "text_zh": "观察：视频 0-36.7 s 机器人只在厨房里导航（视频 5-20 s 经过岛台），随后底盘爬上岛台并倾斜（视频 25-36 s），全程没有靠近冰箱、取刀或切菜；评分器 q_score=0，agent 自述“No vegetables were cut”（log step 122）。该节点未达成。" + } + ] + }, + "refrigerator_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 122, + "text_zh": "观察：冰箱从开局到视频结束从未被打开，也未被接近。推断：该节点是 final 节点，须在前置“打开冰箱”达成后才成立，故未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "refrigerator_opened", + "where": "转场", + "t": 24.5, + "log_step": 98, + "evidence_zh": "观察：视频 0-20 s 机器人在厨房里转向、前进寻找冰箱；视频 24-25 s 起画面倾斜，30-36 s 头部相机斜视岛台，说明底盘爬上岛台。agent 自述“The base climbed the kitchen island”（log step 98），评分结果为机器人翻倒。冰箱始终没被找到或打开。" + }, + "phenomena": [ + { + "t": 25.0, + "log_step": 98, + "evidence_zh": "观察：视频 24-25 s 起相机视角明显倾斜，之后到 36.7 s 一直倾斜；评分器失败原因为机器人翻倒（log step 122）。", + "cat": "全身", + "item": "平衡" + } + ], + "root_causes": [ + { + "evidence_zh": "推断：agent 在没看清障碍的情况下用开环速度命令驱动底盘（log step 93 称仍在识别冰箱，随后前进，step 97 出现相机急倾），底盘撞上并爬上岛台；未见证据区分深度感知错误还是反馈控制问题，故停在控制。", + "source_zh": "日志+视频", + "cat": "控制", + "item": "控制" + } + ], + "gap_zh": "没有状态日志，岛台碰撞的具体时刻靠视频推断（约视频 24-25 s）；无法确认是否因感知误判岛台高度，故根因只到“控制”。", + "unmet": { + "bell_peppers_diced_1": false, + "bell_peppers_diced_2": false, + "beets_diced_1": false, + "beets_diced_2": false, + "zucchini_diced": false, + "refrigerator_closed": false + } + }, + "summary_zh": "观察：视频 36.7 s 内机器人只在厨房导航，约视频 24-25 s 底盘爬上岛台并翻倒，随后被评分器判为翻倒失败；7 个节点全未达成（q_score 0）。断点是第一步打开冰箱（转场中，尚未找到冰箱）；现象为平衡，根因只能归到控制（开环驱动撞岛台），证据缺口：无状态日志。agent 在服务启动前花了很长时间在检索源码，但这不是现象或原因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、日志一致：7个节点全未达成（q_score 0），断点为第一步打开冰箱（途中），现象 全身·平衡 有视频（约 25-27 s 画面翻转并持续到结束）和评分器翻倒结论支持；根因停在控制并有 gap_zh 说明，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:47Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-slicing-vegetables-i00-standard--ukroeyg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-slicing-vegetables-i00-standard--ukroeyg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "392c27bd92ae06e73333eeeafc6e1b34e46c06178b4864308d2f02e11b76dd8d", + "video_sha256": "fddddb256de22e4c457872f456de0f2d2f630cbffd46a0c29615e56961e95600", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--opgbthu.json b/phaseK/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--opgbthu.json new file mode 100644 index 0000000000000000000000000000000000000000..ac360d796e3535fee7943303d073cc11b75318fd --- /dev/null +++ b/phaseK/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-privileged--opgbthu.json @@ -0,0 +1,403 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-privileged--opgbthu", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "outcome": { + "success": 0, + "reward": 0.2727272727272727, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 22249, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 22399, + "fallen": 0, + "final_reward": 0.2727272727272727, + "q_score": 0.2727272727272727, + "replay_wall_s": 4772.9, + "replay_timeout_s": 16032.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.665, + "peak_memory_gb": 22.95, + "peak_processes": 77, + "peak_disk_gb": 0.699, + "peak_cpus": 8.09, + "peak_pids": 756, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sorting-books-on-shelf-i00-privileged--opgbthu.mp4", + "duration_s": 746.634, + "fps": 30.0, + "frames": 22399, + "sha256": "5fbaa1fed6cc29fae99a350d3e4ec2ba90cfafce288b8a4d797f55fab7f5a016" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 10, + "final": 9, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开头七本书均在书柜内（初态）；之后只有一本蓝色笔记本离柜（视频约185 s，见 notebooks_in_bookcase_2），其余书未见离柜，故自初态持续成立。推断：节点自t=0成立（S4）。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开头七本书均在书柜内（初态）；之后只有一本蓝色笔记本离柜（视频约185 s，见 notebooks_in_bookcase_2），其余书未见离柜，故自初态持续成立。推断：节点自t=0成立（S4）。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开头七本书均在书柜内（初态）；之后只有一本蓝色笔记本离柜（视频约185 s，见 notebooks_in_bookcase_2），其余书未见离柜，故自初态持续成立。推断：节点自t=0成立（S4）。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开头七本书均在书柜内（初态）；之后只有一本蓝色笔记本离柜（视频约185 s，见 notebooks_in_bookcase_2），其余书未见离柜，故自初态持续成立。推断：节点自t=0成立（S4）。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + 185 + ] + ], + "final": false, + "evidence": [ + { + "t": 185, + "log_step": 153, + "text_zh": "观察：视频约170-185 s 蓝色笔记本由夹爪搬运中滑落，约185 s 起腕部视角可见其躺在地板上，此后至视频结束（746 s）始终在柜外；agent自述“笔记本在搬运中滑落到地板”（log step 153）。推断：柜内笔记本只剩1本，第2本失去，时间约±10 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持漫画（上有笔记本）搬运时笔记本滑落到地板。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开头七本书均在书柜内（初态）；之后只有一本蓝色笔记本离柜（视频约185 s，见 notebooks_in_bookcase_2），其余书未见离柜，故自初态持续成立。推断：节点自t=0成立（S4）。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：视频开头七本书均在书柜内（初态）；之后只有一本蓝色笔记本离柜（视频约185 s，见 notebooks_in_bookcase_2），其余书未见离柜，故自初态持续成立。推断：节点自t=0成立（S4）。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [ + [ + 150, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 150, + "log_step": 120, + "text_zh": "观察：agent 自述漫画叠放关系已满足（log step 120/153），视频约140-185 s 可见机械臂在书柜内搬运并叠放书；柜内腕部/头部视角分辨率低，精确时刻不能确定。推断：评分器 q=3/11 与 精装叠好+漫画叠1+漫画叠2 三项一致（q 不计初态已成立的柜内关系）。时间为估计。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机械臂夹爪夹住书（辅助抓握）搬到目标书堆上方放下；底盘在此期间已停在书柜前。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [ + [ + 180, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 180, + "log_step": 153, + "text_zh": "观察：约185 s 笔记本滑落前机器人把底部漫画连同笔记本搬到上层漫画堆（agent 自述 log step 144-153“第三条漫画关系已满足”）。推断：由 q=3/11 逻辑推出三项叠放达成；时间估计约180 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机械臂夹爪夹住书（辅助抓握）搬到目标书堆上方放下；底盘在此期间已停在书柜前。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300, + "log_step": 294, + "text_zh": "观察：笔记本掉到地板后，agent 约视频190-746 s 反复尝试从地板抓起（log step 159-294），始终没有拾起（视频蓝色笔记本一直在地板，最后一帧746 s 仍在柜外）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "视频约190-746 s 夹爪多次接触地板上的笔记本，只把它拨动/拖离书柜，未形成抓握。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [ + [ + 145, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 145, + "log_step": 114, + "text_zh": "观察：视频约130-150 s 机器人持黑色橙字精装书在书柜上层移动并放下（agent 自述 log step 114“精装书叠放关系已满足”）；精确放手时刻在低清晰度视角中不能核对。推断：与 q=3/11 一致。时间为估计。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "机械臂夹爪夹住书（辅助抓握）搬到目标书堆上方放下；底盘在此期间已停在书柜前。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2727272727272727, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "notebooks_stacked", + "where": "操作中", + "t": 185, + "log_step": 153, + "evidence_zh": "观察：约视频185 s 笔记本在搬运中滑落到地板（agent 自述 log step 153），此后视频190-746 s 机器人（agent脚本）反复尝试从地板抓起，蓝色笔记本始终在地板，最后一帧仍在柜外；因此笔记本入柜/叠放从未修复。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 300, + "log_step": 271, + "evidence_zh": "观察：地板上的笔记本被夹爪反复压、拨、拖动，但辅助抓握始终未触发（agent 自述 log step 211-271：射线未穿过薄书；物理夹持也未能抬起），视频中笔记本从未离开地板。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "evidence_zh": "agent 自述 log step 214、247：薄笔记本上抓取射线与指尖高度差几毫米，指尖落在书面上；log step 202、241：躯干因头部/腕部碰书柜饱和。推断：抓取姿态与薄书几何不匹配，且 alt_feasible 未知。", + "source_zh": "agent 自述", + "alt_feasible": "未知" + } + ], + "gap_zh": "视频为低分辨率头部/腕部视角，书柜内的放置时刻（精装书、两次漫画叠放）不易直接核对，节点时间为估计；无状态日志，三项叠放由 q=3/11 逻辑推断。", + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": false, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": true, + "comics_stacked_2": true, + "notebooks_stacked": false, + "hardbacks_stacked": true + } + }, + "summary_zh": "观察：机器人（agent脚本）完成精装书叠放和3本漫画叠放（约视频145-185 s，估计），q=3/11 与此一致；搬运底部漫画时蓝色笔记本滑落到地板（视频约185 s），其后约560 s 反复无法抓起。断点在笔记本步骤，现象为没建立接触；主要证据缺口是柜内放置时刻为低清晰度估计，节点时间不精确。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "抽查视频：约175-183 s 夹爪在书柜内持书，约187-195 s 起蓝色笔记本已在地板，400 s 仍在地板，与 notebooks_in_bookcase_2 在约185 s 失去、notebooks_stacked 未达成、断点在 notebooks_stacked 一致；final 9、q=3/11 推断自洽。没有发现需要改动内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:03:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--opgbthu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sorting-books-on-shelf-i00-privileged--opgbthu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "093773e1d7e2de9f9212f81c1e5bb8933237d0b2d248534c619095932900f0d4", + "video_sha256": "5fbaa1fed6cc29fae99a350d3e4ec2ba90cfafce288b8a4d797f55fab7f5a016", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep.json b/phaseK/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep.json new file mode 100644 index 0000000000000000000000000000000000000000..14162221e36361103e52c429a705d5eb5e06f0c1 --- /dev/null +++ b/phaseK/behavior-1k/sorting_books_on_shelf/trajectories/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep.json @@ -0,0 +1,390 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-books-on-shelf-i00-standard--uf7k3ep", + "taskKey": "behavior-1k/sorting_books_on_shelf", + "dag_sha256": "a22c5cd43f8657b5acce376e54ea380253075b83b7eeb3679bc2dba6d608b7ce", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 11220, + "sim_steps": 11370, + "physics_steps": 45480, + "steps": 3225, + "elapsed_s": 4689.7, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.239, + "peak_processes": 9, + "peak_disk_gb": 0.36, + "peak_cpus": 1.28, + "peak_pids": 91, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sorting-books-on-shelf-i00-standard--uf7k3ep.mp4", + "duration_s": 379.1, + "fps": 10.0, + "frames": 3791, + "sha256": "9692d8f745713821c754e3b1f504c510a54e199347b9cdf24d18c7be2ec06bfe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 7, + "peak": 7, + "final": 7, + "nodes": { + "comics_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "comics_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "comics_in_bookcase_3": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "notebooks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "notebooks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "hardbacks_in_bookcase_1": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "hardbacks_in_bookcase_2": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "观察：全程视频中没有任何一帧显示机器人抓取或移动书本（视频 0-369 s 以腕部/头部视角为主，反复扫描房间）。推断：DAG 与 BDDL 初态七本书均已在柜内（初态即成立），书未被移动，故自视频 0 s 保持成立；q_score=0 与此一致（初态成立的条件不计分）。视频中所见白色格柜内未见书，七本书在柜内是初态推断（DAG/BDDL 与 q_score=0），并非视频所见。" + } + ] + }, + "comics_stacked_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 369, + "log_step": 415, + "text_zh": "观察：视频全程没有出现任何书本被拿起或叠放的画面；agent 最终自述“No books were stacked”（log step 415，仅作旁证）。该堆叠节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "机器人未对书本做任何接触。" + } + ] + }, + "comics_stacked_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 369, + "log_step": 415, + "text_zh": "观察：视频全程没有出现任何书本被拿起或叠放的画面；agent 最终自述“No books were stacked”（log step 415，仅作旁证）。该堆叠节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "机器人未对书本做任何接触。" + } + ] + }, + "notebooks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 369, + "log_step": 415, + "text_zh": "观察：视频全程没有出现任何书本被拿起或叠放的画面；agent 最终自述“No books were stacked”（log step 415，仅作旁证）。该堆叠节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "机器人未对书本做任何接触。" + } + ] + }, + "hardbacks_stacked": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 369, + "log_step": 415, + "text_zh": "观察：视频全程没有出现任何书本被拿起或叠放的画面；agent 最终自述“No books were stacked”（log step 415，仅作旁证）。该堆叠节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "机器人未对书本做任何接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "comics_stacked_1", + "t": 369, + "log_step": 414, + "where": "首步前", + "evidence_zh": "观察：视频约 369 s 起头部/腕部画面变为天空，机器人穿过地板掉出场景（log step 414-415 服务读数 base_z 从 -15.1 m 到 -36.0 m）；此前视频 0-365 s 机器人反复扫描房间，所见白色格柜内未见书；agent 自述（仅旁证）判其为空后才改去开门；没有抓取任何书。推断：堆叠步骤（第一个未达成节点）从未开始。" + }, + "phenomena": [ + { + "t": 369, + "log_step": 415, + "evidence_zh": "观察：视频中没有任何书本被接触或移动，未开始任何堆叠步骤。", + "cat": "没尝试", + "item": "没尝试" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：观察——视频前段反复扫描房间，所见白色格柜内未见书；agent 自述（仅旁证）判其为空、找不到书而改去开门，搜索失败。推断——柜内七本书的初态成立来自 DAG/BDDL 与 q_score=0，非视频所见。穿门后穿地板掉落的原因视频只显示门口过渡处掉出场景，无状态日志，不臆测。", + "unmet": { + "comics_in_bookcase_1": true, + "comics_in_bookcase_2": true, + "comics_in_bookcase_3": true, + "notebooks_in_bookcase_1": true, + "notebooks_in_bookcase_2": true, + "hardbacks_in_bookcase_1": true, + "hardbacks_in_bookcase_2": true, + "comics_stacked_1": false, + "comics_stacked_2": false, + "notebooks_stacked": false, + "hardbacks_stacked": false + } + }, + "summary_zh": "观察：机器人整个视频（379.1 s）里没有拿起或叠放任何书，最后在门口穿过地板掉出场景（约视频 369 s 起画面为天空）。七个柜内节点按初态保持成立（推断），四个堆叠节点均未达成，断点为 comics_stacked_1 首步前。根因与现象证据不足，已在 gap_zh 说明。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（七个柜内节点初态成立、四个堆叠未达成）、断点 comics_stacked_1/首步前、369 s 起天空画面均与视频和 log 一致。唯一需改的是证据叙述：视频 0-365 s 并非“在书柜前观察后去开门”，而是长时间找不到书、判定所见白色格柜为空后才转向房门；该搜索失败应写入证据与 gap_zh。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "七个柜内节点初态成立、四个堆叠节点未达成、断点 comics_stacked_1/首步前、369 s 起天空画面均与视频和 log 一致；上轮证据问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-books-on-shelf-i00-standard--uf7k3ep/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "25462cc9420065aa7ffe1987a20f8a302ab4138b815cc3a86cdd060591c927aa", + "video_sha256": "9692d8f745713821c754e3b1f504c510a54e199347b9cdf24d18c7be2ec06bfe", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3.json b/phaseK/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3.json new file mode 100644 index 0000000000000000000000000000000000000000..6428d8df539c39e57e0bfd4dc42aa38458ba6898 --- /dev/null +++ b/phaseK/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3", + "taskKey": "behavior-1k/sorting_bottles_cans_and_paper", + "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + 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"wine_bottles_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 281.0, + "log_step": 242, + "text_zh": "观察：视频 0-282 s 的头部/腕部画面中没有任何物品落入桶内的画面；视频后段机器人底盘倾斜、桶被撞翻，物品散落地板。评分器 q_score=0、goal=0（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "soda_cans_in_bucket_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 281.0, + "log_step": 242, + "text_zh": "观察：视频 0-282 s 的头部/腕部画面中没有任何物品落入桶内的画面；视频后段机器人底盘倾斜、桶被撞翻，物品散落地板。评分器 q_score=0、goal=0（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 10-96 s 腕部相机可见夹爪夹持蓝色罐状物并随底盘移动，约 97 s 后不在夹爪中，未入桶（具体是哪一只罐无法区分）。" + } + ] + }, + "soda_cans_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 281.0, + "log_step": 242, + "text_zh": "观察：视频 0-282 s 的头部/腕部画面中没有任何物品落入桶内的画面；视频后段机器人底盘倾斜、桶被撞翻，物品散落地板。评分器 q_score=0、goal=0（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 10-96 s 腕部相机可见夹爪夹持蓝色罐状物并随底盘移动，约 97 s 后不在夹爪中，未入桶（具体是哪一只罐无法区分）。" + } + ] + }, + "newspaper_in_bucket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 281.0, + "log_step": 242, + "text_zh": "观察：视频 0-282 s 的头部/腕部画面中没有任何物品落入桶内的画面；视频后段机器人底盘倾斜、桶被撞翻，物品散落地板。评分器 q_score=0、goal=0（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + }, + "magazine_in_bucket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 281.0, + "log_step": 242, + "text_zh": "观察：视频 0-282 s 的头部/腕部画面中没有任何物品落入桶内的画面；视频后段机器人底盘倾斜、桶被撞翻，物品散落地板。评分器 q_score=0、goal=0（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "soda_cans_in_bucket_1", + "t": 97, + "where": "操作中", + "evidence_zh": "观察：视频约 10-96 s 腕部相机可见夹爪夹持蓝色罐状物并随底盘移动（经过蓝色椅子/桌下），约 97 s 后罐离开夹爪、落在地板上，从未入桶；其后 100-282 s 画面倾斜、桶被撞翻。agent 自述（log step 221、225，仅叙述非观察）称桶被撞倒、台面酒瓶因底盘倾斜 IK 差约 0.35 m。", + "log_step": 221 + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 97, + "log_step": 221, + "evidence_zh": "观察：视频约 97 s 起，搬运途中罐从夹爪脱离、落在地板上，不在任何桶口上方，看不到有意松手；因此记为搬运途中没保持住，而不是松手前位姿不准。" + } + ], + "root_causes": [], + "gap_zh": "根因留空：无状态日志，无法区分导航开环轨迹、底盘倾斜与抓取设计；视频仅见约 97 s 罐脱手、之后倾斜画面与翻倒的桶。头部/腕部视角也难分辨具体物品。", + "unmet": { + "wine_bottles_in_bucket_1": false, + "wine_bottles_in_bucket_2": false, + "soda_cans_in_bucket_1": false, + "soda_cans_in_bucket_2": false, + "newspaper_in_bucket": false, + "magazine_in_bucket": false + } + }, + "summary_zh": "观察：六个节点均未达成（评分器 q_score=0，视频未见任何物品入桶）。机器人持罐搬运约 97 s 后罐脱离夹爪落地，随后底盘倾斜并撞翻桶；断点在汽水罐入桶的搬运中。证据缺口：无状态日志，视角遮挡较多，脱手时刻与原因仅为视频粗读。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": 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"8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-privileged--qmvwuo3/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0be59fc26b036f79a2820d9fd79fac60c4d229d401088f2aaaf376ecb81b3b62", + "video_sha256": "88dbcb7d58799a54e0da3f0035736d55dd88062df190c6eb2a3d09fa28d0ac2c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa.json b/phaseK/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa.json new file mode 100644 index 0000000000000000000000000000000000000000..f12640470e17e14afde33ff4497644357198e96d --- /dev/null +++ b/phaseK/behavior-1k/sorting_bottles_cans_and_paper/trajectories/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa.json @@ -0,0 +1,329 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa", + "taskKey": "behavior-1k/sorting_bottles_cans_and_paper", + "dag_sha256": "c6a17fb377bf88080da35329a4db6429ac0880e966001b02e8b92aa5a65071e4", + "outcome": { + "success": 0, + "reward": 0.1875, + "source": "catalog", + "raw": { + 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s）第一次放置失误，瓶子落在桶外。（时间为粗略估计：头/腕/第三视角下桶内物体多被遮挡，无状态日志）（时间仅取自视频约330 s画面的视频钟粗估，未由 agent wall 时间换算；final 依据 q_score=0.1875）" + } + ] + }, + "wine_bottles_in_bucket_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 494, + "log_step": null, + "text_zh": "观察：视频中未见第二个酒瓶被拾取或入桶；agent 自述未能可靠定位（log step 364）。" + } + ] + }, + "soda_cans_in_bucket_1": { + "method": "visual", + "intervals": [ + [ + 250, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 250, + "log_step": 218, + "text_zh": "推断：agent 自述第一个罐子已在灰桶内（log step 218），视频 190-300 s 的画面显示夹爪抱罐前往灰桶；q_score=0.1875 也需要至少3个满足的目标文字。