Add 116 Kimi 3.1 Pro trajectories (phaseK, batch K06; writer Claude Sonnet 5.5)

phaseK/roboarc/blanket_flatten_02/trajectories/roboarc-blanket-flatten-02-i01-privileged--cm7kan7.json

@@ -0,0 +1,172 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-02-i01-privileged--cm7kan7",
+ "taskKey": "roboarc/blanket_flatten_02",
+ "dag_sha256": "91057501ba5d4a5a71fe3675ae5acac99886b924e4b578bdc67b42e3d0e42aa5",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 2842,
+   "submitted_actions": 2842,
+   "sim_steps": 2842,
+   "physics_steps": 28414,
+   "sim_time_s": 71.03499999999903,
+   "final_reward": 1.0,
+   "replay_wall_s": 4087.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 2842,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 4,
+   "agent_resets": 9,
+   "agent_sim_steps": 10338,
+   "agent_records": 15,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-02-i01-privileged--cm7kan7.mp4",
+  "duration_s": 71.134,
+  "fps": 15.0,
+  "frames": 1067,
+  "sha256": "a6db4224571a092599346a96526aa09bdf7f22031315e9da956e2dcb4dc288ac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      70.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 70.6,
+      "log_step": 205,
+      "text_zh": "观察：视频末帧（约 70-71 s）主俯视画面中蓝色毯子为近完整平整的一片，无折角，双臂在毯边外侧撤离、悬停于毯边附近但未压住毯面（视频 56-71 s 逐秒帧）。评分器字段 strict_goal_reached=1、strict_goal_row=2842（最后一行，约仿真 71.0 s），推断：0.5 s 确认窗口约从视频 70.6 s 起，到达时间为推断值，精度约 ±0.5 s。log step 205 agent 自述首次新进程重放在第 2842 行严格成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频前段（约 0-50 s）左右二指夹爪各捏住毯子一处局部材料片并向外拉开，后段（约 56-70 s）再次双侧捏住边缘小幅左移，然后松开撤离；推断：为辅助抓取，毯面接触由夹爪夹持。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：视频中毯子被双臂多次捏拉展开，末段小幅平移后松开撤离，毯面平整，评分器 strict_goal_reached=1（第 2842 行，即最后一行）。唯一目标节点 展平毯子 final true，到达时间约视频 70.6 s 为推断（确认窗口 0.5 s 在最后一行结束），无状态日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，唯一目标节点展平毯子 final true，与末帧（毯面平整、双臂撤离）及评分器 strict_goal_reached=1（第2842行）一致；到达时间标为推断，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": "2026-11-08T08:36:05Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-02-i01-privileged--cm7kan7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-02-i01-privileged--cm7kan7/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fa2bdd4b9f9d659b5c6e1405a1a3430cc13477f4b0668e8efda58e3bf8510117",
+   "video_sha256": "a6db4224571a092599346a96526aa09bdf7f22031315e9da956e2dcb4dc288ac",
+   "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."
+ }
+}

phaseK/roboarc/blanket_flatten_02/trajectories/roboarc-blanket-flatten-02-i01-standard--4ewzbtq.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-02-i01-standard--4ewzbtq",
+ "taskKey": "roboarc/blanket_flatten_02",
+ "dag_sha256": "91057501ba5d4a5a71fe3675ae5acac99886b924e4b578bdc67b42e3d0e42aa5",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 16780,
+   "live_rows": 16780,
+   "sim_steps": 16780,
+   "physics_steps": 167800,
+   "steps": 7087,
+   "elapsed_s": 10796.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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,
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+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
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+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-02-i01-standard--4ewzbtq.mp4",
+  "duration_s": 419.6,
+  "fps": 15.0,
+  "frames": 6294,
+  "sha256": "4c03fda31bbb493b2b23af4c05229020b9554afc439bd4c15cc6db08cb8057a9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 419.0,
+      "log_step": 550,
+      "text_zh": "观察：视频 340-419 s 毯子始终是一条折叠的长条（约占原面积一小部分），多处折叠未展开，左臂在毯子旁；视频 419 s 仍如此。log 里 agent 自己测的松弛面积约 0.089-0.107 m²，远低于 0.2736 m²（agent 自测，仅作旁证）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 40-419 s 主要是左臂夹爪夹住毯子边角提起、拖拽；约 200 s 附近两夹爪同时靠近毯子，其余时段右臂是否接触毯子未能确认（未知）；毯子仍为折叠长条。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 419.0,
+   "log_step": 550,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0 s 毯子是折角的菱形；之后两臂反复夹取、拖拽，视频 220-419 s 毯子逐渐变成折叠的长条而未摊平，419 s 仍折叠。观察：log step 550 agent 自述最后一次后角抓取落空，只记录最终状态（agent 自述）。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，评分器未给覆盖率等原生数值（native_metrics 为 null）；视频只能看出毯子最终未展平，无法确认具体是哪个抓取点或拉动方向出错，故根因留空。agent 日志里有布料缠住左夹爪的记录（log step 532-544），视频中未单独核实。 现象留空：位姿不准仅来自 agent 自述，视频与评分器数值都不能支持，视频只能证明毯子最终折叠，无法判定具体失败机制。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "观察：视频 419.6 s 内多次夹取拉开毯子（主要为左臂），但毯子最终仍是折叠的长条，展平节点未达成（final false）。断点在展平操作中；现象与根因证据不足而留空；无状态日志，原生指标未知。",
+ "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 final=false、断点 blanket_flattened 与空根因均可接受（视频 419 s 毯子仍为折叠长条）；但现象“位姿不准”仅来自 agent 自述，视频与评分器数值都不支持，且 contact_actual 把 40-300 s 全写成双臂协作而帧里多数时段只见单臂（左臂）在夹毯。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 final=false、断点 blanket_flattened、空现象/根因（有 gap_zh）均与视频一致：419 s 毯子仍为皱折未展平；上轮问题已修正，validator 通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "created": "2026-11-08T08:46:08Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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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."
+ }
+}

phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--mqvujrm.json

@@ -0,0 +1,172 @@
+{
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+  "fps": 15.0,
+  "frames": 801,
+  "sha256": "378ad0d935240004742963b43aaf7a16d23bfb66c700b7f704b105632991eb75"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      52.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 52.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 毯子为折起的窄片；约 4.5 s 双爪提起毯边，9 s 起已大幅平铺；视频 53.3 s 毯子平展为方形，两只夹爪均已松开并退离毯面，无悬空角。评分器字段：strict_goal_reached=1，strict_goal_row=2132（最后一行，对应视频末尾约 52.8-53.3 s），success=1。推断：节点在末行满足验收，到达时间取视频约 52.8 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 3-9 s 左右两只二指夹爪各捏住毯子边缘布片，提起并展开毯子，之后松开退离（评分器 both assisted grasps released，见 agent 最终报告，仅作旁证）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "评分器判定成功（strict_goal_reached=1，仿真第 2132 行）。视频中毯子由折起窄片被双臂夹爪捏边展开，视频 53.3 s 平铺且夹爪已松开退离，唯一节点达成。缺少状态日志，到达时间 52.8 s 由评分器末行与末帧推断，中间过程仅以粗略抽帧核对。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分器 strict_goal_reached=1、末行 2132 与视频末帧（毯子平展方形、夹爪退离）一致，唯一节点 52.8 s 到达、双臂抓握的接触标签与帧相符；无失败层，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": "2026-11-08T08:36:11Z",
+  "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/roboarc-blanket-flatten-03-i01-privileged--mqvujrm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-privileged--mqvujrm/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "590dd64e73731e16d4a58e7452115170f45e1328f2211a88ba9f7563bd758b20",
+   "video_sha256": "378ad0d935240004742963b43aaf7a16d23bfb66c700b7f704b105632991eb75",
+   "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."
+ }
+}

phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--8rzpnie.json

@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-standard--8rzpnie",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14846,
+   "live_rows": 14846,
+   "sim_steps": 14846,
+   "physics_steps": 148460,
+   "steps": 6994,
+   "elapsed_s": 10775.6,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-03-i01-standard--8rzpnie.mp4",
+  "duration_s": 371.2,
+  "fps": 15.0,
+  "frames": 5568,
+  "sha256": "8b4345888b00e32929b2acfef5f12d1524107c1cff7ceee207063fbc38c30509"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 370.0,
+      "log_step": 473,
+      "text_zh": "观察：视频 370 s 末帧毯子基本平铺为一张方形布面，但左夹爪仍悬在毯子左上角正上方、贴近布面，未退离；视频 0 s 起毯子为折起窄片。评分器 success=0，agent 在 log step 471 自述确认仍未完成。推断：夹爪未释放退离（净空/静置条件），本步未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 120-300 s 左右夹爪各捏住毯边拉动展开（log step 39-47 自述两手抓握提起），后期单臂修整折角。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "where": "终态验收",
+   "t": 370.0,
+   "evidence_zh": "观察：视频 370 s 毯子已大致展平，但左夹爪仍停在毯上方；评分器 success=0（live_success 0）。agent 自述（log step 471）面积估计 0.2749 m² 已过阈值但确认仍未完成，仍有后部小凸起接近高度上限。",
+   "log_step": 471
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，评分器未给分项指标（覆盖、高度、净空等），无法确定具体哪个验收条件失败；视频仅 371 s，而会话 10800 s，视频只显示一段，故不在无证据下给现象与根因。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "观察：视频 371 s 内毯子由折起窄片被双臂展开到近乎平铺，但末帧左夹爪仍贴近毯面，评分器 success=0，节点未达成。断点为终态验收（毯子展平的联合验收）；因缺少分项指标，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": 6,
+    "summary_zh": "节点 blanket_flattened 未达成、final false 与评分器 success=0 及末帧一致；断点为终态验收，现象/根因因无分项指标留空并附 gap_zh，合理。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:35:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--8rzpnie/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-03-i01-standard--8rzpnie/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "088281313b63e74a69ee03e26eb3eb3a4156f17d38e58ebd93047c0b58380110",
+   "video_sha256": "8b4345888b00e32929b2acfef5f12d1524107c1cff7ceee207063fbc38c30509",
+   "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."
+ }
+}