（时间为粗略估计：头/腕/第三视角下桶内物体多被遮挡，无状态日志）（时间仅取自视频约190-300 s画面的视频钟粗估，未由 agent wall 时间换算；final 依据 q_score=0.1875）" + } + ] + }, + "soda_cans_in_bucket_2": { + "method": "visual", + "intervals": [ + [ + 285, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 285, + "log_step": 230, + "text_zh": "推断：agent 自述两个罐子都释放进灰桶（log step 230）；视频约285-300 s 机器人在灰桶旁，桶内物体看不清。（时间为粗略估计：头/腕/第三视角下桶内物体多被遮挡，无状态日志）（时间仅取自视频约285-300 s画面的视频钟粗估，未由 agent wall 时间换算；final 依据 q_score=0.1875）" + } + ] + }, + "newspaper_in_bucket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 494, + "log_step": null, + "text_zh": "观察：视频中没有报纸被抓起或入桶的画面，agent 自述未可靠定位（log step 364）。" + } + ] + }, + "magazine_in_bucket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 494, + "log_step": 364, + "text_zh": "观察：视频360-494 s 杂志仍在台面/水槽边，夹爪在其附近移动但未见抓起；最后一帧杂志仍在台面上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.1875, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "magazine_in_bucket", + "t": 420, + "log_step": 318, + "where": "操作中", + "evidence_zh": "观察：视频约380 s 腕部视角杂志贴近夹爪，440 s 夹爪在台面杂志旁，360-494 s 反复调整底座与手臂，杂志始终留在台面，最后一帧仍如此，即已进入抓取尝试但未成功。第二个酒瓶、报纸 agent 未实际尝试。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 450, + "log_step": 318, + "evidence_zh": "观察：视频380-494 s 夹爪靠近杂志但未见夹住或抬起，最后一帧杂志仍在台面。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，桶内物体在多数视角被遮挡，三个已完成节点的时间为粗略估计，其成立依赖 q_score=0.1875（3/16）与 agent 自述；第二个酒瓶与报纸 agent 未尝试，故只给一个断点。；杂志抓取失败的成因无状态日志可判别，agent 自述（log step 318 底盘位移坐标系）仅发生在导航中，不能证明因果，故不标根因。", + "unmet": { + "wine_bottles_in_bucket_1": true, + "wine_bottles_in_bucket_2": false, + "soda_cans_in_bucket_1": true, + "soda_cans_in_bucket_2": true, + "newspaper_in_bucket": false, + "magazine_in_bucket": false + } + }, + "summary_zh": "观察/推断：机器人约完成3件（两个汽水罐入灰桶、一个酒瓶入黑桶，时间粗略，依据 q_score=0.1875 与 agent 自述，视频中桶内被遮挡），第2个酒瓶、报纸、杂志未完成。断点在杂志步骤（视频约360-494 s 靠近但未抓起）（操作中，已靠近但未抓起），成因无法判别；证据缺口：无状态日志。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "三个已完成节点的 final 与 q_score=0.1875 相容，未见与视频矛盾；但断点 where 与现象不一致，根因仅依据 agent 自述，无状态日志支持。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "三个完成节点与 q_score=0.1875 (3/16) 相容，视频中桶内被遮挡无法反驳；断点在杂志操作中（380-490 s 帧见夹爪在杂志旁、杂志仍在台面），无根因并有 gap_zh，符合证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-bottles-cans-and-paper-i00-standard--odboufa/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c448ec5ea6d9107c25aae3c46541a42323df838fec68138b064ae4a69ce0cd09", + "video_sha256": "829802300a8e9edd3a4f61854c623a26d30c05518cb6cf997e9f472bd41ffdcd", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "soda_cans_in_bucket_1": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住台面汽水罐，搬到灰桶放入" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动并搬运所持物体到桶边" + } + ], + "soda_cans_in_bucket_2": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住第二个汽水罐，放入同一灰桶" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动并搬运所持物体到桶边" + } + ], + "wine_bottles_in_bucket_1": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住落地酒瓶颈端，搬入黑桶；先前一次放置脱靶、桶被碰移" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动并搬运所持物体到桶边" + } + ], + "magazine_in_bucket": [ + { + "who": "未知", + "how": "未知" + } + ] + } +} diff --git a/phaseK/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--wvywxag.json b/phaseK/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--wvywxag.json new file mode 100644 index 0000000000000000000000000000000000000000..dde5eebeda4bab54e4897daed5dfe2a2f40bbec2 --- /dev/null +++ b/phaseK/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-privileged--wvywxag.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-privileged--wvywxag", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6620, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 6770, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 3454.8, + "replay_timeout_s": 5613.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.923, + "peak_memory_gb": 12.615, + "peak_processes": 77, + "peak_disk_gb": 1.44, + "peak_cpus": 8.05, + "peak_pids": 477, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sorting-household-items-i00-privileged--wvywxag.mp4", + "duration_s": 225.667, + "fps": 30.0, + "frames": 6770, + "sha256": "044282d2b8c9db34d196583b9274bef3abfb255c71f5a038b09724d4e5a6d05b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "bathroom_route_door_opened": { + "method": "visual", + "intervals": [ + [ + 100.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 100.0, + "log_step": null, + "text_zh": "观察：视频 20 s 头部相机见木门关闭，右腕夹爪在 60-90 s 贴近门把手；视频约 100-105 s 起门板已离开关闭位，门框出现开口，机器人随后在门边与卧室内转动。推断：门在约视频 100 s 被滑开（时刻不确定，约 ±10 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右腕夹爪在门把手/门沿处推拉滑门，视频 60-100 s；是否握住把手画面不清，按推/扫记。" + } + ] + }, + "detergents_under_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 225.0, + "log_step": null, + "text_zh": "观察：视频 105-约 205 s 机器人在卧室与门边转动；约 210-225 s 进入浴室方向（224 s 头部画面见浴室台面、蓝色毛巾），期间夹爪未持任何洗涤剂/盒/皂液器/牙刷/牙膏，物品篮留在卧室（195 s 可见）；未见任何物体被放入浴室。q_score=0 与此一致。" + } + ] + }, + "detergents_under_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 225.0, + "log_step": null, + "text_zh": "观察：视频 105-约 205 s 机器人在卧室与门边转动；约 210-225 s 进入浴室方向（224 s 头部画面见浴室台面、蓝色毛巾），期间夹爪未持任何洗涤剂/盒/皂液器/牙刷/牙膏，物品篮留在卧室（195 s 可见）；未见任何物体被放入浴室。q_score=0 与此一致。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 225.0, + "log_step": null, + "text_zh": "观察：视频 105-约 205 s 机器人在卧室与门边转动；约 210-225 s 进入浴室方向（224 s 头部画面见浴室台面、蓝色毛巾），期间夹爪未持任何洗涤剂/盒/皂液器/牙刷/牙膏，物品篮留在卧室（195 s 可见）；未见任何物体被放入浴室。q_score=0 与此一致。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 225.0, + "log_step": null, + "text_zh": "观察：视频 105-约 205 s 机器人在卧室与门边转动；约 210-225 s 进入浴室方向（224 s 头部画面见浴室台面、蓝色毛巾），期间夹爪未持任何洗涤剂/盒/皂液器/牙刷/牙膏，物品篮留在卧室（195 s 可见）；未见任何物体被放入浴室。q_score=0 与此一致。" + } + ] + }, + "cup_on_sink": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0, + "log_step": null, + "text_zh": "推断：该步初态即成立（杯子开局在浴室水槽上，t=0 起成立）；视频约 210-225 s 机器人进入浴室，头部画面见浴室台面，但未见机器人碰杯；q_score=0 不计初态成立的条件，与 final true 不冲突。" + } + ] + }, + "toothbrush_in_cup": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 225.0, + "log_step": null, + "text_zh": "观察：视频 105-约 205 s 机器人在卧室与门边转动；约 210-225 s 进入浴室方向（224 s 头部画面见浴室台面、蓝色毛巾），期间夹爪未持任何洗涤剂/盒/皂液器/牙刷/牙膏，物品篮留在卧室（195 s 可见）；未见任何物体被放入浴室。q_score=0 与此一致。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 225.0, + "log_step": null, + "text_zh": "观察：视频 105-约 205 s 机器人在卧室与门边转动；约 210-225 s 进入浴室方向（224 s 头部画面见浴室台面、蓝色毛巾），期间夹爪未持任何洗涤剂/盒/皂液器/牙刷/牙膏，物品篮留在卧室（195 s 可见）；未见任何物体被放入浴室。q_score=0 与此一致。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "detergents_under_sink_1", + "t": 105.0, + "log_step": null, + "where": "转场", + "evidence_zh": "观察：门约视频 100 s 开后，机器人空手在卧室内绕行，约视频 210 s 起进入浴室但未带任何物品、未抓取任何物体；第一个搬运步（洗涤剂入槽下）从未开始。" + }, + "unmet": { + "detergents_under_sink_1": false, + "detergents_under_sink_2": false, + "sanitary_box_on_shelf": false, + "soap_dispenser_on_sink": false, + "cup_on_sink": true, + "toothbrush_in_cup": false, + "toothpaste_next_to_cup": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 105.0, + "log_step": null, + "evidence_zh": "观察：视频 105-225 s 无任何抓取或搬运动作，篮子里的物品未被碰触。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；回放视频为 3 路相机拼接且画面旋转晕动，难以判断机器人意图。未据 agent 日志推断根因（agent 会话主要在调试开门与加速回放，log step 150 自述丢失门把手视野），根因层留空。" + }, + "summary_zh": "观察：graded 视频中机器人在视频约 100 s 滑开卧室门（时刻不确定），之后空手在卧室绕行，约 210 s 起空手进入浴室，未抓取任何物品，q_score=0。1/8 步（开门）达成，另 cup_on_sink 初态成立但未被操作；断点为第一个搬运步（洗涤剂入槽下），未开始。无状态日志，根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "门节点与断点大体可接受，但多处「观察」称机器人只在卧室/门口转动、从未进入浴室，与视频 ≈205-225 s 画面矛盾（头部相机见浴室台面、蓝色毛巾、壁柜）；需改写证据与 cup_on_sink 说明。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "复核视频：门在约100 s前后被滑开、105-205 s空手在卧室转动、约210-225 s进入浴室且未持物，均与标注一致；cup_on_sink 初态成立、其余节点未达成与 q_score=0 相符；断点与根因层留空（附 gap_zh）可接受。未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-privileged--wvywxag/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-privileged--wvywxag/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-privileged--wvywxag/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-privileged--wvywxag/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fed259305d9300d1356d18d0761ddbe91de99a8cfa702707af1718ee5fc95cc2", + "video_sha256": "044282d2b8c9db34d196583b9274bef3abfb255c71f5a038b09724d4e5a6d05b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--e856zsn.json b/phaseK/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--e856zsn.json new file mode 100644 index 0000000000000000000000000000000000000000..586e9f3ab53bc0dd5386c8cdd53aec2fcb6a72a9 --- /dev/null +++ b/phaseK/behavior-1k/sorting_household_items/trajectories/behavior-sorting-household-items-i00-standard--e856zsn.json @@ -0,0 +1,326 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-household-items-i00-standard--e856zsn", + "taskKey": "behavior-1k/sorting_household_items", + "dag_sha256": "5c109fd865b93a1d6efe00afcc321ce518bad469d86b33d2a06528d6a1cf4a4b", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 15550, + "sim_steps": 15700, + "physics_steps": 62800, + "steps": 2169, + "elapsed_s": 6418.5, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.288, + "peak_processes": 9, + "peak_disk_gb": 0.408, + "peak_cpus": 1.27, + "peak_pids": 217, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sorting-household-items-i00-standard--e856zsn.mp4", + "duration_s": 523.4, + "fps": 10.0, + "frames": 5234, + "sha256": "d63e88f4119b77ba06be7072681c1814404eb6b8b2396ee9cce5b19c04d1a32e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 8, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bathroom_route_door_opened": { + "method": "visual", + "intervals": [ + [ + 326.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 326.0, + "log_step": 370, + "text_zh": "观察：视频 326 s 帧（我方核对）可见右夹爪贴在木质门板边缘/把手处，与 log step 366-369 control_steps 9709-9769 按 30 Hz 推算的约 324-326 s 一致，时钟映射在该可见事件上得到验证；338 s 帧为头部/腕部视角的卧室内景，未能从中直接读出门洞开度。agent 自述（log step 364-370）开口约 67 cm；视频约 361 s 起可见浴室洗手台（log step 379）。推断：门已被滑开，时间约 ±2 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪握住滑门把手并滑开门（log step 360-370）；底盘侧移 15 cm 完成开口。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘侧移配合开门。" + } + ] + }, + "detergents_under_sink_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频全程未见洗涤剂瓶被放到浴室洗手台下；结尾（视频约 505-523 s）仍在卧室地面上空抓握瓶把手（log step 462-469 control_steps 15486-15550 仍在重试抓握，瓶位置被移动）。评分 q_score=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪多次尝试抓握洗涤剂瓶把手，结尾瓶仍在地面，最终未送达（观察：视频 505-522 s；agent 自述曾夹起后掉落，视频未印证）。" + } + ] + }, + "detergents_under_sink_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频全程未见洗涤剂瓶被放到浴室洗手台下；结尾（视频约 505-523 s）仍在卧室地面上空抓握瓶把手（log step 462-469 control_steps 15486-15550 仍在重试抓握，瓶位置被移动）。评分 q_score=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪多次尝试抓握洗涤剂瓶把手，结尾瓶仍在地面，最终未送达（观察：视频 505-522 s；agent 自述曾夹起后掉落，视频未印证）。" + } + ] + }, + "sanitary_box_on_shelf": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频中未见该物体被送到浴室目标位置；agent 全程只处理洗涤剂瓶和开门（log step 120-469），q_score=0。推断：未完成。" + } + ] + }, + "soap_dispenser_on_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频中未见该物体被送到浴室目标位置；agent 全程只处理洗涤剂瓶和开门（log step 120-469），q_score=0。推断：未完成。" + } + ] + }, + "cup_on_sink": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频中未见该物体被送到浴室目标位置；agent 全程只处理洗涤剂瓶和开门（log step 120-469），q_score=0。推断：未完成。" + } + ] + }, + "toothbrush_in_cup": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频中未见该物体被送到浴室目标位置；agent 全程只处理洗涤剂瓶和开门（log step 120-469），q_score=0。推断：未完成。" + } + ] + }, + "toothpaste_next_to_cup": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 520.0, + "log_step": 469, + "text_zh": "观察：视频中未见该物体被送到浴室目标位置；agent 全程只处理洗涤剂瓶和开门（log step 120-469），q_score=0。推断：未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "detergents_under_sink_1", + "t": 505.0, + "log_step": 462, + "where": "操作中", + "evidence_zh": "观察：门开后 agent 返回卧室，反复尝试抓握洗涤剂瓶把手（log step 396-469），视频结尾（约 505-523 s）仍在重试，瓶子从未被送入浴室；q_score=0。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 505.0, + "log_step": 462, + "evidence_zh": "观察：视频 505-522 s 帧瓶躺在卧室地面，夹爪在把手上方反复抓取而瓶未离地；log step 462-469 control_steps 15486-15550 为服务读数。agent 自述曾夹起后掉落（log step 120、156）视频未印证，不作为观察。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述 log step 420：重试闭合时手腕停在离地约 0.43 m 而非瓶高，导致空抓；该高度是 agent 自己下发的目标位姿，可能属目标高度设定错误；未被视频验证，故只停在“控制”。", + "source_zh": "agent 自述，未被视频验证" + } + ], + "gap_zh": "无状态日志；视频多为腕部/头部视角，门开启时间和瓶掉落时刻未逐帧核对，由 control_steps/30 推断。", + "unmet": { + "detergents_under_sink_1": false, + "detergents_under_sink_2": false, + "sanitary_box_on_shelf": false, + "soap_dispenser_on_sink": false, + "cup_on_sink": false, + "toothbrush_in_cup": false, + "toothpaste_next_to_cup": false + } + }, + "summary_zh": "观察：graded 视频 523.4 s，仅“打开路线门”约在视频 326 s 达成（326 s 帧见夹爪在门把手，与 control_steps 推算一致）；agent 随后进浴室侦察，回卧室反复抓洗涤剂瓶把手，直到结束一瓶也未送到洗手台下，q_score=0。断点为第1瓶入槽下的抓取/搬运；证据缺口：无状态日志，视角受限。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点和断点大体合理（仅开门约326 s达成，洗涤剂未送达，q=0），但失败现象“没保持住”和根因“控制”只靠agent自述，视频帧无“夹起后掉落”的可见证据；门节点的时钟映射也未在可见事件上核对。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点（仅开门约326 s达成，其余未达成，q=0）、断点（洗涤剂瓶抓取，操作中）和“没建立接触”现象均与视频一致；326 s 见夹爪在门把手，365 s 见浴室洗手台，结尾帧瓶仍在地面。第一轮问题已处理，root cause 仅标控制且注明未被视频验证，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-standard--e856zsn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-standard--e856zsn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-standard--e856zsn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-household-items-i00-standard--e856zsn/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e047bfc50449dada365f284772184a9a3394801065512d8b16017cc06de8d249", + "video_sha256": "d63e88f4119b77ba06be7072681c1814404eb6b8b2396ee9cce5b19c04d1a32e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--rlgxgl4.json b/phaseK/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--rlgxgl4.json new file mode 100644 index 0000000000000000000000000000000000000000..99408d390b2562049f5e53ba9208c692e406e9ce --- /dev/null +++ b/phaseK/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-privileged--rlgxgl4.json @@ -0,0 +1,372 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-privileged--rlgxgl4", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "outcome": { + "success": 0, + "reward": 0.15384615384615385, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 10862, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 11012, + "fallen": 0, + "final_reward": 0.15384615384615385, + "q_score": 0.15384615384615385, + "replay_wall_s": 4588.9, + "replay_timeout_s": 8441.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 1, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.869, + "peak_memory_gb": 12.927, + "peak_processes": 47, + "peak_disk_gb": 0.965, + "peak_cpus": 8.12, + "peak_pids": 405, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sorting-vegetables-i00-privileged--rlgxgl4.mp4", + "duration_s": 367.067, + "fps": 30.0, + "frames": 11012, + "sha256": "ad23b370d12f8b5e0c0343031f802f1f29a8a3f996ae5ba9248d24e95a3c066d" + }, + "state": null, + "progress": { + "method": "none", + "denominator": 13, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "onions_in_bowl_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：live 服务读数 q_score 在 log step 164 为 1/13、step 190 为 2/13，其时只有洋葱被放入碗（log step 80/182/199 PLACED·RELEASE inside True），花椰菜 step 212 才开始抓取。推断：grader 最终 q=2/13 仅限定至多2个节点成立；live 在 step 224 为 5/13，高于最终回放，说明回放与 live 状态不一致，具体哪些节点成立无法确定。" + } + ] + }, + "onions_in_bowl_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：live 服务读数 q_score 在 log step 164 为 1/13、step 190 为 2/13，其时只有洋葱被放入碗（log step 80/182/199 PLACED·RELEASE inside True），花椰菜 step 212 才开始抓取。推断：grader 最终 q=2/13 仅限定至多2个节点成立；live 在 step 224 为 5/13，高于最终回放，说明回放与 live 状态不一致，具体哪些节点成立无法确定。" + } + ] + }, + "onions_in_bowl_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：live 服务读数 q_score 在 log step 164 为 1/13、step 190 为 2/13，其时只有洋葱被放入碗（log step 80/182/199 PLACED·RELEASE inside True），花椰菜 step 212 才开始抓取。推断：grader 最终 q=2/13 仅限定至多2个节点成立；live 在 step 224 为 5/13，高于最终回放，说明回放与 live 状态不一致，具体哪些节点成立无法确定。" + } + ] + }, + "leeks_in_bowl_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "leeks_in_bowl_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 216, + "text_zh": "观察：视频为旋转多视角拼接，无法确认入碗；agent 自述“Both broccoli are contained”（log step 216，仅其声明）。推断：grader 最终 q=2/13 至多2个节点成立；live q 在花椰菜操作前已 2/13，不能认定花椰菜成立；最终回放与 live（5/13）不一致，无法定。" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 216, + "text_zh": "观察：视频为旋转多视角拼接，无法确认入碗；agent 自述“Both broccoli are contained”（log step 216，仅其声明）。推断：grader 最终 q=2/13 至多2个节点成立；live q 在花椰菜操作前已 2/13，不能认定花椰菜成立；最终回放与 live（5/13）不一致，无法定。" + } + ] + }, + "corn_in_bowl_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "corn_in_bowl_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + }, + "corn_in_bowl_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：视频多视角旋转，抽样帧无法判断碗内容；run.json 无该蔬菜放入记录（仅 agent 日志）。推断：q=2/13 允许其为假但不要求；不把“未见”当作 false，故 unknown。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "leeks_in_bowl_1", + "where": "操作中", + "t": null, + "log_step": 241, + "evidence_zh": "观察：live 日志中花椰菜之后抓韭葱反复失败（log step 221-241），step 245 自述矫正抓取后 leek 2 被夹起。