phaseK/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--jk3gqv4.json

@@ -0,0 +1,212 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-privileged--jk3gqv4",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 3,
+   "agent_resets": 8,
+   "agent_sim_steps": 6705,
+   "agent_records": 66,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 315,
+      "text_zh": "观察：评分器字段 success=0、missing_trajectory=1（未交付可回放轨迹），无视频、无状态日志。推断：目标节点（绑定评分器成功判定）未达成，final=false；时间区间无视频时钟，故为 null。agent 在会话中自测的覆盖率 99.3%（log step 264）只是会话证据，不作节点值（其 checkpoint 仅在 /app/work，且 log step 265 自述右臂底座距毯子包围盒仅 3.12 mm < 5 mm）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": null,
+   "log_step": 321,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1；agent 在约 10800 s 预算内始终在自建仿真会话里试验，最后（log step 313-322）还在重放、恢复自己的 6705 行 checkpoint，没有写出/交付可回放轨迹（log step 276-278 重放因 RPC 断开使服务退出）。推断：被评分的尝试里毯子展平一步从未开始被评分。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；交付缺失由 agent 自身原因造成（会话证据不作现象，DECISIONS.md D23），现象与根因两层留空。会话内最好结果（覆盖 99.3%、高度 18.4 mm，但右臂底座间距 3.12 mm 未达 5 mm，log step 264-265）仅为会话证据。"
+ },
+ "summary_zh": "观察：本次运行无视频与状态日志，评分器 missing_trajectory=1、success=0，agent 约 10800 s 预算耗尽时仍在重放自己的 checkpoint，没有交付轨迹。推断：唯一目标节点“毯子展平”未达成，断点在该步、首步前（未交付）；会话内自测曾达覆盖率 99.3%，但清距仅 3.12 mm，仅为会话证据。现象和根因因证据不足留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志；评分器 success=0、missing_trajectory=1，agent 到预算末仍在重放自己的 checkpoint，未交付。标注按 D23(a) 留空现象与根因并写 gap_zh，节点 final=false、断点在唯一节点，会话内 99.3% 覆盖率未当作事实，均有 log 支持，未发现需修改之处。",
+    "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": "2026-11-08T08:36:35Z",
+  "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/roboarc-blanket-flatten-04-i01-privileged--jk3gqv4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-privileged--jk3gqv4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d8002d6c75745a27cd7bb05509433d0c2c318066e43a24fd814c7bad5efc0331",
+   "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."
+ },
+ "contact_actual": {
+  "blanket_flattened": [
+   {
+    "who": "不适用",
+    "how": "不适用",
+    "note_zh": "评分器 missing_trajectory=1，没有交付轨迹，无图像可查，故接触不适用。"
+   }
+  ]
+ }
+}

phaseK/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--2g7kdhs.json

@@ -0,0 +1,284 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-04-i01-standard--2g7kdhs",
+ "taskKey": "roboarc/blanket_flatten_04",
+ "dag_sha256": "a99674e5c44990e94d9aa8a3601a1e41c800bc3a09b75ed544b76e83470ebada",
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+  "source": "catalog",
+  "raw": {
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+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10997,
+   "live_rows": 10997,
+   "sim_steps": 10997,
+   "physics_steps": 109970,
+   "steps": 2725,
+   "elapsed_s": 10751.7,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.259,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.792,
+   "peak_cpus": 1.22,
+   "peak_pids": 142,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-04-i01-standard--2g7kdhs.mp4",
+  "duration_s": 275.0,
+  "fps": 15.0,
+  "frames": 4125,
+  "sha256": "6edd8bae65cd0100fa15926b9535ef9c86ca891193a30e297ccd6c8b2f603e00"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 274.0,
+      "log_step": 387,
+      "text_zh": "观察：视频末帧（约 274 s）毯子仍是被折叠、卷边的小块三角形，覆盖面积明显小于桌面可铺展范围，两爪张开撤离；全程 12 格抽样帧无一展平。agent 末次报告相机覆盖约 0.176 m²，低于 0.2736 m²（其自述，log step 387）；评分器 success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 30 s 帧可见左右夹爪各夹住毯边提起（5 s 帧夹爪尚未接触毯子）；其后多次抓取毯边，每次抓取是否成功视频无法逐次确认。服务 table_guard 读数见 failure.phenomena。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "confirmation_elapsed_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 30.0,
+   "log_step": 253,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 30 s 两爪已夹住毯边提起，毯子仍是折叠小块；其后全程反复抓取、提起、折叠，末帧（约 274 s）仍未展开；评分器 success=0（实时回合）。t 为粗略锚点（视频时钟），log_step 253 为日志中首次读到下探被护栏限制的步骤（日志时钟），两者不换算。"
+  },
+  "unmet": {
+   "blanket_flattened": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "现象与根因均不下：视频 30/60/100 s 帧显示两爪确实夹住并提起毯边，但毯子始终折叠；服务 table_guard 读数只显示下探被钳制（后期目标停在布面 +0.0 mm，即可达布面），step 253/255 的“约76 mm”是 agent ��述；没有证据区分抓空与展开不足，也无法区分规划失误与抓取/接触设计。无状态日志；native_metrics 评分器未报告具体值。断点保留。"
+ },
+ "summary_zh": "观察：毯子展平节点全程未达成（视频 0-275 s 毯子始终折叠成小块，末帧仍如此；30 s 起可见双爪夹边提起）。观察（服务读数）：table_guard 钳制下探；agent 自算覆盖约 0.176 m²，低于 0.2736 m²（其自述）；时间耗尽不是原因。缺口：无状态日志，证据不足以区分抓空/展开不足，不下现象与根因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "毯子未展平（末帧约 274 s 仍为折叠小块）与评分 success=0 一致，节点值正确。问题：标签把基准服务自己的 table_guard 读数当成“agent 自述”，因此把接触现象写成推断并整体放弃根因；断点缺少 t / log_step 锚点。",
+    "n_issues": 4,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（毯子未展平，末帧仍为折叠小块）、断点锚点与 contact_actual 与帧一致。问题：现象“没建立接触”并无证据——服务 table_guard 读数只说明目标被限在布面 +0.0 mm（即可达布面），视频 30/60/100 s 帧里两爪都夹着毯边并提起，不是抓空；该现象建立在“抓空”的推断上，应去掉或改为证据支持的现象。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 接受且已正确应用：phenomena 与 root_causes 已置空，gap_zh 说明无抓空证据，断点保留，summary_zh 同步。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 接受且已正确应用：phenomena 与 root_causes 已置空，gap_zh 说明无抓空证据，断点保留，summary_zh 同步。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
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+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/04_review_r1"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/04_review_r2"
+   },
+   {
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+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/05_reconcile_r2"
+   },
+   {
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+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/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": "d6d7b97bb0519aac2301b319b8d81b438bace64c9afd045b1e9639586fc2f93c",
+   "video_sha256": "6edd8bae65cd0100fa15926b9535ef9c86ca891193a30e297ccd6c8b2f603e00",
+   "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."
+ }
+}

phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--rrypymg.json

@@ -0,0 +1,236 @@
+{
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+   "resource_limit_exceeded": 0,
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-07-i01-privileged--rrypymg.mp4",
+  "duration_s": 19.667,
+  "fps": 15.0,
+  "frames": 295,
+  "sha256": "52cb2ab839b13cacc90b04f8ac07521bd62c61e518a332e6f9dd231dbab90561"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.5,
+      "log_step": 109,
+      "text_zh": "观察：视频 0 s 毯子有斜向褶脊；3-12 s 右夹爪捏住右侧角、左夹爪捏住左下角牵展；15-19.5 s 毯面平整贴桌、夹爪停在角旁。评分器字段 strict_goal_reached=1、strict_goal_row=784（仿真 19.59 s ≈ 视频末尾）、success=1。推断：确认窗口在视频最后约 0.5 s 内完成，故到达时间约视频 19.5 s（不确定 ±0.2 s）；0.5 s 静置与释放间距无法由画面逐毫米核对。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 3-12 s 左右夹爪各捏住毯子不同角部并协同牵展，随后松开退开；固定底座无移动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "threshold": -0.008,
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+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "观察：毯子展平节点在回放视频末尾（约 19.5 s）达成，评分器 success=1、strict_goal_row=784，双夹爪抓角牵展后松手。推断：到达时刻由评分器行号与仿真时长推得，画面无法核对毫米级门限。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "毯子展平节点在视频末尾约19.5 s达成，与评分器 strict_goal_row=784、sim 19.59 s 一致；0 s 有斜向褶脊，末帧平整；双臂抓握 contact 与画面相符，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": "2026-11-08T08:35:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-07-i01-privileged--rrypymg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-07-i01-privileged--rrypymg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "88e549ec2627a4cc4a3ff41554d811b7f260b8198b2a878b7671cf285b2157ff",
+   "video_sha256": "52cb2ab839b13cacc90b04f8ac07521bd62c61e518a332e6f9dd231dbab90561",
+   "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."
+ }
+}

phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--eknubaj.json

@@ -0,0 +1,247 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-07-i01-standard--eknubaj",
+ "taskKey": "roboarc/blanket_flatten_07",
+ "dag_sha256": "156cc67db22cef8d68926887fd6edd32d159d16cc6e2cf659a2d8a921fc5fcbe",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10830,
+   "live_rows": 10830,
+   "sim_steps": 10830,
+   "physics_steps": 108300,
+   "steps": 2242,
+   "elapsed_s": 10617.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-07-i01-standard--eknubaj.mp4",
+  "duration_s": 270.8,
+  "fps": 15.0,
+  "frames": 4062,
+  "sha256": "908842b27721815a7beb2c08e5d223d090e6073f9f28115b448d007f2830555b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 270.5,
+      "log_step": 268,
+      "text_zh": "观察：视频 270.5 s 末帧，毯子右侧边缘仍隆起/卷折（右下角翘起，侧视图可见起伏），不是平整贴桌；视频 0-270 s 毯子从斜向褶脊被多次牵拉，形状变方但始终未见整体铺平并松手静置。评分器 success=0；agent 自述最终 done=False（log step 268）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 20-250 s 左右夹爪各捏毯子边角，牵拉/抬起后松手，多轮重复；末段（约 240-270 s）捏住右侧卷边局部抬起再释放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "coverage_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "footprint_area",
+   "value": null,
+   "unit": "m^2",
+   "threshold": 0.2736,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "confirmation_duration_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "where": "操作中",
+   "t": 260,
+   "evidence_zh": "观察：视频约 240-270 s，右侧边缘残留卷折/隆起，机器人多次牵拉、局部抬起再释放后仍未消除；agent 自述最终 done=False（log step 265-268）。",
+   "log_step": 265
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "t": 265,
+    "log_step": 265,
+    "evidence_zh": "观察：视频 265-270.5 s 毯子右侧边缘释放后仍呈卷折、翘起，未达到平整贴桌（推断：局部褶皱处理不到位）。",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，毯子覆盖率/高度等原生指标 reward 中未报告；根因缺乏足够证据（agent 自述每次���拉后褶皱松弛复发），故根因层留空。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "观察：视频 270.8 s 内机器人多次用双夹爪牵拉毯子，毯子大体铺开但右侧边缘直到视频 270 s 仍卷折隆起，节点“毯子展平”未达成（final false）。断点在展平操作中；无状态日志，原生指标未报告，根因不明。",
+ "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 blanket_flattened 未达成（final false）与评分器 success=0 及视频末帧右侧卷折一致；断点、接触、现象与视频时间均无可证伪之处，根因留空并带 gap_zh 合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:35:52Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-07-i01-standard--eknubaj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-07-i01-standard--eknubaj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b66e72e473660769271e4f73090f66f2645187a421cab258f74925b34c129af5",
+   "video_sha256": "908842b27721815a7beb2c08e5d223d090e6073f9f28115b448d007f2830555b",
+   "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."
+ }
+}

phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--wguci73.json

@@ -0,0 +1,216 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-privileged--wguci73",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1541,
+   "submitted_actions": 1541,
+   "sim_steps": 1562,
+   "physics_steps": 15611,
+   "sim_time_s": 39.02749999999885,
+   "final_reward": 1.0,
+   "replay_wall_s": 4639.5,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 21,
+   "replay_tolerance_needed": 1,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 1,
+   "agent_sessions": 2,
+   "agent_resets": 13,
+   "agent_sim_steps": 0,
+   "agent_records": 23,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-flatten-08-i01-privileged--wguci73.mp4",
+  "duration_s": 39.134,
+  "fps": 15.0,
+  "frames": 587,
+  "sha256": "8363efd006f48466e8fa818d549c86c1b9cd01029d562ce7106102a2a5a460da"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 38.8,
+      "log_step": 161,
+      "text_zh": "观察：视频 38.8 s 俯视图毯子基本展成方形，左上角仍有轻微不齐，双爪已离开；评分器 strict_goal_reached=0、success=0。推断：覆盖率略低于 95%，展平未达成。"
+     },
+     {
+      "t": 0,
+      "log_step": 160,
+      "text_zh": "观察：视频 0 s 毯子横向折叠重叠；视频 10-20 s 机械臂拉开，30 s 后基本平铺。agent 自述最终释放态覆盖率 94.95%，差 95% 门槛 0.05 个百分点（log step 159、161）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频中左右夹爪分别捏住毯子不同片区并向外拉开、松手；固定底座，无底盘运动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "where": "终态验收",
+   "t": 38.8,
+   "evidence_zh": "观察：视频 38.8 s 毯子几乎平整、双爪已离开，但左上角仍有未完全展开处；评分器 strict_goal_reached=0。agent 自述覆盖率 94.95% 低于 95%（log step 159）。",
+   "log_step": 159
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "t": 38.8,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 38.8 s 俯视图毯子上缘（左上侧）呈斜向不齐、缺一块，双爪已离开；推断：评分服务读数 strict_goal_reached=0，agent 日志覆盖率 94.95% 略低于 95%（step 159）。",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因无证据（无状态日志，agent 自述不作根因证据），根因留空；现象来自视频可见的边缘不齐。",
+  "unmet": {
+   "blanket_flattened": false
+  }
+ },
+ "summary_zh": "观察：graded 视频中毯子被拉开并基本平铺，但 38.8 s 上缘仍斜向不齐；评分器 strict_goal_reached=0，唯一节点未达成。推断：覆盖率差一点（日志 94.95% < 95%），断点在展平终态验收；现象为位姿不准；根因证据缺口（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、时钟、接触基本正确（毯子未达95%，终态左上角仍有缺口）。但 failure.phenomena 留空：视频 38.8 s 可见左上边缘明显不齐、角未拉到位，是可见的失败现象，应标。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一节点未达成与评分器 success=0、strict_goal_reached=0 一致；38.8 s 俯视帧可见毯子左上缘斜向缺角，断点（终态验收）、接触（双臂协作+抓握）、现象（位姿不准）均有证据支持，根因留空并写明 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": "2026-11-08T08:46:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--wguci73/03_label"
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+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--wguci73/05_reconcile_r1"
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--wguci73/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4399887b079080ed3ffa0e69766d6545ddf809f4ec1b6dd61f257e9d3310b98c",
+   "video_sha256": "8363efd006f48466e8fa818d549c86c1b9cd01029d562ce7106102a2a5a460da",
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+  "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."
+ }
+}

phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--vbr74b9.json

@@ -0,0 +1,287 @@
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+ "video": {
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+  "url": "media:roboarc-blanket-flatten-08-i01-standard--vbr74b9.mp4",
+  "duration_s": 333.0,
+  "fps": 15.0,
+  "frames": 4995,
+  "sha256": "c0f10d59e3e5d2e9413400ace91140a7b38d7d45684629921d0da89bd895ee29"
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+ "progress": {
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+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 330.0,
+      "log_step": 330,
+      "text_zh": "观察：视频 0 s 为开局横向折叠；视频 100–160 s 俯视画面毯子接近矩形（边角略歪斜），夹爪已移到毯边或撤开；视频约 175–190 s 夹爪再次抓拉毯边，视频 200 s 起毯子变为歪斜、隆起的团状，视频 250 s、330 s 仍为隆起折叠团状，未展平。评分器 success=0（原生指标未给出，无法判断 100–160 s 近矩形时具体哪项联合条件未满足）；agent 末尾自述覆盖率约 53.7%，低于 95%（log step 330，仅作旁证）。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": {}
+ },
+ "native_metrics": [
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+   "unit": "ratio",
+   "threshold": 0.95,
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+   "direction": "lower_better"
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+   "unit": "m",
+   "threshold": -0.008,
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+  {
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+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
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+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
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+  {
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+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
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+   "threshold": 0.003,
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+   "where": "操作中",
+   "evidence_zh": "观察：视频 100–160 s 毯子接近矩形但评分器最终 success=0；视频约 175–190 s 起夹爪再抓拉，视频 200 s 后毯子退化为隆起团状，330 s 仍未展平。t=175 s 仅作导航锚点。"
+  },
+  "unmet": {
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+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "评分器未给出各原生指标数值，无法判断视频 100–160 s 近矩形时哪项条件未满足。视频约 176–232 s 夹爪确实夹住毯边并拖拉（腕部相机可见毯布在指间），毯面被拉成隆起团状；agent 自述“夹空”与画面不符，故不标没建立接触/抓取设计。具体失败机理（残留折叠/高度/释放条件）无法由帧或评分器数值判定，现象与根因留空。"
+ },
+ "summary_zh": "观察：单节点任务“毯子展平”未达成，评���器 success=0。视频 100–160 s 毯子接近矩形，约 176 s 起夹爪夹住毯边拖拉，200 s 后毯子成为隆起团状，330 s 仍未展平。断在操作中；具体失败现象与根因无法由帧或评分器数值判定，留空。",
+ "conf": 4,
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+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "final=false 与 success=0 一致，但标注只看了 6 帧，证据文字与视频不符：视频约 110–170 s 毯子已近乎展成矩形，之后（约 190 s 起）又被后续操作弄成隆起团状；现象与根因留空，而 agent 日志（评分前的真实会话）反复记录夹爪夹空，可标 没建立接触 / 抓取和接触设计。",
+    "n_issues": 6,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "final=false、断点 ref/where 合理，但 没建立接触 / 抓取和接触设计 仅来自 agent 自述，而视频 176–232 s 显示夹爪确实夹住并拖动毯边，自述“夹空”与画面不符；contact_actual 的 how 也应由帧判断。",
+    "n_issues": 3,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "三条 round-2 意见均已按 accept 落实：没建立接触现象与抓取和接触设计根因已删除并在 gap_zh 说明，contact_actual 改为 双臂协作/抓握，且与帧一致。",
+    "n_issues": 0,
+    "n_checks": 3
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "三条 round-2 意见均已按 accept 落实：没建立接触现象与抓取和接触设计根因已删除并在 gap_zh 说明，contact_actual 改为 双臂协作/抓握，且与帧一致。",
+   "checks_ok": "3/3",
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+ "provenance": {
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+  "created": "2026-11-08T08:49:27Z",
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+  "calls": [
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/05_reconcile_r1"
+   },
+   {
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+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/04_review_r2"
+   },
+   {
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+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/06_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": "fdea73909e2467e7f5485162516457d1b2ab0dce7bd4bb550f09510aa6fd2583",
+   "video_sha256": "c0f10d59e3e5d2e9413400ace91140a7b38d7d45684629921d0da89bd895ee29",
+   "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": {
+  "blanket_flattened": [
+   {
+    "who": "双臂协作",
+    "how": "抓握",
+    "note_zh": "观察：视频约 176–232 s 夹爪夹住毯边并拖拉，毯面随之被拉起变形（腕部相机可见毯布在指间）。"
+   }
+  ]
+ }
+}

phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-privileged--wehkgvb.json

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+ "video": {
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+    "evidence": [
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+      "text_zh": "观察：视频 12-16 s 两只夹爪抓住毯子远边并翻到近半片上；视频 18 s 起机器人撤到两侧，桌面上只剩约 600×240 的双层长方形毯，直到视频 33.7 s 末帧保持静止。评分器字段 strict_goal_reached=1、strict_goal_row=1347（仿真 33.65 s）、success=1，故到达时间取视频约 33.6 s（评分器确认窗口在视频末尾完成）。"
+     }
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+  },
+  {
+   "name": "stable_time",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：graded 视频中双臂夹爪在约视频 10-16 s 把毯子远半片翻到近半片上，18 s 后撤离，毯子保持双层折叠静止，评分器 strict_goal_reached=1（仿真 33.65 s），节点 final 真。到达时间取自视频末尾的确认窗口；评分器未给出各项分项数值（native_metrics 为 null），且无状态日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行标注基本正确：视频 12-16 s 双爪翻折，18 s 起撤离，毯子双层静止至末帧；strict_goal_row=1347 即最后一行，到达时间取视频约 33.6 s 与参考成功视频（确认在末尾）一致。接触（双臂协作+抓握）与帧相符。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:36:54Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-01-i01-privileged--wehkgvb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-01-i01-privileged--wehkgvb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "01e3b8de1c22e17c41e4100815c1451157d36013fb17e63d8cd4d16f5f37c257",
+   "video_sha256": "673ab172bf0b1083d29db3238a1a9b06cc4c613e74d6ef7433df380abda9a1c8",
+   "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": {
+  "blanket_folded": [
+   {
+    "who": "双臂协作",
+    "how": "抓握",
+    "note_zh": "观察：视频约 10-16 s 左右两只夹爪分别捏住毯子远边两侧布片，共同把远半片翻到近半片上后松手。"
+   }
+  ]
+ }
+}

phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--unew6hy.json

@@ -0,0 +1,305 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-01-i01-standard--unew6hy",
+ "taskKey": "roboarc/blanket_fold_01",
+ "dag_sha256": "f2fc63621488103c1d2a1d0d3685362e6c55c69995d562552a8eb587671c3155",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14919,
+   "live_rows": 14919,
+   "sim_steps": 14919,
+   "physics_steps": 149190,
+   "steps": 7413,
+   "elapsed_s": 10789.5,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.295,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.582,
+   "peak_cpus": 1.22,
+   "peak_pids": 238,
+   "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,
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-01-i01-standard--unew6hy.mp4",
+  "duration_s": 373.067,
+  "fps": 15.0,
+  "frames": 5596,
+  "sha256": "db29f7956b73502cd6a43ddffad3e4bf32fa29472ff4cd285764b552ba62265c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 373.0,
+      "log_step": 384,
+      "text_zh": "观察：视频 40 s 毯子仍整张平铺，视频 100-150 s 起夹爪抓提毯子，但此后毯子呈斜放、皱褶、局部叠起的不规则形状；视频 280-373 s 末帧毯子歪斜且有隆起，未形成对齐的双层 600×240 长方形。末帧 agent 自述 done=False（log step 384）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 100-150 s 左右夹爪都下探到毯子并提拉远边；之后多为单爪捏拽、拖动毯边（视频 200-360 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_named_point_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement_offset",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement_abs_angle",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_above_table",
+   "value": null,
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "clearance_lower_bound",
+   "value": null,
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_speed",
+   "value": null,
+   "unit": "mm/s",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_confirmation_drift",
+   "value": null,
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 120.0,
+   "log_step": 150,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 100-150 s 夹爪提拉��子后毯子歪斜皱叠，之后反复拖拽校正（视频 200-360 s）直到结束仍未得到对齐双层折形。agent 自述（非观察；log step 150 为 agent 时钟 3246.7 s，不是视频时间，与视频 120 s 仅为大致对应）：近边仍偏约 120 mm、转约 10°；log step 175 自述毯子有被勾住形成的斜向双层。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 150.0,
+    "log_step": 175,
+    "evidence_zh": "观察：视频 150-373 s 毯子斜放、皱褶、隆起，折边未对齐目标，末帧未成对齐双层长方形。",
+    "note_zh": "毯子被放下时位置/朝向偏离目标折形（位姿不准）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，无法量化各验收指标（native_metrics 均为 null）；根因证据不足，未判定（root_causes 为空：无日志或视频能区分抓取偏差与拖拽不当）。"
+ },
+ "summary_zh": "观察：视频 373 s 内毯子未形成对齐的双层折叠，目标节点未达成。推断：夹爪抓提后毯子歪斜皱叠，后续反复拖拽校正（视频约 150-360 s）未修复；agent 末尾自述 done=False（log step 384）。主要缺口：无状态日志，根因未判。",
+ "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、final=false、断点 blanket_folded 基本站得住（视频 20 s 双爪夹毯边，100-373 s 毯子歪斜皱叠，末帧未成双层）。主要问题：现象用了\"其他\"且 gap_zh 自认未核对分类表，而\"毯子折形位置/朝向偏差\"可归运动·位姿不准；根因为空时需写清依据。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达、final=false、断点 blanket_folded（操作中，约视频 100-120 s 毯子开始皱叠）和位姿不准现象与帧一致；无状态日志，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": "2026-11-08T08:45:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-01-i01-standard--unew6hy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-01-i01-standard--unew6hy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-01-i01-standard--unew6hy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-01-i01-standard--unew6hy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "112c1fd656feeaa42584159e3a388cf0906b81005fc80b4835f31c75f6d1a816",
+   "video_sha256": "db29f7956b73502cd6a43ddffad3e4bf32fa29472ff4cd285764b552ba62265c",
+   "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."
+ }
+}

phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--fc6gsms.json

@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
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+  "source": "catalog",
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+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-03-i01-privileged--fc6gsms.mp4",
+  "duration_s": 47.8,
+  "fps": 15.0,
+  "frames": 717,
+  "sha256": "70ed5bdf22f99a8d01cc4d62611ab1963d6e0442db425dff1e4b45c08c758455"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 47.7,
+      "log_step": null,
+      "text_zh": "观察：视频 47.7 s（末帧）毛毯是平铺的双层长方形，夹爪已离开，但整体相对目标偏移/略转，边缘有起伏；与示范成功视频的平整对齐布叠不同。评分器 success=0、strict_goal_reached=0，故未完成。起始状态已是近似折叠但左近角错位，视频中布被展开再折回。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 6–40 s 左右两只夹爪分别捏住毛毯远侧两角，抬起、展开并折回，随后松开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
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+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
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+  {
+   "name": "named_points_mm.LF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
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+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement.offset_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 40.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 6–40 s 双臂抓起远侧两角，展开再折回，末帧（47.7 s）布叠平铺但位置/边线与目标不符，评分 success=0。折叠步骤未被修复。"
+  },
+  "unmet": {
+   "blanket_folded": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 47.7,
+    "log_step": null,
+    "evidence_zh": "观察：视频 47.7 s 最终布叠已松手、静置，但位置/角点与目标有偏差。推断：agent 离线检查（log step 346，会话证据）显示候选轨迹角点误差 52–104 mm、层序不达标，与视频所见一致。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，无法量化最终角点误差；评分器未给出各项指标；根因未能从视频确定（agent 会话中多次因夹爪抓不住布层/布卷绕指而反复重试，但那是会话证据），故根因留空。"
+ },
+ "summary_zh": "观察：graded 视频 47.8 s 中机器人双臂抓远侧两角展开再折回，末帧得到平铺双层布叠但与目标位置/层序不符，评分器 success=0，折叠节点未达成。断点在折叠操作中，现象为位姿不准；无状态日志，根因证据不足。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点失败标注与视频一致：末帧布平铺但偏移/略转，success=0；双臂抓握、断点在折叠操作中、位姿不准均有视频支持；根因留空并附 gap_zh 可接受（agent 离线检查与视频一致，无回放不一致证据）。",
+    "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": "2026-11-08T08:36:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--fc6gsms/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-privileged--fc6gsms/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6f07cdd6e3dd92951283c908f4bf70e586ab34304e9572ab85f30bb6992eb019",
+   "video_sha256": "70ed5bdf22f99a8d01cc4d62611ab1963d6e0442db425dff1e4b45c08c758455",
+   "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."
+ }
+}

phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--ckb55h8.json

@@ -0,0 +1,358 @@
+{
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+ "outcome": {
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+  "source": "catalog",
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+   "missing_log": 0,
+   "n_actions": 12560,
+   "live_rows": 12560,
+   "sim_steps": 12560,
+   "physics_steps": 125600,
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+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
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+   "initial_state_generated": 0,
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+   "resource_enforced": 0,
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+   "resource_monitor_missing": 0,
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+   "peak_disk_gb": 0.792,
+   "peak_cpus": 1.25,
+   "peak_pids": 208,
+   "resource_memory_kills": 0,
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+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-03-i01-standard--ckb55h8.mp4",
+  "duration_s": 314.067,
+  "fps": 15.0,
+  "frames": 4711,
+  "sha256": "92ca424ff0b3c2ed453ad63175ec108d995006a0a2573cb47d97e6723a4e023f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 6,
+      "text_zh": "观察：视频 0-20 s 毛毯为近似平整的长方形、两夹爪尚未触碰，未见 600×240 mm 双层叠；视频 40-53 s 夹爪提起远端后才开始起皱。日志 step 6 的远边不齐为 agent 自述（agent 时钟，与视频无转换）。"
+     },
+     {
+      "t": 60,
+      "text_zh": "观察：视频 40-53 s 两夹爪在毛毯远端捏取，视频 60 s 起毛毯已皱成不规则团，视频 90 s、120 s 仍散乱，之后（视频 180-280 s）呈扭曲窄条/三角形，从未出现平整双层叠。"
+     },
+     {
+      "t": 313,
+      "log_step": 225,
+      "text_zh": "观察：视频 313 s（末帧附近）毛毯仍为歪斜扭曲的一块，双臂已退开；日志：agent 最终报告自述未完成（log step 225，agent 时钟，无视频换算）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 40-300 s 两只二指夹爪分别捏住毛毯布片提起、拖拽、翻转；日志旁证：后期 agent 自述左手多次丢失布片（log step 213、223，agent 时钟）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm.LN",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.LF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RN",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "named_points_mm.RF",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement.offset_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_placement_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_folded",
+   "t": 60,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 40-53 s 两夹爪提起毛毯远端，视频 60 s 毛毯已皱成团，随后视频 90-120 s 仍散乱，视频 180-313 s 反复抓取重整仍未恢复为双层折叠。log step 44 为同一阶段的会话旁证（agent 自述松手后布片摆起、被钩住），agent 时钟与视频时钟无转换，时间以视频为准。",
+   "log_step": 44
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 60,
+    "evidence_zh": "观察：视频 60 s 起夹爪提起后毛毯皱成团、未能保持展开形态，视频 240-300 s 仍见夹爪处布片滑落、反复重抓。日志旁证：log step 213、223 agent 自述左手抓空/松脱（agent 时钟，无视频换算）。",
+    "log_step": 213
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "日志：多次试抓只在布片边缘/凸起上浅捏（log step 76 试提时布片未跟随，agent 自述抓点在布片边界而非指垫之间），整体折叠靠不稳的局部捏取，布片被夹爪钩住。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，毛毯各验收指标（角点误差等）未在 run.json 中报告，native_metrics 值为 null；视频仅 314 s 且已压缩，无法逐步对应 agent 时钟（10481 s），log_step 仅作会话证据。",
+  "unmet": {
+   "blanket_folded": false
+  }
+ },
+ "summary_zh": "观察：图像显示毛毯从未形成目标双层折叠（节点 blanket_folded 最终未达成，视频 313 s 仍扭曲歪斜）。推断：断在折叠操作中，视频约 60 s 提起远端后布片皱成团，后续多次抓取重整，左手夹持反复丢失；主要证据缺口是无状态日志和验收指标。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成（final=false）正确；但断点时间/证据把 agent 日志步号（log step 44，agent 时钟 1504 s）直接对应到视频 120 s，无映射依据；视频显示毛毯在约 60 s 前后已被夹起并皱成团，120 s 时早已散乱。断点证据与 phenomenon 的时间锚也需改为帧所见。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 blanket_folded（视频约 60 s，操作中）、接触标签与单一现象基本成立；仅 evidence[0] 的“0 s 毛毯已是皱起窄条”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 已按建议改写 evidence[0]，与审阅所述帧一致，未破坏其他内容。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按建议改写 evidence[0]，与审阅所述帧一致，未破坏其他内容。",
+   "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": "2026-11-08T08:49:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/06_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": "887d90519f4d960b506430f4c5b67a6a366f7df7a0e7fe465305ed854863f4bc",
+   "video_sha256": "92ca424ff0b3c2ed453ad63175ec108d995006a0a2573cb47d97e6723a4e023f",
+   "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."
+ }
+}

phaseK/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--dyvqoif.json

@@ -0,0 +1,196 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-privileged--dyvqoif",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "outcome": {
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+  "raw": {
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+   "success_pending_review": 0,
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+   "deterministic": 1,
+   "gpu_backend": 1,
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+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
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+   "assets_exact": 1,
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+   "replay_wall_s": 3142.4,
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+   "video_rendered": 1,
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+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 3833,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 0,
+   "agent_resets": 0,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
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+   "limits_violation_observed": 0,
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+   "peak_disk_gb": 0.0,
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+   "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,
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+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-04-i01-privileged--dyvqoif.mp4",
+  "duration_s": 95.934,
+  "fps": 15.0,
+  "frames": 1439,
+  "sha256": "9fdcf64ec4799fb1d534d0d9db6309051f981a04105235ef41d1940323df635a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      66,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 66,
+      "log_step": null,
+      "text_zh": "观察：视频 60 s 双臂夹爪提起毯子远边并向近侧翻折，64 s 翻折过半，68 s 起俯视图呈 600×240 双层窄条，远半幅在上；时间约 ±2 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右夹爪各捏毯子远边不同区域，把远半幅翻到近半幅上（视频约 56-66 s）"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      80,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 80,
+      "log_step": null,
+      "text_zh": "观察：视频 76 s 左夹爪捏起上层左近角翻折，80-84 s 三角叠片平放于上层，84 s 后右臂靠近调整并在 95.8 s 前保持折角；评分器 strict_goal_reached=1，success=1，故终局为真。时间约 ±3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪捏住上层左近角向内翻折，另一夹爪随后靠近压/整理（视频约 72-90 s）"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "推断：该 run 为成功（reward 1.0，strict_goal_reached=1）。观察：视频约 66 s 完成对折，约 80 s 完成上层左近角折入，随后松手退离至 95.9 s 结束；两个节点均为 true。无状态日志，节点时间由视频目测，误差约 2-3 s；agent 因时限未完成两次独立重放验证，但评分器重放确定性为 1。",
+ "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 run，两个节点均为真，时间与接触标注与视频帧一致（约 66 s 对折、约 80 s 折角），无失败标注，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": "2026-11-08T08:36:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--dyvqoif/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-privileged--dyvqoif/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "afbb4cd7d2db1943d3bb819227ff509e21c8df2cf9fcc3c920a3a432f1c9062a",
+   "video_sha256": "9fdcf64ec4799fb1d534d0d9db6309051f981a04105235ef41d1940323df635a",
+   "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."
+ }
+}

phaseK/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--fdzuwwc.json

@@ -0,0 +1,339 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-04-i01-standard--fdzuwwc",
+ "taskKey": "roboarc/blanket_fold_04",
+ "dag_sha256": "9646aab4be791e8d257759077649dc82df41242311290e680e0953c1eedff53b",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
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+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 15899,
+   "live_rows": 15899,
+   "sim_steps": 15899,
+   "physics_steps": 158990,
+   "steps": 6387,
+   "elapsed_s": 10735.5,
+   "video_rendered": 1,
+   "video_pending": 0,
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+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
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+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-04-i01-standard--fdzuwwc.mp4",
+  "duration_s": 397.534,
+  "fps": 15.0,
+  "frames": 5963,
+  "sha256": "e5ed2b6fa4e5a565e746f6d3a2681fdfa1ffa8b49940dde3828aa823918e0f61"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 397.4,
+      "log_step": 295,
+      "text_zh": "观察：视频 397.4 s 末帧毯子在桌面上呈展开、整体倾斜的单层大矩形，未形成600×240毫米双层叠；视频约37 s 左手单手捏角折角，约50-62 s 松手后叠层散乱，此后长时间铺平/对位、多次抓边，毯子始终为展开状，未做远半幅翻折。观察：agent 末条自述“cloth remains open rather than half-folded”（log step 295），服务终态 done:false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：早期（约25-45 s）左手单手捏住左角做折角；约60-300 s 两手捏角铺平、对位（此阶段可视为双臂协作），未做远半幅翻折，未形成稳定对折。"
+     }
+    ]
+   },
+   "top_corner_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 397.4,
+      "log_step": 295,
+      "text_zh": "观察：视频 397.4 s 毯子仍为展开状，无斜折痕与三角叠片；前置节点未达成，agent 自述折角未形成（log step 299）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "named_points_mm_max",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement_offset_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement_angle_deg_abs",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_above_table_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_release_clearance_from_expanded_aabb_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_confirmation_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "confirmation_duration_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "where": "操作中",
+   "t": 60,
+   "log_step": 60,
+   "evidence_zh": "观察：视频约37 s 左手捏住左角抬起做折角（agent 先试折角，log steps 35-47 自述），约50-62 s 松手后叠层散乱、展开（自述 step 47 “settled with a bunch”）；此后（约75-300 s）为双手铺平/对位和多次抓边，从未形成双层对折。末帧毯子展开倾斜。reward 未给出各指标，success 0。 注：log_step 60 为按 sim_time_s（步30≈4.5 s、步215≈307 s，线性内插）对应视频约 60 s 的步，仅作时钟对齐；agent 自述 log step 153 约对应视频 200 s，两钟不转换，该自述只用于 gap_zh。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "现象与根因留空：真实经过为先单手折角、松手后叠层散乱，随后长时间铺平/对位并多次抓边；视频分辨率和视角不足以逐次确认每次抓边是滑脱还是未夹住，故未选现象（如没保持住）。agent 自述（log step 153）称夹爪夹在角尖、只有一侧有布，属自述未经视频核实。reward 未给出 native_metrics 数值，故为 null。",
+  "unmet": {
+   "blanket_half_folded": false,
+   "top_corner_folded": false
+  }
+ },
+ "summary_zh": "观察：本次 standard 运行约 397 s 视频内两个节点均未达成：毯子未形成双层对折，末帧仍展开且倾斜，也没有折角。断点为对折步骤的操作中；现象和根因因证据不足留空。主要缺口：无状态日志，无各指标数值。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "两个节点未达成（末帧毯子展开、无双层叠、无折角）与视频一致；接触 双臂协作+抓握 合理。问题：断点 log_step 153 与 t=60 s 时钟不符（按 sim_time_s 步153约对应视频 200 s 前后，而非 60 s），且该步自述被用作 gap 理由。现象/根因留空在证据不足时可接受。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "两节点未达成与末帧一致；但断点证据和 contact_actual 把过程描述成「反复抓远侧边翻折对折」，视频与 log 显示并非如此：先是单手捏左角做折角，松手后毯子散乱，随后长时间做铺平/对位、多次抓边失败。需改写证据与接触。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "三个 accept 的修改均已在 prev/trajectory.json 中完整落实，与视频帧一致，未发现新的事实错误。",
+    "n_issues": 0,
+    "n_checks": 3
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "三个 accept 的修改均已在 prev/trajectory.json 中完整落实，与视频帧一致，未发现新的事实错误。",
+   "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": "2026-11-08T08:49:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/03_label"
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+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/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": "065402347719d5a2f876cef22814b918d41b3c298ef1656afa0f53bbc46ec21c",
+   "video_sha256": "e5ed2b6fa4e5a565e746f6d3a2681fdfa1ffa8b49940dde3828aa823918e0f61",
+   "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."
+ }
+}

phaseK/roboarc/blanket_fold_05/trajectories/roboarc-blanket-fold-05-i01-privileged--5j9muv3.json