推断：断点基于 live 日志；但 grader 最终回放 q=2/13 低于 live 5/13（step 224，agent_resets=4），回放是否复现 live 放置不明，故断点不稳，仅作低置信候选；小白菜、玉米从未尝试。 抓取失败仅为 agent 自述，不作为现象依据。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频旋转多视角、无状态日志，节点入碗均无法由画面判定。grader 最终 q=2/13 低于 live 服务读数 5/13（step 224），评分回放与 live 不一致，故断点与成立节点均不稳；根因层空。 韭葱抓取失败仅见于 agent 自述（step 221-245，且 step 245 自相矛盾），无法由画面/服务读数确认，现象层留空。", + "unmet": { + "bok_choy_in_bowl_1": null, + "bok_choy_in_bowl_2": null, + "bok_choy_in_bowl_3": null, + "onions_in_bowl_1": null, + "onions_in_bowl_2": null, + "onions_in_bowl_3": null, + "leeks_in_bowl_1": null, + "leeks_in_bowl_2": null, + "broccoli_in_bowl_1": null, + "broccoli_in_bowl_2": null, + "corn_in_bowl_1": null, + "corn_in_bowl_2": null, + "corn_in_bowl_3": null + } + }, + "summary_zh": "观察：grader q_score=2/13，至多2个节点成立；live 读数显示 q 在花椰菜操作前已为 2/13（洋葱先入碗），但最终回放低于 live 5/13，因此哪些节点成立无法确定，全部写 unknown。断点（韭葱抓取）仅基于 live 日志，低置信。", + "conf": 2, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值依赖未经证实的推断：标签称 q=2/13 对应两个花椰菜，但 live 服务读数显示 q 在花椰菜操作之前（log step 190，sim_steps≈3543）已为 2/13，且洋葱放入碗的日志在更早；11 个节点被写成 visual false、花椰菜写成 unknown，与 q 上界不一致。断点与现象主要依赖 agent 自述，证据不足。", + "n_issues": 4, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点全 unknown 与 q=2/13、live/回放不一致的证据相符，可接受。但 failure.phenomena[0]（接触·没建立接触）仅来自 agent 自述，且标签自己承认自述前后矛盾（step 245 称夹起 leek 2），不应作为现象。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按接受落实：phenomena 为 []，gap_zh 与断点 evidence_zh 补充了仅为 agent 自述的说明，断点不再以该现象为据；文件校验通过。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按接受落实：phenomena 为 []，gap_zh 与断点 evidence_zh 补充了仅为 agent 自述的说明，断点不再以该现象为据；文件校验通过。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-privileged--rlgxgl4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-privileged--rlgxgl4/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-privileged--rlgxgl4/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-privileged--rlgxgl4/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-privileged--rlgxgl4/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-privileged--rlgxgl4/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1fec46346d96b4db9ee566209d85dd53bd5ceb5612e565ecbe176bdc7ca32742", + "video_sha256": "ad23b370d12f8b5e0c0343031f802f1f29a8a3f996ae5ba9248d24e95a3c066d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--mif7d4e.json b/phaseK/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--mif7d4e.json new file mode 100644 index 0000000000000000000000000000000000000000..cc6c11e209b3e8fa60a02aab2327d45a796595d1 --- /dev/null +++ b/phaseK/behavior-1k/sorting_vegetables/trajectories/behavior-sorting-vegetables-i00-standard--mif7d4e.json @@ -0,0 +1,447 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sorting-vegetables-i00-standard--mif7d4e", + "taskKey": "behavior-1k/sorting_vegetables", + "dag_sha256": "f223bd60cf10453bf9bc51bdfdffbdfba7e9614ddc649875f859654d88e96aee", + "outcome": { + "success": 0, + "reward": 0.15384615384615385, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 17888, + "sim_steps": 18038, + "physics_steps": 72152, + "steps": 4894, + "elapsed_s": 5989.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.15384615384615385, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.242, + "peak_processes": 9, + "peak_disk_gb": 0.489, + "peak_cpus": 1.22, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sorting-vegetables-i00-standard--mif7d4e.mp4", + "duration_s": 601.3, + "fps": 10.0, + "frames": 6013, + "sha256": "8782ac50a7dc490daba984a6a305006452fe9991108bf6d5c26dfacafe545b35" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 13, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "bok_choy_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频中未见该节点对应的蔬菜入碗（腕部相机仅见抓取韭葱/玉米篮或碗外）；推断：评分q=2/13限制了最终满足数。" + } + ] + }, + "bok_choy_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频中未见该节点对应的蔬菜入碗（腕部相机仅见抓取韭葱/玉米篮或碗外）；推断：评分q=2/13限制了最终满足数。" + } + ] + }, + "bok_choy_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频中未见该节点对应的蔬菜入碗（腕部相机仅见抓取韭葱/玉米篮或碗外）；推断：评分q=2/13限制了最终满足数。" + } + ] + }, + "onions_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 46, + 140 + ] + ], + "final": false, + "evidence": [ + { + "t": 46, + "log_step": 77, + "text_zh": "观察：视频约 46 s 腕部相机见洋葱落入红碗；推断：q=2/13 且两棵西兰花已入碗，故洋葱在最终时刻不再计入（失去时刻在约 140–441 s 之间，不确定）" + }, + { + "t": 140, + "log_step": null, + "text_zh": "观察：视频 120 s 与 140 s 右侧总览，红碗已倾斜，碗内可见一个粉色洋葱（仍在碗内）；180 s 时两只碗叠放倾斜，碗内洋葱不可辨。推断：洋葱失去发生在约 140 s 之后、441 s（西兰花入碗时碗内无洋葱）之前，具体时刻不确定；区间末端取最后一次目视仍在碗内的 140 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单侧二指夹爪夹住蔬菜并移到碗上方松开；底盘在篮与台面之间驱动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并靠近篮子/碗" + } + ] + }, + "onions_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：agent 抓起洋葱并释放（log step 190-202）；视频中未见其稳定留在碗内；agent 自述落点在碗沿左侧" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单侧二指夹爪夹住蔬菜并移到碗上方松开；底盘在篮与台面之间驱动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并靠近篮子/碗" + } + ] + }, + "onions_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：agent 抓起洋葱并释放（log step 190-202）；视频中未见其稳定留在碗内；agent 自述落点在碗沿左侧" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单侧二指夹爪夹住蔬菜并移到碗上方松开；底盘在篮与台面之间驱动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并靠近篮子/碗" + } + ] + }, + "leeks_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 536, + "log_step": 228, + "text_zh": "观察：视频约 536 s 韭葱在碗上方释放；agent 自述落在碗旁而非碗内（log step 228）；未见入碗" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住两根韭葱（视频约 456-488 s）" + } + ] + }, + "leeks_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 536, + "log_step": 228, + "text_zh": "观察：视频约 536 s 韭葱在碗上方释放；agent 自述落在碗旁而非碗内（log step 228）；未见入碗" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住两根韭葱（视频约 456-488 s）" + } + ] + }, + "broccoli_in_bowl_1": { + "method": "visual", + "intervals": [ + [ + 441, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 441, + "log_step": 216, + "text_zh": "观察：视频约 441 s 腕部相机显示西兰花已落在红碗内，夹爪张开（agent 自述 log step 216“broccoli is visibly inside the bowl”）" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单侧二指夹爪夹住蔬菜并移到碗上方松开；底盘在篮与台面之间驱动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并靠近篮子/碗" + } + ] + }, + "broccoli_in_bowl_2": { + "method": "visual", + "intervals": [ + [ + 576, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 576, + "log_step": 234, + "text_zh": "观察：视频约 576 s 第二棵西兰花在红碗内与第一棵同碗（agent 自述 log step 234 释放；以视频为准）；q=2/13 与此一致" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：单侧二指夹爪夹住蔬菜并移到碗上方松开；底盘在篮与台面之间驱动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动并靠近篮子/碗" + } + ] + }, + "corn_in_bowl_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频中未见该节点对应的蔬菜入碗（腕部相机仅见抓取韭葱/玉米篮或碗外）；推断：评分q=2/13限制了最终满足数。" + } + ] + }, + "corn_in_bowl_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频中未见该节点对应的蔬菜入碗（腕部相机仅见抓取韭葱/玉米篮或碗外）；推断：评分q=2/13限制了最终满足数。" + } + ] + }, + "corn_in_bowl_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：全程视频中未见该节点对应的蔬菜入碗（腕部相机仅见抓取韭葱/玉米篮或碗外）；推断：评分q=2/13限制了最终满足数。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "onions_in_bowl_1", + "t": null, + "where": "操作中", + "log_step": 82, + "evidence_zh": "观察：洋葱1约 46 s 入碗，约 120–140 s 红碗已被碰动倾斜但洋葱仍在碗内，180 s 两碗叠放倾斜；441 s 碗内只有西兰花、台面上有粉色洋葱，洋葱1最终为 false 且未修复。推断：洋葱1是最先失败且未修复的节点（失去时刻约 140–441 s，不确定）；碗被碰歪的接触帧未核实，仅记为观察到倾斜，不断言碰撞。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 207, + "evidence_zh": "观察：agent 自述后两颗洋葱落在碗口左侧（log step 207），韭葱释放后躺在碗旁（log step 228）；释放位置偏离碗内。" + } + ], + "root_causes": [], + "gap_zh": "视频为三路相机拼接且碗内不可持续可见，洋葱1失去时刻只能定位到约 140–441 s；洋葱2/3 的确切结果未能确定（落碗外左侧，log step 207）；碗倾斜的原因未核实；根因证据不足故留空。无状态日志。", + "unmet": { + "bok_choy_in_bowl_1": false, + "bok_choy_in_bowl_2": false, + "bok_choy_in_bowl_3": false, + "onions_in_bowl_1": false, + "onions_in_bowl_2": false, + "onions_in_bowl_3": false, + "leeks_in_bowl_1": false, + "leeks_in_bowl_2": false, + "broccoli_in_bowl_1": true, + "broccoli_in_bowl_2": true, + "corn_in_bowl_1": false, + "corn_in_bowl_2": false, + "corn_in_bowl_3": false + } + }, + "summary_zh": "观察：视频内仅两棵西兰花入同一碗（约 441 s 与 576 s），与 q=2/13 一致；洋葱1约 46 s 入碗、约 140 s 时仍在倾斜的碗内，之后失去（推断，140–441 s），最终不计；韭葱落在碗旁，小白菜与玉米未尝试。断点在洋葱1（失去后未修复），之后洋葱2/3释放点偏离碗；任务总时间耗尽。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "洋葱1入碗的失去时刻与断点有问题：视频约110-180 s 红碗被碰歪/倾斜（洋葱留在碗内倾斜或碗叠放），并非“未定位”；洋葱1最终为false且从未修复，断点应落在onions_in_bowl_1而不是onions_in_bowl_2。其余节点（西兰花1/2由q=2/13与帧一致、其余false）可接受。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "q=2/13 与两棵西兰花入碗一致；洋葱1区间 [46,140]、断点 onions_in_bowl_1（t 留空）、位姿不准现象在第1轮修正后均有证据支持，三路拼接视频无法再进一步定位洋葱失去时刻。未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-standard--mif7d4e/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-standard--mif7d4e/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-standard--mif7d4e/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-sorting-vegetables-i00-standard--mif7d4e/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9627e19d4a445c63a435ee36a01e4cee2ccaf25300af6f199befee549b904639", + "video_sha256": "8782ac50a7dc490daba984a6a305006452fe9991108bf6d5c26dfacafe545b35", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--zerut2n.json b/phaseK/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--zerut2n.json new file mode 100644 index 0000000000000000000000000000000000000000..47cdb8093ba3e8c238eea62eb8d5e76d4fb38123 --- /dev/null +++ b/phaseK/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-privileged--zerut2n.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-privileged--zerut2n", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 5386, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 0, + "goal_first_step": -1, + "sim_steps": 5212, + "fallen": 1, + "final_reward": 0.6666666666666666, + "q_score": 0.6666666666666666, + "replay_wall_s": 1680.9, + "replay_timeout_s": 4790.7, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 3, + "agent_resets": 3, + "agent_sim_steps": 6424, + "agent_records": 3, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 11.359, + "peak_memory_gb": 23.655, + "peak_processes": 79, + "peak_disk_gb": 0.917, + "peak_cpus": 8.09, + "peak_pids": 774, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-store-batteries-i00-privileged--zerut2n.mp4", + "duration_s": 173.734, + "fps": 30.0, + "frames": 5212, + "sha256": "380c7e47666a2a507a16d8028c9e033bebf3c38ce1be14dd24785ea09d84dfa8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 48.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.0, + "log_step": null, + "text_zh": "观察：视频约 47-49 s 头部相机可见电视柜抽屉面板被夹爪拉出（42-44 s 仍齐平），露出盒状内腔；之后一直保持打开（至 55 s 头部画面仍可见）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹住抽屉上沿把手将其拉出（辅助抓取）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶到电视柜前" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 55.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55.5, + "log_step": null, + "text_zh": "观察：视频 55-56 s 两个腕部相机里夹爪松开，两节蓝黑电池落入抽屉内腔，60 s 起头部相机俯视可见电池在抽屉内；这是茶几上的两节。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "左右夹爪各夹一节电池从茶几搬到电视柜抽屉并松开" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着双手持有的电池驶向电视柜" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 55.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55.5, + "log_step": null, + "text_zh": "观察：同上，视频 56 s 起两节电池均在抽屉内；推断：q_score=2/3（评分器字段）与此一致，最多两节入柜。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "两只夹爪各夹一节电池，同时放入抽屉" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 90.0, + "log_step": null, + "text_zh": "观察：视频约 75-90 s 机器人在厨房吧台前探身取第三节电池（吧台上可见蓝色电池）；约 80-90 s 起头部画面逐渐倾斜（84-87 s 加剧，90 s 大幅横倾），此后到 173.7 s 画面保持横倒、不再有动作，从未见第三节进入抽屉。评分器 q_score=2/3、fallen=1。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪探向吧台上的第三节电池；未见其被带回" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶向厨房吧台一侧，并在探身取物时倾倒" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.6666666666666666, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_3", + "t": 92.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 75-90 s 机器人在厨房吧台前取第三节电池，约 90 s 后画面横倒并静止到视频结束（173.7 s）；评分器 fallen=1。第三节电池从未入柜。" + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 92.0, + "log_step": null, + "evidence_zh": "观察：视频约 80-90 s 起头部与腕部画面逐渐倾斜，后续 80 s 画面不变，机器人侧倒；评分器字段 fallen=1。具体倾倒时刻为推断（约 80-92 s）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述：log step 187 称改走新的厨房路线时底盘在接近吧台时倾斜、随后俯身旋转失败；log step 204 称重放时机器人跌倒、q_score=0.667。属 agent 自生成的动作序列在重放中失稳，具体子类不明。", + "source_zh": "agent 自述 + 评分器字段" + } + ], + "gap_zh": "无状态日志，倾倒的确切时刻与接触无法精确定位（视频头部视角倾斜后仍有画面，约 85-95 s）；根因子类（反馈控制/轨迹）无直接证据，停留在“控制”。", + "unmet": { + "batteries_in_cabinet_1": true, + "batteries_in_cabinet_2": true, + "batteries_in_cabinet_3": false + } + }, + "summary_zh": "观察：机器人拉开电视柜抽屉（视频约 48 s），并把茶几上两节电池放入（约 55-56 s），三节中完成两节，q_score=2/3。随后到厨房吧台探身取第三节电池时，约视频 80-90 s 起机器人倾倒并静止到 173.7 s，断点在第3节电池入柜（操作中），现象为全身·平衡，根因停留在控制。主要缺口：无状态日志，倾倒时刻为视觉估计。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "电池入柜1/2、第3节未达成、断点与平衡/控制大体成立；但抽屉打开时间标错：视频 42-44 s 抽屉仍齐平，约 47-49 s 才被拉出；倾倒起始也早于所写的 90-95 s（约 80-87 s 头部画面已逐渐倾斜）。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第二轮：抽屉时间已修正，电池1/2入柜、第3节未达成、断点、平衡现象与控制根因（证据不足时停留在控制）均与帧一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:34Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-store-batteries-i00-privileged--zerut2n/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-store-batteries-i00-privileged--zerut2n/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-store-batteries-i00-privileged--zerut2n/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-store-batteries-i00-privileged--zerut2n/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5069e41985eb9786e1b878279a82cbdc53f6935956d7a85e47665bc5f4ecacbc", + "video_sha256": "380c7e47666a2a507a16d8028c9e033bebf3c38ce1be14dd24785ea09d84dfa8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--v9me9ew.json b/phaseK/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--v9me9ew.json new file mode 100644 index 0000000000000000000000000000000000000000..4d7966c476bbd253eb183f1bdb5712c4837a45ce --- /dev/null +++ b/phaseK/behavior-1k/store_batteries/trajectories/behavior-store-batteries-i00-standard--v9me9ew.json @@ -0,0 +1,322 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-batteries-i00-standard--v9me9ew", + "taskKey": "behavior-1k/store_batteries", + "dag_sha256": "84b6014bbaa8953a93cb6f1cd12059ba67bf4170c0810be551277e0d13859c5a", + "outcome": { + "success": 0, + "reward": 0.6666666666666666, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 17548, + "sim_steps": 17548, + "physics_steps": 70192, + "steps": 3991, + "elapsed_s": 6270.6, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.6666666666666666, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.238, + "peak_processes": 8, + "peak_disk_gb": 0.412, + "peak_cpus": 1.12, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-store-batteries-i00-standard--v9me9ew.mp4", + "duration_s": 585.0, + "fps": 10.0, + "frames": 5850, + "sha256": "39c466c1c006fa4d7ec16bb415133224ee50f6ede62732315fa8d53213240078" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 3, + "final": 3, + "nodes": { + "cabinet_drawer_opened": { + "method": "visual", + "intervals": [ + [ + 15.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15.0, + "log_step": 43, + "text_zh": "观察：视频约 15 s 起电视下橙棕色柜体前抽屉已拉出；agent 自述“中层抽屉已打开”（log step 43），时间为估计。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪抓住抽屉把手外拉" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶至电视柜前" + } + ] + }, + "batteries_in_cabinet_1": { + "method": "visual", + "intervals": [ + [ + 80.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 80.0, + "log_step": 110, + "text_zh": "观察：视频约 60-78 s 夹爪持电池靠近电视柜，约 80 s 后不再持电池；视频 182 s 的抽屉视图可见两节电池在内。第一节入柜时间约 80 s（估计）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持电池放入抽屉" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着机器人移动" + } + ] + }, + "batteries_in_cabinet_2": { + "method": "visual", + "intervals": [ + [ + 182.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 182.0, + "log_step": 190, + "text_zh": "观察：视频 162 s 第二节电池掉在柜前地板，随后被重新拾起；视频 182 s 抽屉内可见两节蓝色电池；agent 自述两节同在抽屉（log step 190）。q_score 0.667 与两节一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪夹持第二节电池，首次放入时落到地板，后拾起放入抽屉" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动" + } + ] + }, + "batteries_in_cabinet_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 585.0, + "log_step": 456, + "text_zh": "观察：厨房台面电池视频中从未被夹起；视频 230-585 s 机器人在厨房/餐厅一带靠近台面，终局摔倒。q_score 0.667 限定最多两节。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "多次尝试在厨房台面抓取电池，帧中未见抓起" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驶入厨房，多次被台面/家具卡住，最后爬上障碍物倾倒" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "batteries_in_cabinet_3", + "where": "操作中", + "t": 584.0, + "evidence_zh": "观察：视频 230-585 s 机器人在厨房台面附近反复取第三节电池，未见电池被夹起；视频约 300 s 头部视图可见底盘斜靠冰箱，视频末段（约 584 s）底盘爬上障碍物倾倒，服务判定“robot fell over”（log step 458）。断点锚定在视频末段与 log step 458 的服务读数；夹爪与第三节电池的接触过程视频不可见。", + "log_step": 458 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；视频为三视角拼接，各节点时间为估计（±数秒）；第3节电池的夹取过程视频不可见，仅有 agent 自述（log step 243 与 366 互相指向不同原因），现象与根因均无法由帧或服务读数判定，故两层留空。", + "unmet": { + "batteries_in_cabinet_1": true, + "batteries_in_cabinet_2": true, + "batteries_in_cabinet_3": false + } + }, + "summary_zh": "观察：机器人打开抽屉并放入两节电池（视频约 80 s 与 182 s，第二节先掉到地上后拾回），第三节厨房台面电池始终未见被夹起，视频末段底盘爬上障碍物摔倒，成功=0，q=0.667。