@@ -0,0 +1,235 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-05-i01-privileged--5j9muv3",
+ "taskKey": "roboarc/blanket_fold_05",
+ "dag_sha256": "e893bf5408dd5bb5a54fbfd6c255f1e6f309d086851861f4bc5c1c2602d71d60",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 4099,
+   "submitted_actions": 4099,
+   "sim_steps": 4099,
+   "physics_steps": 40990,
+   "sim_time_s": 102.47500000000618,
+   "final_reward": 0.0,
+   "replay_wall_s": 3417.6,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 12,
+   "agent_sim_steps": 0,
+   "agent_records": 30,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-05-i01-privileged--5j9muv3.mp4",
+  "duration_s": 102.534,
+  "fps": 15.0,
+  "frames": 1538,
+  "sha256": "5341cc063989023bea901cf57b3458d2cfe8be1d022a7a0b913edd3aeab55b0b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 56.0,
+      "log_step": null,
+      "text_zh": "观察：视频 50 s 毯子仍被双爪提起、皱成一团；视频 56 s 起俯视可见毯子成为双层长条（远半幅叠在近半幅上，表面有褶皱）。推断：对折约在视频 54-56 s 形成（时间不确定约 ±3 s），此后至结束保持长条形。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 20-55 s 两只二指夹爪各捏住毯子一处提起并翻到另一半上。"
+     }
+    ]
+   },
+   "top_corner_dog_eared": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 102.4,
+      "log_step": 247,
+      "text_zh": "观察：视频 62-102.4 s 左右夹爪在近左角附近多次接近、整理，但终帧（视频 102.4 s）长条近左角无清晰的 45° 上层三角折片，布边仍有褶皱和错层。agent 最终自述（log step 247）实时评估未过：左前点误差 123.2 mm（阈值 55）、堆叠匹配 0.590/0.333、轮廓 IoU 0.841、最大高差 80 mm。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 56-100 s 左夹爪在近左角附近夹取/整理布角，但未形成折角；是否真正抓住难以从俯视确认。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_corner_dog_eared",
+   "where": "操作中",
+   "t": 80.0,
+   "evidence_zh": "观察：对折后（视频 56 s 起）左夹爪反复整理近左角，终帧（视频 102.4 s）近左角为皱褶、无清晰 45° 折片，评分未通过。旁证（agent 会话内实时评估，非受评回放，log step 246 EVAL 输出）：左前点误差 123.2 mm、右前点 58.1 mm，阈值 55 mm。",
+   "log_step": 246
+  },
+  "phenomena": [
+   {
+    "t": 102.4,
+    "log_step": 246,
+    "evidence_zh": "观察：视频 62-102.4 s 近左角为皱褶、无合格折角，位置/形状与目标不符。旁证（agent 会话内实时评估，非受评回放，log step 246）：角点误差 123.2/58.1 mm、最大高差 80 mm。",
+    "cat": "运动",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志；俯视无法确认夹爪是否夹住折角，故不给根因。agent 在 log step 84 的“跟踪滞后、抓持丢失”自述只属会话内一次试验（agent_replays=0），不是受评回放的观察，不作根因。对折形成时间约 ±3 s。",
+  "unmet": {
+   "top_corner_dog_eared": false
+  }
+ },
+ "summary_zh": "观察：对折在视频约 55 s 形成并保持，上层折角未完成（终帧无合格 45° 折片，agent 自述 log step 247 评估未过）。断点在上层折角的操作中，现象为折角位置不准，根因仅能定到控制层。证据缺口：无状态日志，夹持细节被遮挡。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度与断点基本成立（对折约55 s形成，折角未成，终帧长条皱、近左角无45°折片）。主要问题：根因“控制”只依据agent在log step 84对会话内一次搬运的自述，不是受评回放的观察；且log step 247引用不准确。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "对折约55 s形成、折角未成、断点与位姿不准现象均与视频一致；根因已按上轮删除并在gap_zh说明，无新增错误。",
+    "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": "2026-11-08T08:46:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-privileged--5j9muv3/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-privileged--5j9muv3/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-privileged--5j9muv3/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-privileged--5j9muv3/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f4bf40878c15cb04a426ecea9242209b35ee8de408f4de2c56a5ba7d1b987806",
+   "video_sha256": "5341cc063989023bea901cf57b3458d2cfe8be1d022a7a0b913edd3aeab55b0b",
+   "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."
+ }
+}

phaseK/roboarc/blanket_fold_05/trajectories/roboarc-blanket-fold-05-i01-standard--igcaxkc.json

@@ -0,0 +1,315 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-05-i01-standard--igcaxkc",
+ "taskKey": "roboarc/blanket_fold_05",
+ "dag_sha256": "e893bf5408dd5bb5a54fbfd6c255f1e6f309d086851861f4bc5c1c2602d71d60",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14616,
+   "live_rows": 14616,
+   "sim_steps": 14616,
+   "physics_steps": 146160,
+   "steps": 7018,
+   "elapsed_s": 10631.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.502,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.415,
+   "peak_cpus": 0.95,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-05-i01-standard--igcaxkc.mp4",
+  "duration_s": 365.467,
+  "fps": 15.0,
+  "frames": 5482,
+  "sha256": "6a726a97e0b202902544db7996ead84e476f74c4c7b0c6880fcae4aed107ceac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_half_folded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 360.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程（粗采样每15 s）毯子始终是皱褶、错层的不规则形状，未见远半幅整齐翻到近半幅上形成约600×240 mm的双层长条（对照oracle视频 ~16-24 s 的整齐长条）；末帧（视频 365.4 s）毯子仍皱成团，两爪张开后撤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频中两只二指夹爪反复夹住毯子边角拉扯、整理（如 ~60-330 s 各帧），但未形成对折。"
+     }
+    ]
+   },
+   "top_corner_dog_eared": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 365.4,
+      "log_step": null,
+      "text_zh": "观察：末帧俯视毯子形状不规则、多处起皱，没有清晰的单层45度三角折角；前置的对折未达成；评分器 success=0（final 未确认，agent 末次回复称 done=False，log step 612）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "推断/agent 自述：agent 称夹爪夹住近左角区域整理折角（log step 592-605）；视频末段只见夹爪在毯子附近，未确认夹住近左角，折角未成形。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "corner_error_max",
+   "value": null,
+   "unit": "mm",
+   "threshold": 55,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stacking_all",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.88,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stacking_covered",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outline_iou_fitted",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "dz_max",
+   "value": null,
+   "unit": "mm",
+   "threshold": 35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "over_target",
+   "value": null,
+   "unit": "mm",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement_offset",
+   "value": null,
+   "unit": "mm",
+   "threshold": 40,
+   "direction": "lower_better"
+  },
+  {
+   "name": "placement_angle_abs",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_relative_table",
+   "value": null,
+   "unit": "mm",
+   "threshold": -8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_expanded_box",
+   "value": null,
+   "unit": "mm",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_speed",
+   "value": null,
+   "unit": "mm/s",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_confirmation_drift",
+   "value": null,
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_half_folded",
+   "t": 60.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频全程毯子皱褶凌乱，从未形成整齐的双层对折长条；末帧（视频 365.4 s）仍是皱团。推断：第一步对折未完成，之后的折角步骤也未成立。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "现象留空：视频粗采样只见毯子被反复拉扯、皱成团，未见某次明确的错位翻折，无法区分没保持住/位姿不准；末帧形状与目标不符只是复述未达成指标（N10），不作现象。根因证据不足：agent 自述右夹爪滑脱、手指挂住布圈（log step 584、605），但视频只做了粗采样，未逐段核实；评分器未给分项指标（reward 仅 success=0），native_metrics 均为 null。",
+  "unmet": {
+   "top_corner_dog_eared": false
+  }
+ },
+ "summary_zh": "观察：graded 视频（365 s）中毯子始终皱乱，对折和上层折角两个节点都未达成（0/2），评分器 success=0。断在第一步对折（视频全程未见整齐双层长条），现象与根因证据不足，均留空（见 gap_zh）。证据缺口：视频仅粗采样检查，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": 5,
+    "summary_zh": "视频抽样（约 0–365 s）确认毯子始终未形成整齐双层长条，两节点未达成与断点 blanket_half_folded 基本成立；但折角节点接触依据来自 agent 自述却标为观察，且唯一现象“位姿不准”只复述了未达成对折这一结果，未指出具体失败过程。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽帧复核：视频 0–365 s 毯子始终皱乱，未形成整齐双层长条，两节点未达成、断点 blanket_half_folded 成立；现象/根因留空并有 gap_zh，因证据仅来自 agent 自述与粗采样，处理合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:46:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-standard--igcaxkc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-standard--igcaxkc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-standard--igcaxkc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-05-i01-standard--igcaxkc/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cd68c913e7861570ad9b31e5b5af649c535f46865be0b0a374088a99965a310b",
+   "video_sha256": "6a726a97e0b202902544db7996ead84e476f74c4c7b0c6880fcae4aed107ceac",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--cvajmkn.json

@@ -0,0 +1,186 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-privileged--cvajmkn",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 43,
+   "agent_resets": 43,
+   "agent_sim_steps": 24341,
+   "agent_records": 18,
+   "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": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1，未交付可回放轨迹，无法判断该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1，未交付可回放轨迹，无法判断该节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 missing_trajectory=1，agent 会话共 43 次重置、agent_replays=0，未交付轨迹；最后 log step 441 仍在调试 IK 恢复脚本（agent 自述）。",
+   "log_step": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且 missing_trajectory=1：没有被评分的轨迹，agent 只在会话中反复测试（约 10800 s 预算用尽），按规则不据会话证据给现象和根因。",
+  "unmet": {
+   "wire_traversed": null,
+   "tool_on_finish_support": null
+  }
+ },
+ "summary_zh": "观察：agent 在约 10800 s（agent 时间）预算内反复调试沿线 IK 轨迹，评分器记录 missing_trajectory=1，未交付轨迹，两个节点均无法判断（无视频、无状态日志）。断点未知，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": 7,
+    "summary_zh": "无视频、无状态日志，评分记录 missing_trajectory=1、agent_replays=0，未交付轨迹；两节点 unknown/final null、现象与根因为空并带 gap_zh，符合 N9 与 OPEN-16，未把会话测试当作被评分轨迹的事实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:36:18Z",
+  "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/roboarc-buzz-wire-3d-01-i01-privileged--cvajmkn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-privileged--cvajmkn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a42f966e6ee884fdfbd9097923e0aa6eac789f5f015d9f96c29a07a5a9ca70c4",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--g7swrs2.json