断点为第3节入柜；失败现象与根因无法由视频或服务读数判定（仅 agent 自述），留空。时间为估计，无状态日志。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（开抽屉≈15 s、第1节≈80 s、第2节≈183 s、第3节未达成）与 q=0.667 吻合，视频可核对；问题在失败原因的证据：第3节电池的过程被写成“帧中从未夹住/一直没建立接触”，但视频采样帧无法显示夹爪与电池的接触，且 log step 243-246 记录首次在台面上夹合成功、抬起时夹爪松开、电池掉落并翻倒，之后才是多次空夹；另外底盘卡住/爬上冰箱与障碍物未在现象中体现。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（开抽屉≈15 s、第1节≈80 s、第2节≈182 s、第3节未达成）与 q=0.667、视频末段摔倒吻合，WHERE 标签无大错；问题在 WHY：两条接触现象和唯一根因全部只来自 agent 自述（log 243/366/390），文件自己也承认帧里看不到夹爪与电池接触，按 04 规则 agent 叙述不算证据，这些不应作为已定现象/根因。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "三个 round-2 问题的接受修改均已在文件中落实：现象与根因置空并在 gap_zh 说明，断点改锚到视频末段 584 s 与 log step 458，三者一致。", + "n_issues": 0, + "n_checks": 3 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "三个 round-2 问题的接受修改均已在文件中落实：现象与根因置空并在 gap_zh 说明，断点改锚到视频末段 584 s 与 log step 458，三者一致。", + "checks_ok": "3/3", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:26:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun3/runs/behavior-store-batteries-i00-standard--v9me9ew/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-store-batteries-i00-standard--v9me9ew/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun3/runs/behavior-store-batteries-i00-standard--v9me9ew/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun3/runs/behavior-store-batteries-i00-standard--v9me9ew/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun3/runs/behavior-store-batteries-i00-standard--v9me9ew/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun3/runs/behavior-store-batteries-i00-standard--v9me9ew/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35be7b15e8c8fa5d8d1855285cab8187600749454b0ee67758c3ded89247b655", + "video_sha256": "39c466c1c006fa4d7ec16bb415133224ee50f6ede62732315fa8d53213240078", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "gap_zh": "无状态日志；视频为三视角拼接，各节点时间为估计（±数秒）；第3节电池的夹取过程视频不可见，仅有 agent 自述（log step 243 与 366 互相指向不同原因），现象与根因均无法由帧或服务读数判定，故两层留空。", + "conf_reason_zh": "节点与断点可核对；失败现象与根因因证据不足留空。" +} diff --git a/phaseK/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--35fjjvi.json b/phaseK/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--35fjjvi.json new file mode 100644 index 0000000000000000000000000000000000000000..245a4de83a03f787f51d29c60f8f01e2367a8735 --- /dev/null +++ b/phaseK/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-privileged--35fjjvi.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-privileged--35fjjvi", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "outcome": { + "success": 0, + "reward": 0.75, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 5568, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 5718, + "fallen": 0, + "final_reward": 0.75, + "q_score": 0.75, + "replay_wall_s": 1332.9, + "replay_timeout_s": 4912.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 5, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_records": 53, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.333, + "peak_memory_gb": 12.88, + "peak_processes": 46, + "peak_disk_gb": 1.583, + "peak_cpus": 8.08, + "peak_pids": 367, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-store-produce-i00-privileged--35fjjvi.mp4", + "duration_s": 190.6, + "fps": 30.0, + "frames": 5718, + "sha256": "ed4aeaac9e60b3c368fd17f852302a03188c93daa21c857855c54932aecbefde" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 14.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 15, + "log_step": null, + "text_zh": "观察：视频 10-15 s 头部相机可见冰箱门板已离开门框、柜内搁架露出；视频 35 s 门敞开。推断：门由机器人夹爪拉开（agent 自述第二台冰箱开约79°，log step 100），时刻约14 s，精度较低。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "夹爪握住冰箱门边缘/把手拉开门（log step 97 自述附着成功）；底盘移动配合。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘随拉门移动。" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": [ + [ + 178.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 178, + "log_step": null, + "text_zh": "观察：视频 160 s 腕部相机可见篮中果实；视频 170-190.5 s 篮子位于冰箱搁架/门槛上方，果实在篮内不可直接分辨（头部相机背对冰箱）。推断：评分器 q_score=0.75，即约三个果实进入同一冰箱，故至少各一种已入柜；时刻约178 s，仅为推断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "双臂抓住藤篮双提手，把装有水果的篮子送入冰箱；非逐个抓果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着篮子绕桌移动到冰箱前并向前推。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 190.5, + "log_step": null, + "text_zh": "观察：视频末帧腕部相机只见藤篮底与冰箱搁架，看不到果实。推断：q_score=0.75，三个果实入柜，但无法判定第三个是芒果还是石榴，故这两个第2颗节点只有一个可能为真，无法分配。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "同一篮子搬运；最后一个果实卡在门槛/篮缘处，未能逐个确认。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [ + [ + 178.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 178, + "log_step": null, + "text_zh": "观察：视频 160 s 腕部相机可见篮中果实；视频 170-190.5 s 篮子位于冰箱搁架/门槛上方，果实在篮内不可直接分辨（头部相机背对冰箱）。推断：评分器 q_score=0.75，即约三个果实进入同一冰箱，故至少各一种已入柜；时刻约178 s，仅为推断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "双臂抓住藤篮双提手，把装有水果的篮子送入冰箱；非逐个抓果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着篮子绕桌移动到冰箱前并向前推。" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": 190.5, + "log_step": null, + "text_zh": "观察：视频末帧腕部相机只见藤篮底与冰箱搁架，看不到果实。推断：q_score=0.75，三个果实入柜，但无法判定第三个是芒果还是石榴，故这两个第2颗节点只有一个可能为真，无法分配。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "同一篮子搬运；最后一个果实卡在门槛/篮缘处，未能逐个确认。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.75, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pomegranates_in_fridge_2", + "where": "操作中", + "t": 180, + "evidence_zh": "观察：评分器 goal=0、q_score=0.75、goal_first_step=-1；视频 170-190.5 s 篮子仍搭在冰箱门槛上、机器人在摆动。推断：最后一个果实未进柜或篮子摇晃使速度/静止条件未持续30步（agent 会话中也多次自述篮子在门槛晃动，log step 362-373，但其在线成功未被回放复现，agent_replays=0）。具体是哪种果实无法确认，故断点取最后一个第2颗节点。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频中头部相机背对冰箱、腕部相机看不清果实，无状态日志，无法确认哪一个果实在柜外、篮子是否真的越过门槛，故现象与根因留空；agent 自述的在线成功与评分回放（q=0.75）不一致，未能核对原因。", + "unmet": { + "mangos_in_fridge_1": true, + "mangos_in_fridge_2": null, + "pomegranates_in_fridge_1": true, + "pomegranates_in_fridge_2": null + } + }, + "summary_zh": "观察：评分回放（视频190.6 s）中机器人约14 s 拉开冰箱门，约75 s 取篮子并搬运，约160-190 s 将篮子推到冰箱门槛上；评分 q_score=0.75（goal=0），推断约三个果实入柜，第一颗芒果/石榴节点达成，第2颗节点无法分配。断点取最后一个第2颗节点，现象和根因因视频与无状态日志无法核实而留空；agent 自述在线成功（log step 374）未在评分回放中复现，agent_replays=0。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "视频与评分器字段（q_score=0.75、goal=0）与标签一致：开门约14 s可见，末段篮子在冰箱门槛处、果实不可见，第2颗节点unknown与断点取第2颗节点、现象根因留空并写gap_zh均有依据。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:02:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--35fjjvi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-store-produce-i00-privileged--35fjjvi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "27451c6ab0629172654213ff0ec4c3d0ebb97c8c863b69e0a7e74d0d3279873d", + "video_sha256": "ed4aeaac9e60b3c368fd17f852302a03188c93daa21c857855c54932aecbefde", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--rqzsgpx.json b/phaseK/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--rqzsgpx.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb44877e3cae691bc14225feb9e01bc75d25b8e --- /dev/null +++ b/phaseK/behavior-1k/store_produce/trajectories/behavior-store-produce-i00-standard--rqzsgpx.json @@ -0,0 +1,322 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-store-produce-i00-standard--rqzsgpx", + "taskKey": "behavior-1k/store_produce", + "dag_sha256": "a75b6e48dd34ff9492abf85863ecce50ec362ddbaf105b678d327248253f48b4", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 53926, + "sim_steps": 54076, + "physics_steps": 216304, + "steps": 2943, + "elapsed_s": 6902.0, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.25, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-store-produce-i00-standard--rqzsgpx.mp4", + "duration_s": 1802.6, + "fps": 10.0, + "frames": 18026, + "sha256": "173d8ef3a12fa098a1220072e928806b6c5a7c547c290ff899afd5e6fdacb06c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": null, + "peak": null, + "final": 2, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 1221, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1221, + "log_step": 231, + "text_zh": "观察：log step 231 机器人右手夹爪握住左冰箱左侧把手拉开一部分门（agent 自述门平面由 y≈0.475 变为 0.22，可信度为会话证据）；视频 1270 s 头相机帧已见冰箱门/柜内搁架。映射：视频秒 = log control_steps/30，step 227-231 读数 36645 → 约 1221 s，step 232 读数 38074 → 约 1269 s（终点 53926→1797.5 s 与视频 1802.6 s 吻合）。推断：开门时刻约视频 1221 s（取 control_steps 映射，±数十秒）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪握住冰箱左前缘竖直把手并拉开门一部分，之前多次对玻璃/顶沿/侧板的捏取落空；底盘随之移动" + } + ] + }, + "mangos_in_fridge_1": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 254, + "text_zh": "观察：全程未尝试抓芒果；q_score=0.25 只对应 1 个水果入柜（石榴），芒果仍在篮中（log step 254 最终报告）。" + } + ] + }, + "mangos_in_fridge_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 0, + "log_step": 254, + "text_zh": "观察：全程未尝试抓芒果；q_score=0.25 只对应 1 个水果入柜（石榴），芒果仍在篮中（log step 254 最终报告）。" + } + ] + }, + "pomegranates_in_fridge_1": { + "method": "visual", + "intervals": [ + [ + 1780, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1780, + "log_step": 252, + "text_zh": "观察：log step 250-252 左夹爪将石榴送入左冰箱并松开；control_steps/30 在 step 250 约 1746 s、step 252 约 1794 s；视频约 1780 s 画面冰箱搁架上可见红色石榴；q_score=0.25（1/4 个水果条件）与一个石榴入柜一致。推断：时刻约视频 1780 s，不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左夹爪抓握石榴，底盘驱动携带到冰箱前，伸入柜内后张开松手" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "携带石榴绕过推车驱动到冰箱前" + } + ] + }, + "pomegranates_in_fridge_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 86, + "text_zh": "观察：log step 82-86 右夹爪闭合时是空的，第二个石榴一直留在篮中；q_score=0.25 上限也只允许 1 个水果入柜。视频秒未知：step 97 的 control_steps=8528 → 约 284 s，step 82-86 在其前（约 200 s 内），agent 会话时间 1492.9 s 不是视频秒。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪尝试抓第二个石榴，闭合落空" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pomegranates_in_fridge_2", + "where": "操作中", + "t": null, + "evidence_zh": "观察：log step 82-86 右夹爪对篮中第二个石榴的抓取落空（step 86 \"gripper closed empty\"），此后放弃，只带一个石榴去冰箱；视频秒未知（早于 step 97≈284 s）。芒果两项同为未完成但从未开始，并列；找把手绕路（step 91-219）是之后的单独问题。", + "log_step": 86 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": null, + "evidence_zh": "观察：log step 140-218 夹爪多次对冰箱玻璃、顶沿、侧板闭合落空或滑脱，多次定位错误把手位置（日志自述，视频难以逐帧核对）。" + } + ], + "root_causes": [], + "gap_zh": "视频是三路相机拼接且压缩约 4 倍，无状态日志，节点时间由会话比例粗估，不确定；根因与现象证据只来自日志自述，未给根因。", + "unmet": { + "mangos_in_fridge_1": false, + "mangos_in_fridge_2": false, + "pomegranates_in_fridge_1": true, + "pomegranates_in_fridge_2": false + } + }, + "summary_zh": "观察：仅完成打开冰箱（部分开门）和第1个石榴入冰箱（q_score 0.25，视频末段冰箱内可见红色石榴）；两个芒果和第2个石榴未处理。推断：时间大多耗在寻找冰箱把手和绕路，之后只剩下一个水果。开门时刻约视频 1221 s（log control_steps/30 映射），石榴入柜约 1780 s；无状态日志，时间为估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "fridge_opened 的时间 1460 s 是按 agent 会话时间比例粗估并换算成视频时间，违反时钟规则；用 log 里的 control_steps/30 映射，log step 231 对应视频约 1221 s，开门应在约 1220–1270 s。石榴入柜约 1780 s 基本可接受。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "pomegranates_in_fridge_2 的证据 t=1500 是把 agent 会话时间（log step 84 的 t=1492.9 s）当成视频秒，违反时钟规则；按 control_steps/30，step 97 才约视频 284 s，step 84-86 应在视频约 200 s 内。断点 ref 取 mangos_in_fridge_1 且 where=转场，不是实际失败步骤（第2个石榴抓取落空后被放弃），应改。开门约 1221 s、石榴入柜约 1780 s 与帧一致。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两个问题的修改均已落实：证据 t 不再使用 agent 时间，断点改为 pomegranates_in_fridge_2。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两个问题的修改均已落实：证据 t 不再使用 agent 时间，断点改为 pomegranates_in_fridge_2。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-store-produce-i00-standard--rqzsgpx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-store-produce-i00-standard--rqzsgpx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-store-produce-i00-standard--rqzsgpx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-store-produce-i00-standard--rqzsgpx/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-store-produce-i00-standard--rqzsgpx/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-store-produce-i00-standard--rqzsgpx/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "38531d8aead024f250cf1f43595a6cde92e8db0a57b0784771ae09a27a074215", + "video_sha256": "173d8ef3a12fa098a1220072e928806b6c5a7c547c290ff899afd5e6fdacb06c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--hcqfvaj.json b/phaseK/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--hcqfvaj.json new file mode 100644 index 0000000000000000000000000000000000000000..3bfd9cf27686130cdeb9d4ce6d95f8025b6c68c7 --- /dev/null +++ b/phaseK/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-privileged--hcqfvaj.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-privileged--hcqfvaj", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 1, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.877, + "peak_memory_gb": 28.616, + "peak_processes": 49, + "peak_disk_gb": 1.51, + "peak_cpus": 8.04, + "peak_pids": 391, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 1, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_oom": 1, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 9, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cabinet_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；agent 会话中多次尝试用夹爪抓柜门均未吸附（log step 197-266），非评分轨迹。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹；agent 会话称抓起一罐糖并释放（log step 289-296），无法核实且不属评分轨迹。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：无视频、无状态日志；agent 最终报告（log step 359）称未生成 trajectory.npz，评分记录 missing_trajectory=1，没有可评分的轨迹，该节点无法判定。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": null, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cabinet_opened", + "t": null, + "log_step": 359, + "where": "首步前", + "evidence_zh": "观察：agent 最终报告（log step 359）称未产出 trajectory.npz 和 gen.py；评分字段 missing_trajectory=1，没有交付任何可评分轨迹。agent 会话中曾先后尝试开门（log step 197-266）和顶部放入，但无交付。" + }, + "unmet": { + "oatmeal_in_cabinet_1": null, + "oatmeal_in_cabinet_2": null, + "chips_in_cabinet_1": null, + "chips_in_cabinet_2": null, + "olive_oil_in_cabinet_1": null, + "olive_oil_in_cabinet_2": null, + "sugar_in_cabinet_1": null, + "sugar_in_cabinet_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志，且没有交付轨迹（missing_trajectory=1），所有节点无法判定，现象和根因留空（会话证据不能作为现象）。会话中仿真加载耗时极长（约 4370 s 才可用，agent 称进入 log step 185 才就绪），后期 release/settle 阻塞，agent 因预算用尽停止；这些不作根因。" + }, + "summary_zh": "未交付任何轨迹（missing_trajectory=1），无视频和状态日志，所有 9 个节点均无法判定。agent 会话里仿真启动占用了大部分 7200 s 预算（agent 自述约 4370 s 后才可用，log step 185），之后开门抓取多次失败，改为顶部放入，只称抓起一罐糖，最终没有产出 trajectory.npz（log step 359）。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1）；全部节点 unknown、现象/根因留空并附 gap_zh、断点 cabinet_opened/首步前，均与 log step 357-359 一致，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:14:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-privileged--hcqfvaj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-privileged--hcqfvaj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9d7c4d0c11ab2219a01dd6eca9da3e729b502bea209531cd69fda5d463dad0b7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--jmdgpcp.json b/phaseK/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--jmdgpcp.json new file mode 100644 index 0000000000000000000000000000000000000000..7f5087b535087872035847dc405a96b54518a6eb --- /dev/null +++ b/phaseK/behavior-1k/storing_food/trajectories/behavior-storing-food-i00-standard--jmdgpcp.json @@ -0,0 +1,432 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-storing-food-i00-standard--jmdgpcp", + "taskKey": "behavior-1k/storing_food", + "dag_sha256": "fa03aca76ba4e06fedf3262aedd2698e264e22693c18f1870342eeb1e357b147", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14297, + "sim_steps": 14447, + "physics_steps": 57788, + "steps": 8894, + "elapsed_s": 5770.5, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-storing-food-i00-standard--jmdgpcp.mp4", + "duration_s": 481.6, + "fps": 10.0, + "frames": 4816, + "sha256": "037403972dc922d265bad544d5d21efebf52f18c393c886410654b6af086b8c5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 9, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cabinet_opened": { + "method": "visual", + "intervals": [], + "final": null, + "evidence": [ + { + "t": 260, + "log_step": 129, + "text_zh": "观察：视频 0-481.6 s 未见任何橱柜门被拉开的画面；agent 自述（log id 50、129、141）把台面上方红色壁柜当作已开放的柜体，未做开门操作。无状态日志，无法判定该壁柜是否为六个目标橱柜之一及其门的初始状态，故本节点不判定（unknown）。" + } + ] + }, + "oatmeal_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓起物体并搬到台面红色挡水板前松开（agent 自述 log step 182-278，视频有对应抓取画面）；底盘移动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬运中移动。" + } + ] + }, + "oatmeal_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓起物体并搬到台面红色挡水板前松开（agent 自述 log step 182-278，视频有对应抓取画面）；底盘移动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬运中移动。" + } + ] + }, + "chips_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪多次夹薯片袋均未保持住（agent 自述 log id 216、220），视频 330 s 前后薯片袋仍在台面。" + } + ] + }, + "chips_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪多次夹薯片袋均未保持住（agent 自述 log id 216、220），视频 330 s 前后薯片袋仍在台面。" + } + ] + }, + "olive_oil_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓起物体并搬到台面红色挡水板前松开（agent 自述 log step 182-278，视频有对应抓取画面）；底盘移动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬运中移动。" + } + ] + }, + "olive_oil_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓起物体并搬到台面红色挡水板前松开（agent 自述 log step 182-278，视频有对应抓取画面）；底盘移动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬运中移动。" + } + ] + }, + "sugar_in_cabinet_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓起物体并搬到台面红色挡水板前松开（agent 自述 log step 182-278，视频有对应抓取画面）；底盘移动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬运中移动。" + } + ] + }, + "sugar_in_cabinet_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 474, + "log_step": 278, + "text_zh": "观察：视频 420-472 s 夹爪仍握着糖罐；约 474 s 松手后至 481.6 s，两罐糖、燕麦盒、橄榄油瓶立在红色挡水板前的台面上（中路相机），未见物品位于封闭橱柜内腔；评分器 q_score=0.0，没有目标字面成立。推断：被放置处是台面/开放壁柜下方而非目标橱柜。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪抓起物体并搬到台面红色挡水板前松开（agent 自述 log step 182-278，视频有对应抓取画面）；底盘移动搬运。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在搬运中移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "oatmeal_in_cabinet_1", + "t": 260, + "log_step": 192, + "where": "操作中", + "evidence_zh": "观察：视频 260 s 夹爪正在抓取燕麦盒；474-481.6 s 燕麦盒、橄榄油瓶、糖罐立在红色挡水板前台面上，未见任何物品位于封闭橱柜内腔；agent 自述已把燕麦盒放入红色壁柜（log id 192、277）。推断：首个被处理的放入步（燕麦盒）放置位置不在目标橱柜内腔，q_score=0；开门一步被跳过，其是否必要无法由画面判定。" + }, + "unmet": { + "oatmeal_in_cabinet_1": false, + "oatmeal_in_cabinet_2": false, + "chips_in_cabinet_1": false, + "chips_in_cabinet_2": false, + "olive_oil_in_cabinet_1": false, + "olive_oil_in_cabinet_2": false, + "sugar_in_cabinet_1": false, + "sugar_in_cabinet_2": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 474, + "log_step": 277, + "evidence_zh": "观察：视频约 474 s 糖罐松手后（420-472 s 仍被夹持）位于台面上；推断：松手位置不在目标橱柜内腔；q_score=0。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "感知", + "alt_feasible": "未知", + "evidence_zh": "推断：agent 自述把红色壁柜区域判为“已打开、有内搁板”的目标柜体（log id 129、141、192），视频中物品最终在台面上；是否因此识别错误无法由画面判定（推断，非观察）。", + "source_zh": "视频 / agent 自述" + } + ], + "gap_zh": "视频为三路相机拼接，无状态日志，橱柜门状态、红色壁柜是否为目标橱柜及物体精确位置只能由画面与 agent 自述推断；根因“感知”的判别证据较弱。" + }, + "summary_zh": "观察：视频 481.6 s 内没有打开任何橱柜门，agent 把燕麦盒、橄榄油瓶、糖罐搬到红色挡水板前的台面上松开，两袋薯片没抓起；q_score=0，8 个放入节点均未达成，cabinet_opened 因无状态日志记为 unknown。断点在首个被处理的放入步（燕麦盒入柜，操作中）：推断：放置位姿不准、红色壁柜被误当目标橱柜内腔。证据缺口：无状态日志。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "断点与根因的方向勉强可接受，但标签的关键证据（视频440 s“两罐糖立在台面上”）与画面不符：420-465 s 夹爪仍握着糖罐，并非松手后放在台面。位姿不准的时间锚点与观察性描述需改写；无状态日志，对“橱柜是否被打开/红色区域是否为橱柜”的判断应标为推断。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点全 false 与 q_score=0 一致，但断点 ref 选在从未被操作的 cabinet_opened，而 agent 实际在做放入（视频 474-481 s 物品留在台面），断点与现象（位姿不准）不自洽；cabinet_opened 的 false 也缺少可判定依据。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两条第2轮问题的接受均已完整落实：断点改为 oatmeal_in_cabinet_1（操作中，t=260，log 192），cabinet_opened 改为 final null 并写明无法判定；与证据一致，未破坏其他内容。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两条第2轮问题的接受均已完整落实：断点改为 oatmeal_in_cabinet_1（操作中，t=260，log 192），cabinet_opened 改为 final null 并写明无法判定；与证据一致，未破坏其他内容。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:19:21Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-standard--jmdgpcp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-standard--jmdgpcp/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-standard--jmdgpcp/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-standard--jmdgpcp/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-standard--jmdgpcp/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-storing-food-i00-standard--jmdgpcp/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "856eea3cd5a92c7c376bab58e6bccf55f4633de3e1782e5ec0ebbc11da5c94a1", + "video_sha256": "037403972dc922d265bad544d5d21efebf52f18c393c886410654b6af086b8c5", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--yph4rp7.json b/phaseK/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--yph4rp7.json new file mode 100644 index 0000000000000000000000000000000000000000..cffe120c2641bd72c9cc5c56b2a692798b7f4497 --- /dev/null +++ b/phaseK/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-privileged--yph4rp7.json @@ -0,0 +1,208 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-privileged--yph4rp7", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 18566, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 18716, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2576.2, + "replay_timeout_s": 13577.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 54, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sweeping-garage-i00-privileged--yph4rp7.mp4", + "duration_s": 623.867, + "fps": 30.0, + "frames": 18716, + "sha256": "7be0150b68bce07462957f7b8de07699a6e9912d87ef74474b43282f57df516b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 623.0, + "log_step": null, + "text_zh": "观察：视频 20-623 s 头部与腕部相机只见灰色地面、红车、木门和被机器人持握/拖动的扫帚，分辨率下看不到沙粒或灰尘斑块；视频 580-623 s 机器人停在木质车库门板前并推门，末帧仍未见干净地面的确认。推断：评分器字段 q_score=0、goal=0、goal_first_step=-1（final_reward 0），目标 沙子 在整个评分回放里未成立（初态地板被覆盖，q 不计初态已成立项）。无状态日志，粒子数无法直接核对。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 623.0, + "log_step": null, + "text_zh": "观察：视频 20-623 s 头部与腕部相机只见灰色地面、红车、木门和被机器人持握/拖动的扫帚，分辨率下看不到沙粒或灰尘斑块；视频 580-623 s 机器人停在木质车库门板前并推门，末帧仍未见干净地面的确认。推断：评分器字段 q_score=0、goal=0、goal_first_step=-1（final_reward 0），目标 灰尘 在整个评分回放里未成立（初态地板被覆盖，q 不计初态已成立项）。无状态日志，粒子数无法直接核对。" + } + ] + } + }, + "constraints": {}, + "contact_actual": { + "floor_clear_of_sand": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频中机器人单臂持扫帚，并在车库地板、车旁和门边移动底盘与扫帚；推断：作用端是扫帚，对象是地板沙子，但没有清除结果。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘在清扫过程中移动，末段顶推车库门板（视频约 580-623 s）。" + } + ], + "floor_clear_of_dust": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：视频中机器人持扫帚在地板上清扫；无法在画面中确认灰尘被清除。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘移动带动扫帚覆盖地面。" + } + ] + } + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": null, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频全程机器人持扫帚清扫，末段（视频 580-623 s）在车库门板前推门；评分器 q_score=0、goal=0。agent 自述（log step 191-235）称最后剩下的粒子在右侧车库门板后面，需要推开门板扫入；推断：门边沙/灰这一步没有完成，因此断点取沙子节点（灰尘节点同样未达成，无法区分先后）。" + }, + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + }, + "phenomena": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "evidence_zh": "观察：agent 交付的是约 18566 步开环动作文件；评分器 agent_replays=0（交付前从未在新进程里完整回放验证），log step 275 agent 自述旧前缀在新 reset 后漂移（14250 步处剩 8 个粒子、没有持握扫帚），log step 326 agent 自述回放仍在进行、剩约三分钟时仍未验证。推断：会话中的成功清除没有在评分回放里复现。", + "source_zh": "日志 / 评分器字段" + } + ], + "gap_zh": "无状态日志，视频的头部/腕部相机分辨率下看不到沙粒，两节点的未达成主要依据评分器 q_score=0 与 goal=0；评分回放中机器人具体哪里偏离会话结果无法定位，因此现象层留空。" + }, + "summary_zh": "观察：评分回放视频 623.9 s 里机器人持扫帚清扫并在末段推车库门板，评分器 q_score=0、goal=0，沙子和灰尘两节点 final 均为 false。断点在门边的沙子清除步，agent 自述会话里成功的清扫序列没有在评分回放里复现（旧前缀漂移、交付前未完整回放验证）。主要证据缺口：无状态日志、视频中看不到粒子，现象层留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无状态日志，视频分辨率下看不到粒子；两节点 false 由评分器 q_score=0/goal=0/goal_first_step=-1 决定，与视频一致（持扫帚、末段推门）。断点取沙子节点、底盘×支撑、根因交付操作出错（agent_replays=0，log 275 旧前缀漂移）均有证据支持，现象层留空有 gap_zh。未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:02:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--yph4rp7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-sweeping-garage-i00-privileged--yph4rp7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6a2ca47ae997a6f443867fbe0bc310e5418c202f95833e0a202f6af533a43f6b", + "video_sha256": "7be0150b68bce07462957f7b8de07699a6e9912d87ef74474b43282f57df516b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--tcekg3a.json b/phaseK/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--tcekg3a.json new file mode 100644 index 0000000000000000000000000000000000000000..df1718bf532272af575aec44b4e3c543260daf3b --- /dev/null +++ b/phaseK/behavior-1k/sweeping_garage/trajectories/behavior-sweeping-garage-i00-standard--tcekg3a.json @@ -0,0 +1,212 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-sweeping-garage-i00-standard--tcekg3a", + "taskKey": "behavior-1k/sweeping_garage", + "dag_sha256": "f3475aaaadbe01ae8e931c4ff7e60b637f0158bfa5997c7f098b427fd6767c9d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 6976, + "sim_steps": 6976, + "physics_steps": 27904, + "steps": 2004, + "elapsed_s": 2125.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-sweeping-garage-i00-standard--tcekg3a.mp4", + "duration_s": 232.6, + "fps": 10.0, + "frames": 2326, + "sha256": "f9ea3217703466030e44c18d8fa0937ed3d4c26af334263d2b382166c244109b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "floor_clear_of_sand": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 232.0, + "log_step": 175, + "text_zh": "观察：视频 0-232.6 s 的机器人头部/腕部画面中地面始终有沙子斑块残留，未见清干净；评分器 q_score=0。观察：视频末段（约 200-232 s）相机画面倾斜翻转，对应服务返回“failure: the robot fell over”（log step 175）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：机器人左手握扫帚，底盘驱动使扫帚扫过部分地面，但覆盖不完整（log step 122、137 agent 自述扫帚离地约 20 cm）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动带着扫帚清扫，并在角落爬上障碍后倾倒。" + } + ] + }, + "floor_clear_of_dust": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 232.0, + "log_step": 175, + "text_zh": "观察：视频 0-232.6 s 的机器人头部/腕部画面中地面始终有灰尘斑块残留，未见清干净；评分器 q_score=0。观察：视频末段（约 200-232 s）相机画面倾斜翻转，对应服务返回“failure: the robot fell over”（log step 175）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "观察：机器人左手握扫帚，底盘驱动使扫帚扫过部分地面，但覆盖不完整（log step 122、137 agent 自述扫帚离地约 20 cm）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动带着扫帚清扫，并在角落爬上障碍后倾倒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "floor_clear_of_sand", + "t": 210.0, + "where": "操作中", + "evidence_zh": "观察：视频末段机器人在车库角落后退时相机画面倾斜翻转，服务返回“failure: the robot fell over”（log step 175）；沙子、灰尘均未清除。", + "log_step": 175 + }, + "phenomena": [ + { + "cat": "全身", + "item": "平衡", + "t": 225.0, + "log_step": 175, + "evidence_zh": "观察：视频约 200-232 s 画面倾斜；服务终态为机器人摔倒（log step 175）。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：躯干下垂、爬上角落障碍均来自 agent 自述（log step 40-42、168），视频无法确认具体原因；沙子/灰尘残留量仅凭视角画面判断，无状态日志。", + "unmet": { + "floor_clear_of_sand": false, + "floor_clear_of_dust": false + } + }, + "summary_zh": "观察：视频 232.6 s 内机器人抓住扫帚并做了部分清扫，但沙子和灰尘均未清除（q_score=0），两节点最终均为 false。推断：在清扫/后退时机器人在角落爬上障碍后摔倒，episode 结束；断点为清除沙子的操作中，现象为全身·平衡。根因无独立证据，留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点终态 false、q_score=0、断点在清沙操作中、现象全身·平衡（服务返回 robot fell over，视频末段画面倾斜）均与视频和日志一致；根因留空并有 gap_zh，可接受。未发现需要修改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": 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status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--yejsyvj.json b/phaseK/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--yejsyvj.json new file mode 100644 index 0000000000000000000000000000000000000000..4a1afa0efc34bfcc244d6be33245bb20a4ec64e4 --- /dev/null +++ b/phaseK/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-privileged--yejsyvj.json @@ -0,0 +1,372 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-privileged--yejsyvj", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 4419, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 4569, + "fallen": 0, + "final_reward": 0.2222222222222222, + "q_score": 0.2222222222222222, + "replay_wall_s": 1093.6, + "replay_timeout_s": 4146.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 5, + "agent_resets": 1, + "agent_sim_steps": 4569, + "agent_records": 1, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-thawing-frozen-food-i00-privileged--yejsyvj.mp4", + "duration_s": 152.3, + "fps": 30.0, + "frames": 4569, + "sha256": "a330de762f885669a7e30f465de47e5897805c9136c82f3ec617f15b593aa066" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": null, + "peak": null, + "final": 3, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 28.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 30.0, + "log_step": null, + "text_zh": "观察：视频 25-30 s 机器人夹爪在冰箱把手处，30 s 起门明显转开、搁架露出；开门事件latched。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "夹爪在把手处开门（agent 自述为把手弧线动作）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘后续推门拓宽" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：视频末帧（152 s）微波炉门仍贴合炉体，全程未见开门。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "推断：q_score=2/9，终局 microwave_closed 为真，其余节点均已观察为假，故第二个成立项只能是 chicken_on_plate（评分器总数推出；鸡肉本身在视频中被遮挡）。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0, + 102.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 102.0, + "log_step": 285, + "text_zh": "观察：视频 92-100 s 面包仍在冰箱搁架上；约 104 s 后见夹爪持空盘，108-110 s 面包在地面。离盘时刻约 100-105 s，不确定。agent 自述调平时面包掉落（log step 285）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "推断：agent 自述侧向捏盘缘；视频仅在约 104 s 后见夹爪持盘" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：微波炉始终关闭，盘从未进入炉内。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：面包未被放到台面盘上；视频 100 s 后可见面包落在冰箱前地面。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：微波炉始终关闭（从未打开），从 0 s 起成立。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：未见开机操作；q_score 仅 2/9。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 27.5 + ] + ], + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "观察：冰箱起始关闭，约 28 s 被打开；末帧冰箱门仍大幅敞开（视频 152 s 右侧可见门板）。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "推断：鸡肉从未进入微波炉、微波炉未开，未解冻。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 152.0, + "log_step": null, + "text_zh": "推断：面包未经加热，在室温下仅短时间，未见解冻证据；q_score 2/9 也限制。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.2222, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bread_on_counter", + "t": 102.0, + "where": "操作中", + "evidence_zh": "观察：视频 92-100 s 面包仍在搁架，约 104 s 后夹爪持空盘、110 s 面包在地面；agent 自述调平时面包掉落、盘子也掉落（log step 285），后续微波炉、鸡肉步骤均未开始。", + "log_step": 285 + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 102.0, + "log_step": 285, + "evidence_zh": "观察：面包在约 100-105 s 离盘落地（视频 96 s 在搁架，108 s 在地面；agent 自述 log step 285）。" + } + ], + "root_causes": [], + "gap_zh": "根因缺乏足够证据（无状态日志，agent 自述仅为侧向抓盘并调平导致倾斜）；鸡肉在视频中被遮挡，其成立由 q_score=2/9 推断；面包掉落精确时刻仅定位到约 100-105 s。", + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": false, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": true, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": false, + "bread_thawed": false + } + }, + "summary_zh": "观察：机器人在视频约 28 s 打开冰箱，约 104 s 后夹起盘，面包在约 100-105 s 离盘落地，微波炉全程未开，最终冰箱仍敞开，q_score 2/9。推断：鸡肉仍在盘上（由 2/9 唯一推出）。断点在面包上台面步骤（操作中）。缺口：无状态日志，面包掉落时刻不确定。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "主线（冰箱约28 s打开、微波炉未开、断点在 bread_on_counter 的搬运中）大体成立，但 (1) chicken_on_plate 被标 unknown，实际可由 q_score=2/9 的计数唯一推出为 true；(2) 面包离盘时间 90 s 偏早，视频 92-100 s 面包仍在冰箱搁架上，约 104-110 s 才见盘被夹起且面包落地。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第1轮修改已落实：chicken_on_plate 由 q_score=2/9 推出，面包离盘时间约 100-105 s，断点在 bread_on_counter 操作中，空根因有 gap_zh。抽查帧（100/106/112 s）与标注一致，未发现新错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:30Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-privileged--yejsyvj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-privileged--yejsyvj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-privileged--yejsyvj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-privileged--yejsyvj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c765949d64a87f1036bca4833704dd7e26cbaf286de28fe85c52aca41c1ce9a", + "video_sha256": "a330de762f885669a7e30f465de47e5897805c9136c82f3ec617f15b593aa066", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--r7eanwv.json b/phaseK/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--r7eanwv.json new file mode 100644 index 0000000000000000000000000000000000000000..7c292188054f0a2793da42f4bcd46d67f7cbe03b --- /dev/null +++ b/phaseK/behavior-1k/thawing_frozen_food/trajectories/behavior-thawing-frozen-food-i00-standard--r7eanwv.json @@ -0,0 +1,371 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-thawing-frozen-food-i00-standard--r7eanwv", + "taskKey": "behavior-1k/thawing_frozen_food", + "dag_sha256": "82a242d812ea54f09bbc77d5564e98f497c43288405c90e222ff841a14ff303f", + "outcome": { + "success": 0, + "reward": 0.2222222222222222, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 35734, + "sim_steps": 35884, + "physics_steps": 143536, + "steps": 2683, + "elapsed_s": 6680.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.2222222222222222, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-thawing-frozen-food-i00-standard--r7eanwv.mp4", + "duration_s": 1196.2, + "fps": 10.0, + "frames": 11962, + "sha256": "e52df404bba77ac387b548d3391297bde979d77c7c95604c38276c0e3a1110fe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 11, + "base": 3, + "peak": 3, + "final": 3, + "nodes": { + "fridge_opened": { + "method": "visual", + "intervals": [ + [ + 350.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 350.0, + "log_step": 86, + "text_zh": "观察：视频约 345-350 s 腕部相机见门面转动，360 s 起可见门内侧搁架（335 s 仍是贴合门面），直到视频末尾；agent 自述用右手握把手拉开（log step 86，agent 时间不折算为视频时间）。中途门曾被带关又重开（log step 95，视频时间未精确定位）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右夹爪夹住冰箱把手并随门弧线旋转拉开（log step 73-86）。" + } + ] + }, + "microwave_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "观察：全程未见机器人接近或打开微波炉；agent 最终报告也称未做微波炉步骤（log step 317）。" + } + ] + }, + "chicken_on_plate": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "推断：鸡肉与盘子初始在冰箱内，机器人从未取出鸡肉；末帧未见其离盘，视频中冰箱内部画面有限，按初始成立且未被动过判定。" + } + ] + }, + "bread_on_plate": { + "method": "visual", + "intervals": [ + [ + 0.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1190.0, + "log_step": 314, + "text_zh": "观察：视频 392 s 及 1170-1196 s 腕部相机可见面包仍在冰箱搁架的盘上，反复抓盘缘均未取出（log step 314 自述滑片留在架上）。" + } + ] + }, + "chicken_in_microwave": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "观察：鸡肉从未离开冰箱，微波炉未被打开；log step 317 自述未完成。" + } + ] + }, + "bread_on_counter": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "观察：面包盘在视频末尾仍在冰箱搁架上，未到台面。