@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-01-i01-standard--g7swrs2",
+ "taskKey": "roboarc/buzz_wire_3d_01",
+ "dag_sha256": "d23bc0e98b6a63fe1839e0af463b5396eda975513d4942a86d72433aeb161750",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 14,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6079,
+   "live_rows": 6079,
+   "sim_steps": 6079,
+   "physics_steps": 60786,
+   "steps": 2627,
+   "elapsed_s": 10789.7,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-01-i01-standard--g7swrs2.mp4",
+  "duration_s": 152.067,
+  "fps": 15.0,
+  "frames": 2281,
+  "sha256": "fb8db159cc73aaed028a5f8d8ab414a57e3d869eacfb4938e1e8b0e4fad1e55c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 125.0,
+      "log_step": null,
+      "text_zh": "观察：视频 125 s 夹爪握住带木柄的环，环在导线上方横跨段起点附近。"
+     },
+     {
+      "t": 150.0,
+      "log_step": 347,
+      "text_zh": "观察：视频 144-152 s 环沿上方横跨段到达右上拐角，尚未下降到右侧终点；视频 152 s 夹爪与导线拐角处接触，终点前10 mm未到。agent 最后自述 done=True, reason=\"wire_touched\"（log step 348，实时服务读数）。推断：遍历未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "机器人夹爪夹住木柄移动环沿线走"
+     },
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "视频约 150-152 s 环/杆在右上拐角碰到导线，评分器以 wire_touched 终止"
+     }
+    ]
+   },
+   "tool_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 152.0,
+      "log_step": 348,
+      "text_zh": "观察：视频末帧工具仍在手中、未到终点木台；遍历未完成，放置未开始。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 151.0,
+   "log_step": 348,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 144-152 s 环到达右上拐角、即将下降时与导线接触；log step 348 服务读数 done=True reason=wire_touched，回合结束。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 151.0,
+    "log_step": 348,
+    "evidence_zh": "观察：视频约 150-152 s 环/金属杆在右上拐角碰到导线，评分器立即终止（wire_touched）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，碰线的具体几何原因（位姿偏差或跟踪）无法从视频判定，故根因留空。",
+  "unmet": {
+   "wire_traversed": false,
+   "tool_on_finish_support": false
+  }
+ },
+ "summary_zh": "观察：机器人夹住木柄，视频 125-150 s 沿线走过上升段和上方横跨段，到右上拐角（视频约 151 s）时碰线，回合以 wire_touched 终止。节点1未达成，节点2未开始；为 0/2。碰线原因缺证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 125-152 s 夹爪握柄、环沿上方横跨段走到右上拐角尚未下降，两节点未达成，断点 wire_traversed、现象被挡/碰撞与 log step 347-348（wire_touched，服务读数）一致；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": "2026-11-08T08:36:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--g7swrs2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-01-i01-standard--g7swrs2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "70445b4222b101e244e9042bb3edecd53a04605ba876240873edb5c7dead6f87",
+   "video_sha256": "fb8db159cc73aaed028a5f8d8ab414a57e3d869eacfb4938e1e8b0e4fad1e55c",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-privileged--bxqjaut.json

@@ -0,0 +1,195 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-02-i01-privileged--bxqjaut",
+ "taskKey": "roboarc/buzz_wire_3d_02",
+ "dag_sha256": "35b7681bfd3d5b86305d4212ed2727ea7f8608426d8fbedd400758048cb51cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 45,
+   "agent_resets": 0,
+   "agent_sim_steps": 11870,
+   "agent_records": 20,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 248,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、success=0（run.json reward）；agent 最终报告（log step 248）称未产出 /app/output/trajectory.npz，没有可回放的交付轨迹。推断：无已交付的图形化回合，该节点未达成；无视频，intervals 为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹，评分回合中没有机器人动作。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 248,
+      "text_zh": "观察：评分器字段 missing_trajectory=1、success=0（run.json reward）；agent 最终报告（log step 248）称未产出 /app/output/trajectory.npz，没有可回放的交付轨迹。推断：无已交付的图形化回合，该节点未达成；无视频，intervals 为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹，评分回合中没有机器人动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "route_cursor_m",
+   "value": null,
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": 248,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1；agent 最终报告（log step 248）称未生成 trajectory.npz，只有开发中的诊断轨迹，其最近一次尝试在起始抬升时机器人连杆碰线（agent 自述，session 测试）。推断：没有交付轨迹，被评分回合中机器人未执行任何走线动作。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish_support": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；未交付任何轨迹（agent 侧原因），session 内的试验（IK 可达性搜索、连杆碰线）只是 session 证据，按规则不作现象；根因证据不足，两层留空。native_metrics 评分器未报告。"
+ },
+ "summary_zh": "观察：agent 在约 10005 agent 秒内反复做 IK 可达性搜索和整条路线的离线执行，直到结束（log step 248）都没有产出可回放的 trajectory.npz，评分器 missing_trajectory=1。两个节点（金属环走完全线、工具放到终点）均未达成，断点为 wire_traversed（首步前，无交付）。无视频与状态日志，现象和根因证据不足而留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无交付轨迹（missing_trajectory=1，log step 248 自述未产出 trajectory.npz）；两节点 false、首步前断点、现象与根因留空并附 gap_zh，均与证据一致，时间均标明 agent 时钟，��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": "2026-11-08T08:36:35Z",
+  "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/roboarc-buzz-wire-3d-02-i01-privileged--bxqjaut/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-02-i01-privileged--bxqjaut/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d8e8fdbdde923c7af505f615d653b40ae04e37d7156b90e1357c2a65ca3abc5b",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4.json

@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-02-i01-standard--i2bckm4",
+ "taskKey": "roboarc/buzz_wire_3d_02",
+ "dag_sha256": "35b7681bfd3d5b86305d4212ed2727ea7f8608426d8fbedd400758048cb51cff",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 34,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6764,
+   "live_rows": 6764,
+   "sim_steps": 6764,
+   "physics_steps": 67635,
+   "steps": 2199,
+   "elapsed_s": 10253.1,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-02-i01-standard--i2bckm4.mp4",
+  "duration_s": 169.2,
+  "fps": 15.0,
+  "frames": 2538,
+  "sha256": "cd352e8345ff0dab5a16b3882bd2601db47d4707679f1fd1e2075f3fc132c310"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 169.0,
+      "log_step": 427,
+      "text_zh": "观察：视频 165–169.1 s 夹爪与工具始终在左侧起始立柱旁，无前进；环没有沿铜线越过弯曲段，终点立柱处无工具。触线只来自 log 427 服务读数（chunk_0 reason=wire_touched），视频中不可辨。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹住工具木柄（视频 156–169 s 可见夹爪持工具停在起始立柱旁）。"
+     },
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "log step 427（第二次执行段）：服务回报环/杆碰到固定铜线（wire_touched），回合终止；视频中触线帧不可辨。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 169.0,
+      "log_step": 427,
+      "text_zh": "观察：视频末帧终点支座上没有工具；前置节点未达成，未放置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "route_cursor_m",
+   "value": null,
+   "unit": "m",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 168.0,
+   "log_step": 427,
+   "where": "操作中",
+   "evidence_zh": "观察：log 372 第一段 80 控制步（视频约 166.2–168.15 s）执行后读到压力 236.1 N、未终止（跟踪误差 0.0197）；agent 离线重规划后 log 427 再执行 38 步（视频约 168.15–169.09 s）即服务回报 chunk_0 reason=wire_touched（压力 141.7）并终止。视频 165–169.1 s 工具仍在起始立柱附近。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish_support": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 168.0,
+    "log_step": 427,
+    "evidence_zh": "观察：log 427 服务读数 wire_touched，压力 141.7，回合终止（第二次执行，38 控制步）。视频中工具在起始立柱处，触线帧在缩小的多视角画面中不可辨，不据此断言环碰线的具体位置。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：log 427 chunk_0 末端跟踪误差 0.227 rad（log 372 同类段为 0.0197），dt 在 log 426 被改为 0.075。推断：执行与规划轨迹偏差导致触线，具体子类型不明。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "视频多视角缩小，触线瞬间的精确接触点看不清；根因子类型无法确定。"
+ },
+ "summary_zh": "观察：graded 回合中 Franka 夹着工具停在起始立柱附近；log 372 首个 80 步执行段未终止，log 427 第二次执行 38 步后被服务判定 wire_touched 并终止，两个节点均未达成（0/2）。断点为走线步，现象为触线碰撞，根因只能定到控制层；触线瞬间在视频中不清晰。",
+ "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(两节点均未达成)、断点步骤和 wire_touched 现象方向正确，但文件把触线说成“首个执行段(38 步)”，与日志不符：log step 372 已执行过一段 80 控制步的轨迹（压力读数 236.1 N，未终止），触线发生在 log 427 的第二段；根因证据还把 log 417 关于终点 dogleg 的自述当作起点触线的原因。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两节点均未达成、断点 wire_traversed、wire_touched 触线现象和控制层根因均有 log 427 服务读数与视频（工具一直在起始立柱旁）支持；上一轮问题已修正，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:46:47Z",
+  "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/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b0540fa808efd9a18e1de08068e33cd4ff4140ef24c3542200c39fa4ce149e9a",
+   "video_sha256": "cd352e8345ff0dab5a16b3882bd2601db47d4707679f1fd1e2075f3fc132c310",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--7azrtp9.json

@@ -0,0 +1,173 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-04-i01-privileged--7azrtp9",
+ "taskKey": "roboarc/buzz_wire_3d_04",
+ "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 332,
+   "agent_resets": 27,
+   "agent_sim_steps": 6975,
+   "agent_records": 8,
+   "agent_replays": 21,
+   "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": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 680,
+      "text_zh": "观察：无视频、无状态日志；run.json 的 reward 只给 success=0、missing_trajectory=1，没有节点字段。agent 最终自述（log step 680）未生成 /app/output/trajectory.npz，没有交付轨迹。节点进度无法判定，故 intervals/final 为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），评分回放中机器人未执行任何动作。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 680,
+      "text_zh": "观察：无视频、无状态日志；run.json 的 reward 只给 success=0、missing_trajectory=1，没有节点字段。agent 最终自述（log step 680）未生成 /app/output/trajectory.npz，没有交付轨迹。节点进度无法判定，故 intervals/final 为 null。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），评分回放中机器人未执行任何动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "where": "首步前",
+   "t": null,
+   "log_step": 680,
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1，agent 最终报告（log step 680）称只在会话内验证到路线顶点 139，未创建 /app/output/gen.py 与 trajectory.npz，因此没有被评分的轨迹，沿线步骤在评分回放中从未开始。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "没有视频也没有状态日志；因 agent 方面原因未交付轨迹（会话内路径规划未完成），按规则会话证据不作为现象，现象与根因两层留空。",
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish_support": null
+  }
+ },
+ "summary_zh": "观察：agent 在约 10700 s 的会话中（log step 680）只验证了路线到顶点 139，未交付轨迹，评分器 missing_trajectory=1、success=0。两个节点均无法从视频或状态日志判定，进度记为未知；断点为金属环走完全线（首步前）。无视频、无状态日志，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": 7,
+    "summary_zh": "无视频、无状态日志，未交付轨迹（missing_trajectory=1），节点 unknown、contact 不适用、断点 wire_traversed/首步前、现象与根因留空并写 gap_zh，均符合 03 对“agent 方面未交付”的规则（D23）。log step 680 的自述与标注一致，未发现错误。",
+    "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": "2026-11-08T08:36:22Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--7azrtp9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-privileged--7azrtp9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bd31335f5df7005155d56cbd765f3ed84ab320de2e8c8e7b809c5a7b0b7e5036",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-standard--op3qx5a.json