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左/右夹爪多次尝试夹住冰箱内盘缘/面包，均未带出（log step 112-314）；视频中未见盘子离开搁架。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘移动靠近冰箱。" + } + ] + }, + "microwave_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "观察：微波炉未被打开且前置步骤未达成，该最终节点按 after 规则不成立。" + } + ] + }, + "microwave_on": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "观察：视频中无任何微波炉操作。" + } + ] + }, + "fridge_closed": { + "method": "visual", + "intervals": [ + [ + 0.0, + 350.0 + ] + ], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": 95, + "text_zh": "观察：冰箱初始关闭；视频约 350 s 起门被打开，直到视频末尾仍开着（末帧可见内部搁架）。" + } + ] + }, + "chicken_thawed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "推断：鸡肉始终在冰箱内未加热，不会解冻；q_score 仅 0.22。" + } + ] + }, + "bread_thawed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1196.0, + "log_step": null, + "text_zh": "推断：面包始终在冰箱内未解冻。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bread_on_counter", + "where": "操作中", + "t": 1170.0, + "evidence_zh": "观察：冰箱开启后，视频 392 s 起至 1196 s 末尾，腕部相机一直显示面包盘留在冰箱搁架上，夹爪反复在盘缘/面包处闭合落空；agent 自述抓取均未带出（log step 170、261、314）。鸡肉与微波炉步骤从未开始。", + "log_step": 314 + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1170.0, + "log_step": 314, + "evidence_zh": "观察：多次夹爪闭合均落在盘缘上方/下方或面包上方，闭合后拉出时盘与面包仍留在搁架（log step 170、261、314）；视频末段盘仍在原处。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述多次估计盘缘高度/深度偏差 1-2 cm，且受搁架与躯干 IK 限制无法到达位姿（log step 214、227、286）；另 step 170 自述侧向抓取沿盘缘而非跨盘缘闭合、改为顶抓，说明抓取方式（接触几何）也可能是原因——推断，证据均来自 agent 自述，是否存在可行替代：未知。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "视频为多视角压缩画面且时长（1196 s）远短于 agent 会话，无状态日志；冰箱门中途被关又重开的视频时间、鸡肉是否保持在盘上均未精确核实；根因子类型（感知 vs 控制）无法区分，故停留在控制。 根因候选含“抓取和接触设计”（抓法不适配盘缘）与“轨迹或逆解”（到达受限），无状态日志无法区分，故停在“控制”，低置信。", + "unmet": { + "chicken_on_plate": true, + "bread_on_plate": true, + "chicken_in_microwave": false, + "bread_on_counter": false, + "microwave_closed": false, + "microwave_on": false, + "fridge_closed": false, + "chicken_thawed": false, + "bread_thawed": false + } + }, + "summary_zh": "观察：图示尝试只完成“打开冰箱”（视频约 350 s），随后在冰箱前反复尝试取出面包盘（至视频 1196 s 末），盘始终留在搁架，鸡肉与微波炉从未处理；q_score 0.22。断点为面包盘移到台面步骤的抓取，现象为没建立接触，根因归为控制（agent 自述的盘缘定位与到达偏差）。证据缺口：无状态日志，视频压缩且为多视角，时间为估计。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "断点（面包盘取出）与现象方向基本合理，但冰箱开启时间 389 s 与视频不符：350–360 s 的腕部相机已见冰箱门内侧搁架（门已转开）。根因“控制”仅凭 agent 自述，且 agent 自述的“侧向抓取沿盘缘闭合、改为顶抓”更像抓取与接触设计问题，未区分。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与 q_score=2/9 一致（鸡肉/面包在盘上为真，其余为假）；冰箱开启时间已按上轮修正为约 350 s，断点与现象合理，根因停在“控制”并写明缺口，符合分类规则（分不出子类时停在控制）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-standard--r7eanwv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-standard--r7eanwv/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-standard--r7eanwv/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-thawing-frozen-food-i00-standard--r7eanwv/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "67da8c245723e9e9e1235954211712287f5125d48cfbb18741ab91f0545e50ee", + "video_sha256": "e52df404bba77ac387b548d3391297bde979d77c7c95604c38276c0e3a1110fe", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--sxtwdhr.json b/phaseK/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--sxtwdhr.json new file mode 100644 index 0000000000000000000000000000000000000000..b45193539031aefd73751c42f5b26a7347703e41 --- /dev/null +++ b/phaseK/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-privileged--sxtwdhr.json @@ -0,0 +1,276 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-privileged--sxtwdhr", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 3749, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 3571, + "sim_steps": 3749, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 817.4, + "replay_timeout_s": 3699.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 6, + "agent_resets": 15, + "agent_sim_steps": 7498, + "agent_records": 15, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.299, + "peak_memory_gb": 13.511, + "peak_processes": 77, + "peak_disk_gb": 1.559, + "peak_cpus": 8.07, + "peak_pids": 435, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-tidying-living-room-i00-privileged--sxtwdhr.mp4", + "duration_s": 124.967, + "fps": 30.0, + "frames": 3749, + "sha256": "f6d1413f61a53d3705e2be9b33c02b388d260803690d4fb72b75584e1308845e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [ + [ + 119, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 119, + "log_step": null, + "text_zh": "观察：视频约 119 s 起盆栽落在目标家具上（腕部/头部视角，机器人松开或已放置），其后直至视频结束（124.97 s）未见失去该关系；时间为约 ±3 s 的估计。评分器 goal=1、q_score=1.0（goal_first_step 3571 → 视频约 119 s）支持全部目标成立。 视频 116 s 腕部视角盆栽仍夹在两指间，尚在搬运；119 s 才见其到达茶几。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住盆栽搬运到目标家具。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘在搬运期间移动并承重。" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [ + [ + 22, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 22, + "log_step": null, + "text_zh": "观察：视频约 22 s 起报纸落在目标家具上（腕部/头部视角，机器人松开或已放置），其后直至视频结束（124.97 s）未见失去该关系；时间为约 ±3 s 的估计。评分器 goal=1、q_score=1.0（goal_first_step 3571 → 视频约 119 s）支持全部目标成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住报纸搬运到目标家具。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘在搬运期间移动并承重。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [ + [ + 70, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 70, + "log_step": null, + "text_zh": "观察：视频约 70 s 起精装书落在目标家具上（腕部/头部视角，机器人松开或已放置），其后直至视频结束（124.97 s）未见失去该关系；时间为约 ±3 s 的估计。评分器 goal=1、q_score=1.0（goal_first_step 3571 → 视频约 119 s）支持全部目标成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住精装书搬运到目标家具。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘在搬运期间移动并承重。" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [ + [ + 53, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 53, + "log_step": null, + "text_zh": "观察：视频约 53 s 起笔记本落在目标家具上（腕部/头部视角，机器人松开或已放置），其后直至视频结束（124.97 s）未见失去该关系；时间为约 ±3 s 的估计。评分器 goal=1、q_score=1.0（goal_first_step 3571 → 视频约 119 s）支持全部目标成立。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪夹住笔记本搬运到目标家具。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：底盘在搬运期间移动并承重。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "任务成功：视频中四件物品依次到位（报纸约视频 22 s 上茶几，笔记本约 53 s 上书桌，精装书约 70 s 入书柜，盆栽约 119 s 上茶几），评分器 goal=1、q_score=1.0。无状态日志，各节点时间由多视角拼接画面目视估计，误差约数秒。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "四个节点的终值正确（评分器 goal=1、q=1.0），但三个到达时间偏差超过 1 秒：笔记本约 53 s（非 58 s）、盆栽约 119 s（非 116 s，116 s 时仍在夹爪中、远离茶几）、报纸约 22 s（非 26 s）。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，四个节点终值 true 与评分器 goal=1、q=1.0 一致；第1轮修正后的到达时间（报纸约22 s、笔记本约53 s、精装书约70 s、盆栽约119 s）与帧和 goal_first_step 3571 相符，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-tidying-living-room-i00-privileged--sxtwdhr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-tidying-living-room-i00-privileged--sxtwdhr/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-tidying-living-room-i00-privileged--sxtwdhr/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-tidying-living-room-i00-privileged--sxtwdhr/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b0b325461ee553e22eee437d2bbd4c165e7713b7c923d4867c3f094cba77ca55", + "video_sha256": "f6d1413f61a53d3705e2be9b33c02b388d260803690d4fb72b75584e1308845e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--twkrvqa.json b/phaseK/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--twkrvqa.json new file mode 100644 index 0000000000000000000000000000000000000000..9d865fdcb9b23ae777e7a6a3deacbf0e17a5ed0d --- /dev/null +++ b/phaseK/behavior-1k/tidying_living_room/trajectories/behavior-tidying-living-room-i00-standard--twkrvqa.json @@ -0,0 +1,251 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-tidying-living-room-i00-standard--twkrvqa", + "taskKey": "behavior-1k/tidying_living_room", + "dag_sha256": "6ad898fcc81887c7be8a7512909d9f7335f13eac54108e7edf40479563618d3a", + "outcome": { + "success": 0, + "reward": 0.25, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 12142, + "sim_steps": 12292, + "physics_steps": 49168, + "steps": 3168, + "elapsed_s": 7002.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.25, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-tidying-living-room-i00-standard--twkrvqa.mp4", + "duration_s": 409.8, + "fps": 10.0, + "frames": 4098, + "sha256": "0d17169952ffdd946abe55bc81f69be142481d192b9fdb7d4a54558dc3c6762b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "plant_on_table": { + "method": "visual", + "intervals": [ + [ + 68.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 68.0, + "log_step": 60, + "text_zh": "观察：视频 20-60 s 机器人夹着白盆栽在客厅移动；约视频 68 s 起腕部画面里白盆落在棕色茶几台面上，之后一直留在台面。推断：q_score=0.25（4 个目标只满足 1 个）与此一致；时间约 ±5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹住盆栽搬到茶几" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载着盆栽驶向茶几" + } + ] + }, + "newspaper_on_table": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 100.0, + "log_step": 514, + "text_zh": "观察：视频中从未见夹爪拿起报纸，报纸只是出现在茶几附近；推断：q_score=0.25 只容一个目标成立，已归给盆栽，故报纸未在茶几上。agent 自述“报纸已在盆栽旁”（log step 514）仅作参考。" + } + ] + }, + "hardback_in_bookcase": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 300.0, + "log_step": 430, + "text_zh": "观察：视频约 130-330 s 机器人夹着蓝绿色精装书在书柜前对准，视频末段精装书仍躺在地板上，未见其中心进入书柜格口。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：夹爪夹书一角抬起搬运，后又丢在地板" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘载书驶向书柜" + } + ] + }, + "notebook_on_desk": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": 516, + "text_zh": "观察：视频中未见笔记本被拿起或放上书桌；agent 自述未能在视图中找到笔记本（log step 516）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.25, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "hardback_in_bookcase", + "t": 300.0, + "where": "操作中", + "evidence_zh": "观察：盆栽放好后机器人转去搬精装书，视频约 130-330 s 反复对准书柜，精装书最终落在地板上（视频末段仍见于地板），始终没有进入书柜。", + "log_step": 430 + }, + "phenomena": [ + { + "t": 300.0, + "log_step": 430, + "evidence_zh": "观察：agent 自述书抬起后不在书柜格内，需要重新定位（log step 430）；视频末段书在地板上。推断：书在送入书柜过程中脱离夹爪。", + "cat": "接触", + "item": "没保持住" + } + ], + "root_causes": [], + "gap_zh": "视频为头/腕部视角，书掉落的精确时刻和原因看不清，也没有状态日志，故不下根因；报纸与笔记本两步没有尝试证据，归属依 q_score 推断。", + "unmet": { + "plant_on_table": true, + "newspaper_on_table": false, + "hardback_in_bookcase": false, + "notebook_on_desk": false + } + }, + "summary_zh": "观察：图像表明仅盆栽上茶几完成（约视频 68 s），q_score=0.25 即 1/4。机器人随后在精装书入书柜一步失败：书未进柜，最终躺在地板；报纸和笔记本均未完成。无状态日志，时间和失败原因为推断。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "抽查视频：头部视角约 70-90 s 起盆栽在茶几上并留到 130 s，报纸始终在地板，精装书约 230-290 s 由书柜旁被夹着变为躺在地板，节点值、断点（精装书入柜）和「没保持住」与画面一致；根因留空并有 gap_zh，可接受。腕部视角难以逐帧判断放手时刻，故信心中等。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:00:11Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--twkrvqa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-tidying-living-room-i00-standard--twkrvqa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "56c6b5cc6f66839a82cdf6af3a17726582a810b271a76670b3459cff012fd39d", + "video_sha256": "0d17169952ffdd946abe55bc81f69be142481d192b9fdb7d4a54558dc3c6762b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5.json b/phaseK/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5.json new file mode 100644 index 0000000000000000000000000000000000000000..b822ac2ae86db2f9e3d43511f001ce6dfa3cd441 --- /dev/null +++ b/phaseK/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5", + "taskKey": "behavior-1k/turning_out_all_lights_before_sleep", + "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa", + "outcome": { + "success": 0, + "reward": 0.4, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 6153, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 0, + "goal_first_step": -1, + "sim_steps": 6153, + "fallen": 1, + "final_reward": 0.4, + "q_score": 0.4, + "replay_wall_s": 4918.1, + "replay_timeout_s": 5302.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 8, + "agent_sim_steps": 1045, + "agent_records": 44, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.894, + "peak_memory_gb": 13.603, + "peak_processes": 77, + "peak_disk_gb": 1.658, + "peak_cpus": 8.05, + "peak_pids": 482, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5.mp4", + "duration_s": 205.1, + "fps": 30.0, + "frames": 6153, + "sha256": "fb83e19048399b4d4862b8f8c3a942aa79c70ca2b8f6895c104f07d9c4709300" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": null, + "peak": null, + "final": 3, + "nodes": { + "utility_door_opened": { + "method": "visual", + "intervals": [ + [ + 136.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 136.5, + "log_step": null, + "text_zh": "观察：视频约 136.5 s 起杂物间滑门面板移开，随后 139-145 s 头部相机看到室内白色台面与搁架（对照 oracle 视频同样形态）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "夹爪拉开滑门把手（视频 126-136 s 门把手在腕部相机中）；底盘支撑移动" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动到门口" + } + ] + }, + "switches_off_1": { + "method": "visual", + "intervals": [ + [ + 144.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 144.0, + "log_step": null, + "text_zh": "观察：视频约 144 s 腕部相机中墙上开关标记为绿色（关闭），约 147 s 手指压在红色标记按钮上；与 q_score=0.4（5 项中满足 2 项）一致，但哪一项为开关属推断，不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "夹爪手指推按目标开关/台灯按钮；底盘驱动到位（底盘×支撑）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘移动到操作位置" + } + ] + }, + "switches_off_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 205.0, + "log_step": null, + "text_zh": "观察：视频中未见第二个开关标记变绿；q_score=0.4 最多满足 2/5 个目标，此处推断为否（评分总量约束）。" + } + ] + }, + "switches_off_3": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 205.0, + "log_step": null, + "text_zh": "观察：视频中未见餐厅/厨房开关被关闭的画面；由 q_score=0.4 推断 final 为否。" + } + ] + }, + "lamps_off_1": { + "method": "visual", + "intervals": [ + [ + 157.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 157.5, + "log_step": null, + "text_zh": "观察：视频约 157-160 s 与 171-175 s 腕部相机可见台灯灯罩下标记为绿色（杂物间台灯关闭）；与 q_score=0.4 相符，时间可能有 ±3 s 偏差。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "夹爪手指推按目标开关/台灯按钮；底盘驱动到位（底盘×支撑）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "轮式底盘移动到操作位置" + } + ] + }, + "lamps_off_2": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 200.0, + "log_step": null, + "text_zh": "观察：视频末段 190-205 s 客厅台灯倒在地面，其标记为红色（未关）；robot 躺倒/倾倒，见 190 s 左右帧。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "夹爪按压客厅台灯时将其碰倒（推断，据视频末段灯倒地）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动至客厅台灯" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "lamps_off_2", + "t": 190.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频约 190 s 后机器人倾倒、客厅台灯倒在地面并保持红色标记，至视频结束 205.1 s 未恢复；评分器 fallen=1，q_score=0.4。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 195.0, + "log_step": null, + "evidence_zh": "观察：视频末段客厅台灯倒在地面且仍为红色；推断：被机器人碰倒（agent 日志 step 475 的候选版本也自述“客厅台灯在第一次按压时被碰落”，仅作旁证）。" + }, + { + "cat": "全身", + "item": "平衡", + "t": 192.0, + "log_step": null, + "evidence_zh": "观察：视频约 190 s 后帧显示机器人底盘躺倒在地；评分器字段 fallen=1。" + } + ], + "root_causes": [], + "unmet": { + "switches_off_1": true, + "switches_off_2": false, + "switches_off_3": false, + "lamps_off_1": true, + "lamps_off_2": false + }, + "gap_zh": "无状态日志；视频只有腕部/头部视角，开关与台灯的开关状态据标记颜色和 q_score=0.4 推断，具体哪个开关被关不确定；摔倒的原因（碰撞/过门）与根因证据不足，故根因留空。" + }, + "summary_zh": "观察：杂物间门约视频 136.5 s 打开，一个开关（约 144 s）与杂物间台灯（约 157.5 s）关闭，共 q_score 0.4（2/5）；餐厅/厨房开关与客厅台灯未完成。断在客厅台灯：视频 190 s 后台灯倒地、机器人倾倒。证据缺口：无状态日志，具体关闭项为推断。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值与 q_score=0.4（2/5）、fallen=1 一致：门约136.5 s开、开关约144 s变绿、杂物间台灯约158-165 s变绿；客厅台灯倒地、机器人倾倒，断点 lamps_off_2 合理。碰撞原因仅为推断且已标注，根因留空并有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:00:57Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-turning-out-all-lights-before-sleep-i00-privileged--x3gwpy5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9805c6e2e36c9c27814f2b77619e34aa02877e6cdbac96b8cd7578e9a52840a1", + "video_sha256": "fb83e19048399b4d4862b8f8c3a942aa79c70ca2b8f6895c104f07d9c4709300", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr.json b/phaseK/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr.json new file mode 100644 index 0000000000000000000000000000000000000000..d7fc5aad0a21193f0d3e3d929cef96512e3ad611 --- /dev/null +++ b/phaseK/behavior-1k/turning_out_all_lights_before_sleep/trajectories/behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr.json @@ -0,0 +1,250 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr", + "taskKey": "behavior-1k/turning_out_all_lights_before_sleep", + "dag_sha256": "190d15a1d8bb83038f5682a64b319c77917898da47e6dfda9af6a18722b5d1fa", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2416, + "sim_steps": 2416, + "physics_steps": 9664, + "steps": 806, + "elapsed_s": 2308.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 0, + "sim_breakdown": 1, + "instance_ok": 1, + "task_failure": 1, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.199, + "peak_processes": 9, + "peak_disk_gb": 0.255, + "peak_cpus": 1.73, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr.mp4", + "duration_s": 80.6, + "fps": 10.0, + "frames": 806, + "sha256": "791c827cdd352f9faea8747ed6031c3c95d067fdff81475a653005ce12bc59c1" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "utility_door_opened": { + "method": "visual", + "intervals": [ + [ + 70.