@@ -0,0 +1,196 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-04-i01-standard--op3qx5a",
+ "taskKey": "roboarc/buzz_wire_3d_04",
+ "dag_sha256": "4f148c95e08380a88edecf02d0443af8e2ceb8cd5b78c8ce542485be88af0940",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 12575,
+   "live_rows": 12575,
+   "sim_steps": 12575,
+   "physics_steps": 125750,
+   "steps": 1700,
+   "elapsed_s": 10646.4,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-04-i01-standard--op3qx5a.mp4",
+  "duration_s": 314.467,
+  "fps": 15.0,
+  "frames": 4717,
+  "sha256": "1010ed7694d87034a5a399bd23e08b4834dbd10cb4bccc3c44aba168f435ff42"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 314.0,
+      "log_step": 891,
+      "text_zh": "观察：视频 5-314 s 的总览和腕部视角中，木棒始终躺在起点甲板上，环未沿线移动；机械臂在视频 280-314 s 仍在起点附近/上方活动。agent 最终自述未抓取木棒、未遍历（log step 891）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：抽样帧中未见夹爪抓住木棒，机械臂仅在起点附近活动；是否有轻触无法从抽样帧判断。"
+     }
+    ]
+   },
+   "wand_on_finish_support": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 314.0,
+      "log_step": 891,
+      "text_zh": "观察：视频 314 s 终帧木棒仍在起点端，未到终点甲板；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 280.0,
+   "log_step": 886,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 5-314 s 木棒一直在起点甲板上，从未被抓起；agent 自述最后一段笛卡尔入口运动报告 822.8 N 强迫力与 9.43 mm 跟踪误差后停止（log step 886），且未抓取木棒（log step 891）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 314.0,
+    "log_step": 891,
+    "evidence_zh": "观察：抽样帧（视频 5-314 s）木棒未被夹爪抓住也未移动；agent 自述 wand 未被抓取（log step 891）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "仅抽样检查视频，无状态日志；根因：agent 把约 10600 s 用于离线路径重建与安全规划，未提交抓取尝试，但缺少证据说明计划本身错误，故根因留空。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish_support": false
+  }
+ },
+ "summary_zh": "观察：视频 314 s 内木棒始终未被抓起，两节点均未达成（0/2）。推断：断在 金属环走完全线 的抓取/入线阶段，没建立接触；agent 自述入口运动出现 822.8 N 强迫力后停止（log step 886）。证据缺口：无状态日志，视频仅抽样检查，根因不明。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "两节点均未达成、final=0、breakpoint 落在 wire_traversed 与视频和 log 一致（视频 5-314 s 机械臂仅在起点附近活动，木棒未被带离；log step 886/891 存在）。无状态日志，根因留空并写了 gap_zh，符合规则；未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:37:11Z",
+  "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/roboarc-buzz-wire-3d-04-i01-standard--op3qx5a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-04-i01-standard--op3qx5a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6dffa65f7c663461ca0a525c67bafc3bed85c05d4af03bdae1fcc55c84b48656",
+   "video_sha256": "1010ed7694d87034a5a399bd23e08b4834dbd10cb4bccc3c44aba168f435ff42",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--wcy5wbv.json

@@ -0,0 +1,188 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-06-i01-privileged--wcy5wbv",
+ "taskKey": "roboarc/buzz_wire_3d_06",
+ "dag_sha256": "bc5d78cb2d250489c83cf4bcd02bf8c04664ca5fe54538516a25cb2b44d28ffd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 13,
+   "agent_resets": 66,
+   "agent_sim_steps": 9382,
+   "agent_records": 36,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：reward.missing_trajectory=1、success=0；agent 最终报告（log step 482）自述 trajectory.npz 未创建，未观察到完整穿行或放置。无视频、无状态日志，故无时间区间；final=false 仅由评分器 missing_trajectory/success=0 推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付任何轨迹，评分的回合中没有机器人接触。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：reward.missing_trajectory=1、success=0；agent 最终报告（log step 482）自述 trajectory.npz 未创建，未观察到完整穿行或放置。无视频、无状态日志，故无时间区间；final=false 仅由评分器 missing_trajectory/success=0 推出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付任何轨迹，评分的回合中没有机器人接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": 482,
+   "where": "首步前",
+   "evidence_zh": "观察：run.json reward 中 missing_trajectory=1；agent 最终报告（log step 482）称 /app/output/trajectory.npz 未创建，无完整穿行。会话内只在自己的试验中（log step 478-481）反复在波峰处出现 wand_metal–wire_metal 接触，这只是会话证据。无任何轨迹被交付，评分回合中该步从未开始。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志、未交付轨迹：没有评分回合可观察，不能给出失败现象；agent 因墙钟预算用完而停止（log step 481-482），预算用尽不是现象或根因，会话内的碰撞试验只是会话证据，不能单独推出根因，故两层为空。"
+ },
+ "summary_zh": "agent 在约 10.7 ks 的会话中反复调试抓取与沿线 IK，但最终未创建 trajectory.npz（log step 482），评分为 missing_trajectory=1、success=0，两个节点均未达成。断点为 金属环走完整线（首步前，无交付）；无视频与状态日志，现象与根因留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志、未交付 trajectory.npz（log step 482，missing_trajectory=1）。两节点 final=false、断点首步前、现象与根因留空并附 gap_zh，均符合规则；未发现错误。",
+    "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": "2026-11-08T08:36:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-privileged--wcy5wbv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-privileged--wcy5wbv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "42bca98beecb666f820af01f28ef7a30aaeb8c8bfaa555358a464a57b7998d46",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj.json

@@ -0,0 +1,241 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj",
+ "taskKey": "roboarc/buzz_wire_3d_06",
+ "dag_sha256": "bc5d78cb2d250489c83cf4bcd02bf8c04664ca5fe54538516a25cb2b44d28ffd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 17064,
+   "live_rows": 17064,
+   "sim_steps": 17064,
+   "physics_steps": 170633,
+   "steps": 7188,
+   "elapsed_s": 10642.1,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj.mp4",
+  "duration_s": 426.667,
+  "fps": 15.0,
+  "frames": 6400,
+  "sha256": "a7573d9e910df401cd79c7883f1c41d47f604ab9719c1666fda160751d5bb42e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 426.0,
+      "log_step": 362,
+      "text_zh": "观察：视频 100-426 s 的抽帧（外部视角）中环始终在左侧起点立柱附近，从未见到环走到右侧终点立柱；视频 426 s 末帧工具仍在起点侧。agent 最终自述 done=true, reason=wire_touched（log step 362），服务判定穿行中碰线结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Panda 夹爪夹持环柄工具在起点立柱附近移动；服务报告 wire_touched，即工具金属碰到导电线（log step 362）。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 426.0,
+      "log_step": 362,
+      "text_zh": "观察：穿行未完成，终点底板上无工具（末帧），后续放置未开始；log step 362 称 release/placement 未到达。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": 362,
+   "where": "操作中",
+   "evidence_zh": "观察：服务在穿行执行中报 done=true, reason=wire_touched（log step 362），视频全程环未离开起点一侧，穿行从未完成也未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": null,
+    "log_step": 362,
+    "evidence_zh": "推断：工具金属部分在沿线运动中碰到导电线（服务 wire_touched，log step 362）；视频中看不清接触瞬间，故取位姿不准而非被挡/碰撞。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：服务观察到 wire_touched（log step 362）；agent 自述的 FK/IK 检查显示实际执行的修补路径预测有间隙（最小约 0.0109 m，step 359），0.47 mm 属于被拒绝、未执行的路径（step 354-356），故碰线可能来自轨迹/逆解误差，但无法证实，碰线实际原因和位置视频与日志均未显示。",
+    "source_zh": "日志（agent 自述，推断）"
+   }
+  ],
+  "gap_zh": "视频仅 426 s，与 agent 会话 10642 s 不同钟；碰线具体时刻和位置在视频中看不清，也没有状态日志；phenomenon 与 root cause 为推断。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "观���：graded 尝试两个节点均未达成，环未走完整线，在穿行执行中服务判 wire_touched 结束（log step 362）。断点为 wire_traversed（操作中），推断为开环轨迹/IK 精度不足导致金属环碰线；碰线瞬间视频不可见，证据缺口见 gap_zh。",
+ "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（两个均未达成）、断点 wire_traversed 与 phenomenon 基本可从视频和 log step 362 支持；但 root cause 把 agent 自述当作观察，且所述 0.47 mm 间隙对应的是未执行的被拒路径，需降为推断。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点均未达成、断点 wire_traversed（操作中）与推断式 phenomenon/root cause 与视频和 log step 362 一致；上轮问题已修正，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:46:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
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+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5e1f7a9509d6938252dad2049d1ae06342dc93f69e2520ebd7603d8af4321742",
+   "video_sha256": "a7573d9e910df401cd79c7883f1c41d47f604ab9719c1666fda160751d5bb42e",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy.json

@@ -0,0 +1,335 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
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+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
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+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 6724,
+   "submitted_actions": 6724,
+   "sim_steps": 6724,
+   "physics_steps": 67240,
+   "sim_time_s": 168.10000000002108,
+   "final_reward": 0.0,
+   "replay_wall_s": 795.3,
+   "replays": 2,
+   "grader_error": 0,
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+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 40,
+   "agent_resets": 69,
+   "agent_sim_steps": 91018,
+   "agent_records": 30,
+   "agent_replays": 29,
+   "agent_cost_self_reported": 1,
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+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
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+   "peak_processes": 0.0,
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+   "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,
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+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy.mp4",
+  "duration_s": 168.2,
+  "fps": 15.0,
+  "frames": 2523,
+  "sha256": "2fe2c815125aee742d3167a2ad56c29513a16f35f36cc8ef3a5e22915caeeed6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5,
+      "log_step": null,
+      "text_zh": "观察：视频 5 s，金属环在竖直线段下端起点附近，夹爪在其上方。"
+     },
+     {
+      "t": 60,
+      "log_step": null,
+      "text_zh": "观察：视频 60 s，环已沿竖直段升到约一半高度。"
+     },
+     {
+      "t": 167,
+      "log_step": 199,
+      "text_zh": "观察：视频 167 s（末帧），环/夹爪在竖直段顶端、上方弯曲线段起点附近，尚未走过上方弯曲段和另一端。agent 最终自述只走到约 0.443 m/1.249 m（log step 199）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