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 70.0, + "log_step": 127, + "text_zh": "观察：视频 60-66 s 左腕相机见机器人夹爪抓住木质滑门把手并向侧向拖动；视频约 70 s 起门板侧移，左侧露出可见室内墙面和黑色设备的开口，74 s 开口更大，末帧头相机已朝向门洞内的白墙。推断：开口已足够伸手/通行，时间约 ±3 s；agent 自述“已露出缝隙”（log step 127）仅作参考。" + } + ] + }, + "switches_off_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.5, + "log_step": 142, + "text_zh": "观察：全程 80.6 s 视频未见任何开关或台灯被操作，也未进入房间；评分 q_score=0.0。agent 末报自述五个目标均未确认关闭（log step 142）。" + } + ] + }, + "switches_off_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.5, + "log_step": 142, + "text_zh": "观察：全程 80.6 s 视频未见任何开关或台灯被操作，也未进入房间；评分 q_score=0.0。agent 末报自述五个目标均未确认关闭（log step 142）。" + } + ] + }, + "switches_off_3": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.5, + "log_step": 142, + "text_zh": "观察：全程 80.6 s 视频未见任何开关或台灯被操作，也未进入房间；评分 q_score=0.0。agent 末报自述五个目标均未确认关闭（log step 142）。" + } + ] + }, + "lamps_off_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.5, + "log_step": 142, + "text_zh": "观察：全程 80.6 s 视频未见任何开关或台灯被操作，也未进入房间；评分 q_score=0.0。agent 末报自述五个目标均未确认关闭（log step 142）。" + } + ] + }, + "lamps_off_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 80.5, + "log_step": 142, + "text_zh": "观察：全程 80.6 s 视频未见任何开关或台灯被操作，也未进入房间；评分 q_score=0.0。agent 末报自述五个目标均未确认关闭（log step 142）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "switches_off_1", + "where": "转场", + "t": 78.0, + "evidence_zh": "观察：门开到约 70 s 后，机器人在视频 74-80 s 驱动穿过门洞，末帧头相机倾斜，底盘姿态失稳（agent 自述“底座倾斜，随后仿真崩溃 robot base at 617 m/s”，log step 141），回合结束。从未接近任何开关或台灯。推断：未完成的最早目标节点为第1个开关/台灯；此时机器人正在穿过门洞前往室内，故按转场记，ref 取 switches_off_1。", + "log_step": 141 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅 80.6 s，终段头相机倾斜且被遮挡，无法确认失稳的具体原因（对位碰撞还是控制），故现象与根因留空；无状态日志。", + "unmet": { + "switches_off_1": false, + "switches_off_2": false, + "switches_off_3": false, + "lamps_off_1": false, + "lamps_off_2": false + } + }, + "summary_zh": "观察：图像仅 80.6 s，机器人花大部分时间拉开杂物间滑门（约 70 s 起开口可见），0/5 个开关/灯被关闭，q_score=0。推断：卡在开门后的转场阶段，穿过门洞时底盘倾斜、仿真崩溃（agent 自述，log step 141）；原因证据不足。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "门节点（约70 s 起开口，帧见白墙与黑色设备）、其余5个未达、断点 switches_off_1/转场、现象根因留空并附 gap_zh 均与视频、log 和服务读数（sim_breakdown=1，q_score=0）一致，未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:16:09Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-turning-out-all-lights-before-sleep-i00-standard--5ewhwgr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2643fe010de4fb55bfb83e258801bce0e9e1a9b9233323877e2825f905f67445", + "video_sha256": "791c827cdd352f9faea8747ed6031c3c95d067fdff81475a653005ce12bc59c1", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "utility_door_opened": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左夹爪夹住滑门竖直把手并侧向拖动（视频约 25-75 s）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘驱动对位并在门前移动" + } + ] + } +} diff --git a/phaseK/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--gcqu6cw.json b/phaseK/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--gcqu6cw.json new file mode 100644 index 0000000000000000000000000000000000000000..11dda9843337a9bfb23e7983464295cd4f2507f9 --- /dev/null +++ b/phaseK/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-privileged--gcqu6cw.json @@ -0,0 +1,246 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-privileged--gcqu6cw", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 7226, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 7376, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2581.9, + "replay_timeout_s": 6017.3, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 4, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 8.194, + "peak_memory_gb": 12.538, + "peak_processes": 80, + "peak_disk_gb": 2.503, + "peak_cpus": 8.09, + "peak_pids": 529, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-unloading-the-car-i00-privileged--gcqu6cw.mp4", + "duration_s": 245.867, + "fps": 30.0, + "frames": 7376, + "sha256": "cd39f8fbead07e04cb0a7d93aae289c8d58f2f09f60251e051f5c81e2b59ff8a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 2, + "final": 2, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [ + [ + 30.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24, + "log_step": null, + "text_zh": "观察：视频 24 s 头部相机见后备厢盖关闭，左夹爪指向盖面；视频 30 s 起盖板被抬起，32 s 起盖板大幅掀开并在之后（视频 40–245 s）一直保持敞开，可见内部。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 26–30 s 机器人夹爪接触后备厢盖并将其顶起，未见夹住把手的画面（未证实为抓握）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘停在车尾操作位置" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 与 55–80 s 的头部画面中，车库一侧墙边有无门板遮挡的洞口，门外为木地板走廊；推断：该出口一开始即可通行（置信度中等，机器人从未通过它）。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 245.8, + "log_step": 554, + "text_zh": "观察：视频 40–245.8 s 机器人始终停在车尾附近，后备厢盖敞开，未见公文包被抓起、搬运或到达沙发；q_score=0；agent 末条自述两只包均未送达（log step 554）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：画面多以后备厢盖和墙面为主，看不到夹爪是否夹到包；未见包离开车内。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 245.8, + "log_step": 554, + "text_zh": "观察：视频 40–245.8 s 机器人始终停在车尾附近，后备厢盖敞开，未见挎包被抓起、搬运或到达沙发；q_score=0；agent 末条自述两只包均未送达（log step 554）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "1", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "briefcase_next_to_sofa", + "t": 40, + "log_step": 554, + "where": "操作中", + "evidence_zh": "观察：视频 30 s 左右后备厢已打开，之后到 245.8 s 的画面里机器人一直停在车尾，未见任何一只包被抓出或搬向沙发。agent 末条自述（log step 554）只交付了“局部实验轨迹”，两包均未送达。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 40, + "log_step": 554, + "evidence_zh": "观察：视频 40–245.8 s 头部相机持续只见敞开的后备厢盖与墙面，没有夹爪夹住包的画面；推断：取包所需的抓握接触始终没建立（包体多被遮挡，证据有限）。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，视频为多相机拼接且镜头多被后备厢盖遮挡，看不到包与夹爪，故根因留空；agent 自述未能在 7200 s 预算内得到成功轨迹（log step 554），预算耗尽本身不作为原因。", + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + } + }, + "summary_zh": "观察：机器人在视频 30 s 左右打开后备厢盖（打开汽车达成），车库出口一开始即无门板遮挡；之后到视频 245.8 s 均未见任何一只包被取出，两个放沙发旁的节点均未达成（q_score 0）。断点在取公文包的步骤，现象为没建立接触，根因无证据；主要缺口是无状态日志且包被遮挡。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "car_opened（约30 s起）、车库出口一开始即通行、两个放沙发旁节点未达成均与视频及q_score=0一致；断点在取公文包、现象没建立接触、根因留空并附gap_zh，证据有限但未发现可证伪之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:16:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-privileged--gcqu6cw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-privileged--gcqu6cw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "db9756a8be4996f7e56a0db33ac02716e077aec16666744decf442336ec487f3", + "video_sha256": "cd39f8fbead07e04cb0a7d93aae289c8d58f2f09f60251e051f5c81e2b59ff8a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--pveawcp.json b/phaseK/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--pveawcp.json new file mode 100644 index 0000000000000000000000000000000000000000..0ffc6b8695a0af44afed5cccd5a0a4879bb883f4 --- /dev/null +++ b/phaseK/behavior-1k/unloading_the_car/trajectories/behavior-unloading-the-car-i00-standard--pveawcp.json @@ -0,0 +1,268 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-unloading-the-car-i00-standard--pveawcp", + "taskKey": "behavior-1k/unloading_the_car", + "dag_sha256": "2d43d8f6f9e62fd26631473e35e040c8d2125523130e79643cca5c9d50acd36d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 9738, + "sim_steps": 9888, + "physics_steps": 39552, + "steps": 2306, + "elapsed_s": 6048.1, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.3, + "peak_processes": 9, + "peak_disk_gb": 0.429, + "peak_cpus": 1.78, + "peak_pids": 152, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-unloading-the-car-i00-standard--pveawcp.mp4", + "duration_s": 329.7, + "fps": 10.0, + "frames": 3297, + "sha256": "f850971907a22810466e4aa34b671e3396b78006dea524a84fbae477d3693ae0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "car_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 329.0, + "log_step": null, + "text_zh": "观察：视频 0-329.7 s 头部相机始终看到汽车车身闭合、木质车库门仍封住出口、沙发区未出现；未见包被取出或搬运。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "视频抽帧无法确认夹爪与把手的接触方式；仅 agent 自述（log id 100、240、255）侧向/顶向抓法被把手凹槽挡住，为推断，非观察" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "推断：agent 自述底盘绕车移动，视频位移未逐帧核对" + } + ] + }, + "garage_exit_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 329.0, + "log_step": null, + "text_zh": "观察：视频 0-329.7 s 头部相机始终看到汽车车身闭合、木质车库门仍封住出口、沙发区未出现；未见包被取出或搬运。" + } + ] + }, + "briefcase_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 329.0, + "log_step": null, + "text_zh": "观察：视频 0-329.7 s 头部相机始终看到汽车车身闭合、木质车库门仍封住出口、沙发区未出现；未见包被取出或搬运。" + } + ] + }, + "satchel_next_to_sofa": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 329.0, + "log_step": null, + "text_zh": "观察：视频 0-329.7 s 头部相机始终看到汽车车身闭合、木质车库门仍封住出口、沙发区未出现；未见包被取出或搬运。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "car_opened", + "t": null, + "log_step": 100, + "where": "操作中", + "evidence_zh": "观察：视频 0-329.7 s 车门始终闭合；推断（agent 自述，log id 100、240、255）夹爪侧向/顶向接近把手均被凹槽挡住；最终 agent 自述未取出任何包（log id 552）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；视频（329.7 s）不能显示夹爪与把手的接触；agent 会话远长于视频，log 事件无法映射到视频时间；agent 自述（log 100/240/255：把手凹槽过浅、手指过宽）不计为证据，故不标根因与接触类现象。", + "unmet": { + "briefcase_next_to_sofa": false, + "satchel_next_to_sofa": false + } + }, + "summary_zh": "观察：视频 0-329.7 s 内车门始终闭合，4 个节点均未达成（q_score 0）。断在 car_opened。接触现象与根因无准入证据（无状态日志，视频看不出夹爪与把手接触），不标根因；agent 自述（把手凹槽过浅、手指过宽）仅作未采信背景。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值(4个均未达成、final=0、q=0)与视频一致，断点 car_opened 合理；但引用的 log step 与所述内容不符，接触现象/根因仅来自 agent 自述，视频并未显示夹爪夹在把手凹槽处，应降级或改证据。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（4 个均未达成、final=0、q=0）和断点 car_opened 与视频、q_score 一致；但根因“抓取和接触设计”完全来自 agent 自述（log 100/240/255），视频只见腕部相机贴近车身，无任何准入证据支持，应置空并写 gap_zh。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已完整落实：root_causes 与 phenomena 均为空，gap_zh 与 summary_zh 说明自述不计为证据，conf=4，断点与节点未受影响。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已完整落实：root_causes 与 phenomena 均为空，gap_zh 与 summary_zh 说明自述不计为证据，conf=4，断点与节点未受影响。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-standard--pveawcp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-standard--pveawcp/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-standard--pveawcp/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-standard--pveawcp/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-standard--pveawcp/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-unloading-the-car-i00-standard--pveawcp/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "317a4c624c0d30432a5ec3c7f76cd57866a0916d1e96bd0f0b0290a509eca38a", + "video_sha256": "f850971907a22810466e4aa34b671e3396b78006dea524a84fbae477d3693ae0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--gmf5iqh.json b/phaseK/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--gmf5iqh.json new file mode 100644 index 0000000000000000000000000000000000000000..1255ccb6cf3da55d0390ac38655d0953414b2bf9 --- /dev/null +++ b/phaseK/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-privileged--gmf5iqh.json @@ -0,0 +1,167 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-vacuuming-floors-i00-privileged--gmf5iqh", + "taskKey": "behavior-1k/vacuuming_floors", + "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 1352, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 1323, + "sim_steps": 1352, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 1091.8, + "replay_timeout_s": 3600.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 6, + "agent_resets": 1, + "agent_sim_steps": 5551, + "agent_records": 3, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 6.884, + "peak_memory_gb": 12.364, + "peak_processes": 45, + "peak_disk_gb": 1.538, + "peak_cpus": 8.06, + "peak_pids": 397, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-vacuuming-floors-i00-privileged--gmf5iqh.mp4", + "duration_s": 45.067, + "fps": 30.0, + "frames": 1352, + "sha256": "5142ecd8176613161c06bc2e91aaf34a71c549e51debf8a260f25e60f61c893c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "bedroom_floor_clean": { + "method": "visual", + "intervals": [ + [ + 44.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 44.1, + "log_step": null, + "text_zh": "观察：视频约 27-42 s 机器人持吸尘器在门边、搁架旁地面扫过，白色颗粒簇出现在画面中并随吸头移动；末帧（视频 44-45 s）床边地面无可见残尘。评分器字段：goal_first_step=1323（1323/30 = 视频 44.1 s，30 fps、1352 步=45.07 s），success=1、q_score=1.0，故该目标节点为 true。推断：灰尘颗粒极小且被遮挡，节点时间取评分器首次满足目标的步号。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机器人夹爪持吸尘器，吸头贴近木地板扫过灰尘（候选接触方式：吸除）。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "观察：底盘在卧室地面上移动，带着吸尘器扫过床边、门边地面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：特权模式成功运行，评分器 success=1、q_score=1.0；机器人持吸尘器扫过卧室地面，目标节点在 goal_first_step=1323（视频约 44.1 s）达成并保持到结束。无状态日志，节点时间由评分器步号换算，灰尘颗粒在头部相机中难以逐粒确认，这是主要证据缺口。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "目标节点 bedroom_floor_clean 在 goal_first_step=1323（视频 44.1 s）达成，与评分器 success=1、q_score=1.0 一致；末帧床边地面无尘，30–40 s 可见白色尘簇，之后清除。接触标签与 DAG 一致且符合所见。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:15:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-vacuuming-floors-i00-privileged--gmf5iqh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-vacuuming-floors-i00-privileged--gmf5iqh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "889a906d64a9c042971f350e7fc6b20f94232426c422ae96b70296c5fe19d951", + "video_sha256": "5142ecd8176613161c06bc2e91aaf34a71c549e51debf8a260f25e60f61c893c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--vt65f7c.json b/phaseK/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--vt65f7c.json new file mode 100644 index 0000000000000000000000000000000000000000..a9ec03882f0cbf789ef47cadb858efb0df17cb60 --- /dev/null +++ b/phaseK/behavior-1k/vacuuming_floors/trajectories/behavior-vacuuming-floors-i00-standard--vt65f7c.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-vacuuming-floors-i00-standard--vt65f7c", + "taskKey": "behavior-1k/vacuuming_floors", + "dag_sha256": "97df99877ae169af1d0573899715f7b770d769abc97a3fac3b3c73ec5effede5", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 18308, + "sim_steps": 18458, + "physics_steps": 73832, + "steps": 18008, + "elapsed_s": 6626.3, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.267, + "peak_processes": 8, + "peak_disk_gb": 0.333, + "peak_cpus": 1.22, + "peak_pids": 151, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-vacuuming-floors-i00-standard--vt65f7c.mp4", + "duration_s": 615.3, + "fps": 10.0, + "frames": 6153, + "sha256": "3fd86e5e3651f4b232f2e3c1cb9ac6c17b8a8f8510126b243f2aff9d450f8ebe" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "bedroom_floor_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 614.5, + "log_step": 434, + "text_zh": "观察：视频 614.5 s 末帧仍可见床头柜旁地板上有白色灰尘颗粒（红点标记旁），吸尘器已被机器人松手落在地上；全程未见灰尘整体消失，与成功示范录像（床边无残尘）不同。log step 434 agent 自述吸尘器躺在地上、灰尘仍在（agent 自述，仅作旁证）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "夹爪持吸尘器，吸头贴地扫过灰尘点（候选接触方式：吸除），但灰尘未被清除；后期 agent 的脚本让夹爪松手，吸尘器落地（log step 308, 428）" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在卧室地面行驶，带吸尘器移动到各灰尘点附近" + }, + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "双臂协作：一手握吸尘器，另一手指按手柄上的电源标记（log step 199、353 agent 自述标记由红变绿；后期按压/脉冲反而使吸尘器松手，step 415-428）；agent 自述，视频未逐帧核实" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "bedroom_floor_clean", + "t": null, + "log_step": 308, + "where": "操作中", + "evidence_zh": "观察：视频 614.5 s 末帧仍有灰尘；log step 308-311 agent 的脚本张开夹爪释放吸尘器后服务仍返回 done=false，吸尘器落在地上，之后 log 434 为找回吸尘器。灰尘始终未被清完，该步未修复。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": null, + "log_step": 311, + "evidence_zh": "推断：视频全程吸头经过灰尘点后灰尘仍在，末帧残尘可见，说明吸头对灰尘的有效作用没有建立；具体吸头与灰尘的接触时刻因头部相机视角遮挡未逐点核实。 补充（agent 自述）：电源标记变绿后多轮覆盖扫过仍 done=false（log step 206、308、388），残点未被吸除；视频无法区分“吸尘器未有效开启”与“吸头未扫到/未吸除”，故停在没建立接触，低置信。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断：agent 多次用脚本做逐点定位、吸头对灰尘的精细扫过及释放吸尘器，均未清尘；子类型（位姿/抓取设计）证据不足，停在控制。", + "source_zh": "日志" + } + ], + "gap_zh": "头部相机视角常被机械臂遮挡，无状态日志，无法逐点核实吸头与灰尘的接触与灰尘数；根因子类型未确定；未单独核对视频中吸尘器落地的精确时刻。 无法区分吸尘器未开与吸头未扫到；电源标记的按压过程仅有 agent 自述。", + "unmet": { + "bedroom_floor_clean": false + } + }, + "summary_zh": "观察：视频 614.5 s 末帧仍有灰尘，唯一目标节点（卧室地面除尘）未达成。机器人持吸尘器反复清扫但灰尘未清，后期吸尘器被松手落地（log step 308、428）。推断：吸头未有效作用于灰尘，根因停在控制；主要证据缺口是无状态日志且视角遮挡。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点未达成、final=false、breakpoint 落在唯一目标节点上均可接受；但 contact_actual 漏掉本次尝试在该节点上实际花了大量步骤的“手指按吸尘器电源标记”接触，且根因/现象证据只讲“吸头未作用”，没有交代 agent 先后用约 3000 s 墙钟找电源、之后每次松手又把电源切回红色这一过程。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "唯一目标节点未达成、final=false 与末帧残尘、breakpoint 落在该节点、contact_actual 已补手指按标记一项，均与视频和日志一致；现象与根因已标为推断并停在“控制”，证据缺口已写入 gap_zh，未发现需要改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:06Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-vacuuming-floors-i00-standard--vt65f7c/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-vacuuming-floors-i00-standard--vt65f7c/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-vacuuming-floors-i00-standard--vt65f7c/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-vacuuming-floors-i00-standard--vt65f7c/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "44097ccd605a31c5c25c16acb2920508e54fc7ef0c3bd18ca03b96c8726e7e3b", + "video_sha256": "3fd86e5e3651f4b232f2e3c1cb9ac6c17b8a8f8510126b243f2aff9d450f8ebe", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-privileged--mbjytc9.json b/phaseK/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-privileged--mbjytc9.json new file mode 100644 index 0000000000000000000000000000000000000000..09bcec99679406395a8d7f441d4e3e6237d177a1 --- /dev/null +++ b/phaseK/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-privileged--mbjytc9.json @@ -0,0 +1,196 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-a-baseball-cap-i00-privileged--mbjytc9", + "taskKey": "behavior-1k/wash_a_baseball_cap", + "dag_sha256": "053fa67e538181953dbdeadf3cc6214fb48ffaf32dc990187116a191052c4c85", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 0, + "n_actions": 13590, + "sim_breakdown": 0, + "goal": 1, + "settle_steps": 0, + "goal_first_step": 13561, + "sim_steps": 13590, + "fallen": 0, + "final_reward": 1.0, + "q_score": 1.0, + "replay_wall_s": 4513.5, + "replay_timeout_s": 10260.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 0, + "agent_sim_steps": 13590, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 7.527, + "peak_memory_gb": 23.056, + "peak_processes": 79, + "peak_disk_gb": 1.193, + "peak_cpus": 8.07, + "peak_pids": 753, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-wash-a-baseball-cap-i00-privileged--mbjytc9.mp4", + "duration_s": 453.0, + "fps": 30.0, + "frames": 13590, + "sha256": "6c666be4cc59c9e8e83057110eaf5f18c0961db78e8c7b8dadc18e70e4b47a41" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "caps_clean_1": { + "method": "visual", + "intervals": [ + [ + 452.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 452.0, + "log_step": 308, + "text_zh": "观察：视频 450 s 洗衣机指示灯由红(视频 420 s)变绿，帽子藏在机门后，帧中看不到泥土颗粒。推断：评分器字段 goal_first_step=13561（30 Hz → 视频 452.0 s）、q_score 1.0、success 1，两顶帽同时洗净并静止，故该节点此时成立并保持到结束；具体清洁完成时刻不可由画面确定，取目标首次成立时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 60-250 s 多帧可见机器人双夹爪抓取深蓝帽子并送入洗衣机；视频约 380 s 帽子在夹爪中；底盘全程移动。清洗本身由洗衣机完成。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在各帽取放之间移动。" + } + ] + }, + "caps_clean_2": { + "method": "visual", + "intervals": [ + [ + 452.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 452.0, + "log_step": 308, + "text_zh": "观察：视频 450 s 洗衣机指示灯由红(视频 420 s)变绿，帽子藏在机门后，帧中看不到泥土颗粒。推断：评分器字段 goal_first_step=13561（30 Hz → 视频 452.0 s）、q_score 1.0、success 1，两顶帽同时洗净并静止，故该节点此时成立并保持到结束；具体清洁完成时刻不可由画面确定，取目标首次成立时刻。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 60-250 s 多帧可见机器人双夹爪抓取深蓝帽子并送入洗衣机；视频约 380 s 帽子在夹爪中；底盘全程移动。清洗本身由洗衣机完成。" + }, + { + "who": "底盘", + "how": "支撑", + "note_zh": "底盘在各帽取放之间移动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "评分器判定成功（success 1，q_score 1.0，goal_first_step 13561 → 视频 452.0 s）：机器人把两顶深蓝棒球帽放入洗衣机、按启动并取出/放定，两个节点均达成并保持到视频结束。无状态日志，节点时间取评分器 goal_first_step，两节点同取 452.0 s（不确定）；画面为机器人头/腕相机，帽子清洁状态不可直接看见。agent 自述的 fresh-process 回放未确认（log step 309），但评分器回放 deterministic=1。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分器 success=1、q_score=1.0、goal_first_step=13561（30 Hz → 视频 452.0 s）；两个节点取 452.0 s 并保持到结束，与评分器一致，画面也未与之矛盾（视频 100 s 帽面有褐色颗粒，445 s 帽在滚筒内，450 s 指示灯变绿）。contact_actual 反映实际抓握与底盘移动，无 failure，标注无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:01:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/behavior-wash-a-baseball-cap-i00-privileged--mbjytc9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/behavior-wash-a-baseball-cap-i00-privileged--mbjytc9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6917f1090ab3b9f1f24d90de1c935f0262f99c2284f9dcc41711c576d352b927", + "video_sha256": "6c666be4cc59c9e8e83057110eaf5f18c0961db78e8c7b8dadc18e70e4b47a41", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-standard--z8ytuod.json b/phaseK/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-standard--z8ytuod.json new file mode 100644 index 0000000000000000000000000000000000000000..4946a837c9229fb732fec750cd90c4817831d84e --- /dev/null +++ b/phaseK/behavior-1k/wash_a_baseball_cap/trajectories/behavior-wash-a-baseball-cap-i00-standard--z8ytuod.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-a-baseball-cap-i00-standard--z8ytuod", + "taskKey": "behavior-1k/wash_a_baseball_cap", + "dag_sha256": "053fa67e538181953dbdeadf3cc6214fb48ffaf32dc990187116a191052c4c85", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 19347, + "sim_steps": 19497, + "physics_steps": 77988, + "steps": 3521, + "elapsed_s": 6169.4, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.235, + "peak_processes": 10, + "peak_disk_gb": 0.553, + "peak_cpus": 1.65, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-wash-a-baseball-cap-i00-standard--z8ytuod.mp4", + "duration_s": 650.0, + "fps": 10.0, + "frames": 6500, + "sha256": "1efd967b10e2045698d6e623c004f0bcb7bee68f2a7befffc67725c56dbc77c8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "caps_clean_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 640.0, + "log_step": 337, + "text_zh": "观察：视频全程（含末段 640 s 附近）未见帽面褐色颗粒消失，洗衣机门未关、未启动；agent 最终自述“洗衣机门未关闭、未启动洗涤”（log step 337）。两顶均未洗净。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：机器人夹爪抓起第一顶帽并放入洗衣机滚筒（视频前半段，抽样帧可见）；底盘行驶搬运。" + } + ] + }, + "caps_clean_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 640.0, + "log_step": 337, + "text_zh": "观察：视频全程（含末段 640 s 附近）未见帽面褐色颗粒消失，洗衣机门未关、未启动；agent 最终自述“洗衣机门未关闭、未启动洗涤”（log step 337）。两顶均未洗净。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：对台面上第二顶帽反复抓取，末段帧显示帽子仍在台面；agent 自述抓取落空（log step 331）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "caps_clean_1", + "where": "转场", + "t": 600.0, + "log_step": 331, + "evidence_zh": "观察：第一顶帽已放入洗衣机滚筒（视频前半段，log step 337 自述），但洗衣机门未关闭、未启动洗涤（log step 337），随后转去重复抓取台面第二顶帽（末段仍落空，次要证据）。caps_clean_1 只需至少一顶洗净，故首个未成立的步骤是它：关门/启动被放弃。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 600.0, + "log_step": 331, + "evidence_zh": "观察：末段多次夹取台面帽子均落空（agent 自述 log step 331“close was still empty”，视频帧中帽子仍在台面）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述指尖位置与深度图估计的帽面存在约3 cm偏差、躯干伸展受限（log step 331、335），反复调整仍落空；仅为自述，视频仅支持抓空。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志，帽子清洁状态只能由视频与 agent 自述推断；未逐帧核对全部650 s，时间为粗略锚点。", + "unmet": { + "caps_clean_1": false, + "caps_clean_2": false + } + }, + "summary_zh": "观察：两顶帽均未洗净（0/2）。推断：第一顶帽已放入洗衣机，但未关门、未启动洗涤，转而反复抓取第二顶帽落空；断点在 caps_clean_1（关门/启动被放弃，转场）。根因仅来自 agent 自述（控制偏差），证据有限；无状态日志。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "节点值（两顶均 false，q_score=0）正确；但断点 ref 取 caps_clean_2 不当：第一顶帽已在滚筒内，只要关门并启动即可令 caps_clean_1 成立（该节点只需至少一顶），洗涤从未开始，故首个失败步骤是 caps_clean_1。根因停在“控制”可接受。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "两节点均 false 与 q_score=0 一致；断点 caps_clean_1（已入机但未关门/启动，转而重复抓第二顶）在第1轮审后已修正，证据与 log step 331-337 相符；没建立接触与根因停在“控制”有 agent 自述及末段视频支持，conf 4 诚实。未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:17:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-a-baseball-cap-i00-standard--z8ytuod/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-a-baseball-cap-i00-standard--z8ytuod/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-a-baseball-cap-i00-standard--z8ytuod/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-a-baseball-cap-i00-standard--z8ytuod/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2334c137b7aac3076b79be275b5b36f55eb59f5503df85740c49805ec8c1eec0", + "video_sha256": "1efd967b10e2045698d6e623c004f0bcb7bee68f2a7befffc67725c56dbc77c8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--ufbuzqw.json b/phaseK/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--ufbuzqw.json new file mode 100644 index 0000000000000000000000000000000000000000..09842fb4aec862e663f06a6963f90ca8fbde2d8e --- /dev/null +++ b/phaseK/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-privileged--ufbuzqw.json @@ -0,0 +1,304 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-privileged--ufbuzqw", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "instance_ok": 1, + "infra_error": 0, + "instance_exact": 1, + "n_actions": 10692, + "sim_breakdown": 0, + "goal": 0, + "settle_steps": 150, + "goal_first_step": -1, + "sim_steps": 10842, + "fallen": 0, + "final_reward": 0.0, + "q_score": 0.0, + "replay_wall_s": 2808.8, + "replay_timeout_s": 8328.0, + "grader_error": 0, + "video_rendered": 1, + "video_replay_matches": 1, + "agent_sessions": 2, + "agent_resets": 3, + "agent_sim_steps": 0, + "agent_records": 52, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 16.383, + "peak_memory_gb": 23.638, + "peak_processes": 79, + "peak_disk_gb": 1.304, + "peak_cpus": 8.11, + "peak_pids": 650, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 0, + "session_log_from_monitor": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-wash-dog-toys-i00-privileged--ufbuzqw.mp4", + "duration_s": 361.4, + "fps": 30.0, + "frames": 10842, + "sha256": "db254336a71c652e4af97b5f640cb61016996ab873b8871801a0aade4b5412fc" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "teddies_clean_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 360.0, + "log_step": null, + "text_zh": "观察：视频 360 s 末帧仍为机器人在橱柜/洗衣房附近，洗衣机未见运转或熊被洗净的迹象；评分器 q_score=0、goal=0（未完成任何目标条件）。推断：该节点未达成（q=0 单独不证明未做，但与视频一致）。" + }, + { + "t": 100.0, + "log_step": null, + "text_zh": "观察：视频约 60 s（视频时钟）头部相机见洗衣机滚筒；90-100 s 仅见橱柜/地板/台面下沿；agent 最终自述只把 teddy.n.01_2 装入洗衣机（log step 319）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频约 60 s（视频时钟）头部相机见洗衣机滚筒，90-100 s 仅见橱柜/地板，均未见夹爪/熊的接触；agent 自述装入 teddy.n.01_2（log step 320）不作观察。" + } + ] + }, + "teddies_clean_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 360.0, + "log_step": null, + "text_zh": "观察：视频 360 s 末帧仍为机器人在橱柜/洗衣房附近，洗衣机未见运转或熊被洗净的迹象；评分器 q_score=0、goal=0（未完成任何目标条件）。推断：该节点未达成（q=0 单独不证明未做，但与视频一致）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频视角（头部相机）无法确认是否接触或装载该物体。" + } + ] + }, + "tennis_ball_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 360.0, + "log_step": null, + "text_zh": "观察：视频 360 s 末帧仍为机器人在橱柜/洗衣房附近，洗衣机未见运转或熊被洗净的迹象；评分器 q_score=0、goal=0（未完成任何目标条件）。推断：该节点未达成（q=0 单独不证明未做，但与视频一致）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频视角（头部相机）无法确认是否接触或装载该物体。" + } + ] + }, + "softball_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 360.0, + "log_step": null, + "text_zh": "观察：视频 360 s 末帧仍为机器人在橱柜/洗衣房附近，洗衣机未见运转或熊被洗净的迹象；评分器 q_score=0、goal=0（未完成任何目标条件）。推断：该节点未达成（q=0 单独不证明未做，但与视频一致）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "视频视角（头部相机）无法确认是否接触或装载该物体。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "q_score", + "value": 0.0, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "teddies_clean_1", + "where": "操作中", + "t": 100.0, + "evidence_zh": "观察：视频全程 361 s 内只见机器人在橱柜与洗衣机之间移动，洗衣机清洁周期未启动，q_score=0。agent 最终自述仅装入一只熊、其余未完成（log step 319）。", + "log_step": 319 + }, + "phenomena": [], + "root_causes": [ + { + "cat": "交付", + "item": "交付操作出错", + "alt_feasible": "未知", + "evidence_zh": "观察：评分器 agent_replays=0、agent_resets=3（outcome.raw）；log step 302/320 自述保存的是拼接的连续候选轨迹，最终重放被 600 s 后台限制杀死、从未验证（log step 323）。推断：交付为 agent 自行恢复/重置关节后拼接的未重放轨迹，deterministic=1，不归咎于基准；投放仅一只熊（agent 自述）。", + "source_zh": "评分器 outcome.raw / agent 自述" + } + ], + "gap_zh": "无状态日志，头部相机视角杂乱，无法确定具体失败现象（是否按下开关、物体是否装入），现象留空；根因按 agent_replays=0 / agent_resets=3 与 log step 231-293、302、323 判为交付操作出错。", + "unmet": { + "teddies_clean_1": false, + "teddies_clean_2": false, + "tennis_ball_clean": false, + "softball_clean": false + } + }, + "summary_zh": "观察：四个节点均未达成（q_score=0，视频 361 s 内未见洗涤完成）。断点在第1只熊洗净（装载/启动洗衣机阶段），具体现象因视角与无状态日志无法判定。根因：交付轨迹为 agent 多次恢复/重置后拼接、从未重放验证（agent_replays=0，log step 302/323）；agent 自述只装了一只熊（log step 319-320）。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "WHERE 标签（四节点未达成、q_score=0、断点在 teddies_clean_1）与评分器数值一致，未发现错误。但现象/根因留空且 gap_zh 称“无法判断”，与 run.json 的记录不符：log 明确显示交付轨迹是在多次恢复/重置、拼接后保存（10692 步），agent_replays=0，从未完整重放验证，且从未执行洗涤启动。至少应补交付类根因，并修正 contact_actual 的来源说明。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "整体标签（四节点未达成、交付·交付操作出错、现象留空）与评分器字段一致，可接受；但 teddies_clean_1 证据里“视频约 90-100 s 头部相机看到洗衣机滚筒”的时间与帧不符。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 的修改已完整应用：证据与 contact_actual 备注均改为约 60 s 见滚筒、90-100 s 仅见橱柜/地板，与帧一致，仍未写接触。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的修改已完整应用：证据与 contact_actual 备注均改为约 60 s 见滚筒、90-100 s 仅见橱柜/地板，与帧一致，仍未写接触。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-privileged--ufbuzqw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-privileged--ufbuzqw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-privileged--ufbuzqw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-privileged--ufbuzqw/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-privileged--ufbuzqw/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-privileged--ufbuzqw/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b70870b991ae24effb9fe4cac9afacdb1f6b034aa00e33b560a0944886b80d75", + "video_sha256": "db254336a71c652e4af97b5f640cb61016996ab873b8871801a0aade4b5412fc", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-standard--jksacqi.json b/phaseK/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-standard--jksacqi.json new file mode 100644 index 0000000000000000000000000000000000000000..33d85a862063529039440512ed209da697d260ed --- /dev/null +++ b/phaseK/behavior-1k/wash_dog_toys/trajectories/behavior-wash-dog-toys-i00-standard--jksacqi.json @@ -0,0 +1,280 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "behavior-wash-dog-toys-i00-standard--jksacqi", + "taskKey": "behavior-1k/wash_dog_toys", + "dag_sha256": "30841e135d3b6dc1597358bd99c28596bf89dbe6d7f5d69955eb8b7e69f236fe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 14934, + "sim_steps": 15084, + "physics_steps": 60336, + "steps": 2822, + "elapsed_s": 6065.2, + "video_rendered": 1, + "video_live": 1, + "video_pending": 0, + "settled_success": 0, + "settle_steps": 150, + "sim_breakdown": 0, + "instance_ok": 1, + "task_failure": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "q_score": 0.0, + "goal_first_step": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "infra_error": 0, + "grader_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.224, + "peak_processes": 10, + "peak_disk_gb": 0.333, + "peak_cpus": 2.15, + "peak_pids": 151, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:behavior-wash-dog-toys-i00-standard--jksacqi.mp4", + "duration_s": 502.9, + "fps": 10.0, + "frames": 5029, + "sha256": "ab6ffc336d6a3ac2f5f52e0f48681614f48ff5367661ceae39b5a576338e37fd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "teddies_clean_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 495.0, + "log_step": 377, + "text_zh": "观察：视频 495-502 s 画面中玩具仍在木柜隔层内（头部相机可见熊），从未被取出、放入洗衣机；机器人只在柜门附近。log step 377 agent 自述四件玩具均未被成功抓取或清洗。无状态日志，清洁状态无法直接看到，但玩具从未离开柜子、未经洗衣机，故判未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：agent 在最后阶段（log step 370-373）尝试用夹爪捏熊身与头部，熊未被保持住（agent 自述）；视频中熊仍在柜内。" + } + ] + }, + "teddies_clean_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 495.0, + "log_step": 377, + "text_zh": "观察：视频 495-502 s 画面中玩具仍在木柜隔层内（头部相机可见熊），从未被取出、放入洗衣机；机器人只在柜门附近。log step 377 agent 自述四件玩具均未被成功抓取或清洗。无状态日志，清洁状态无法直接看到，但玩具从未离开柜子、未经洗衣机，故判未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：agent 在最后阶段（log step 370-373）尝试用夹爪捏熊身与头部，熊未被保持住（agent 自述）；视频中熊仍在柜内。" + } + ] + }, + "tennis_ball_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 495.0, + "log_step": 377, + "text_zh": "观察：视频 495-502 s 画面中玩具仍在木柜隔层内（头部相机可见熊），从未被取出、放入洗衣机；机器人只在柜门附近。log step 377 agent 自述四件玩具均未被成功抓取或清洗。无状态日志，清洁状态无法直接看到，但玩具从未离开柜子、未经洗衣机，故判未达成。" + } + ] + }, + "softball_clean": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 495.0, + "log_step": 377, + "text_zh": "观察：视频 495-502 s 画面中玩具仍在木柜隔层内（头部相机可见熊），从未被取出、放入洗衣机；机器人只在柜门附近。log step 377 agent 自述四件玩具均未被成功抓取或清洗。无状态日志，清洁状态无法直接看到，但玩具从未离开柜子、未经洗衣机，故判未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "teddies_clean_1", + "t": null, + "log_step": 373, + "where": "操作中", + "evidence_zh": "观察：整段视频（502.9 s）机器人都在开柜门、探查并夹取玩具，玩具始终留在柜内，从未装入洗衣机，四个清洁节点均未达成。agent 自述最后对熊的身体抓取和头部抓取都没能保持住（log step 370-373）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": null, + "log_step": 373, + "evidence_zh": "观察：视频 470-500 s 腕部相机见夹爪指尖已伸到熊身两侧并包住熊，之后熊仍在柜内隔层（495-502 s）；log step 370 agent 自述熊移动但没留在夹爪里，step 377 四件玩具均未被成功取出。推断：夹持已接触但未保持住。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，视频为多相机拼接且大部分时间被柜门/夹爪遮挡，无法精确定位各次抓取时刻；根因只有 agent 自述（熊身过宽、夹持失败，log step 370-373），视频只证实夹爪到达熊但未带出，不足以定 root cause，故根因留空。", + "unmet": { + "teddies_clean_1": false, + "teddies_clean_2": false, + "tennis_ball_clean": false, + "softball_clean": false + } + }, + "summary_zh": "观察：机器人在 502.9 s 视频中花大量时间开柜门并寻找玩具，最后尝试夹熊失败，玩具始终留在柜内，未进洗衣机，四个节点均未达成（0/4）。断点在第1只熊洗净（操作中，取出玩具阶段），现象为接触·没保持住（夹爪到达熊但未带出，推断）；根因无独立证据留空。主要缺口：无状态日志、视角遮挡。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "四个节点未达成与断点在 teddies_clean_1 均可成立；但现象“没建立接触”与视频不符：视频 470-500 s 腕部相机显示夹爪已到达并包围熊（接触已发生），熊仍在柜内说明是没保持住/没夹起，而非没接触。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "四节点未达成、断点 teddies_clean_1 可成立（q_score 0）；现象已改为没保持住，但 summary_zh 仍写“现象为没建立接触”，与 failure.phenomena 矛盾。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 的修改已完整应用,摘要与 failure.phenomena 一致。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的修改已完整应用,摘要与 failure.phenomena 一致。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T09:18:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-standard--jksacqi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun2/runs/behavior-wash-dog-toys-i00-standard--jksacqi/04_review_r1" + }, + { + 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"states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +}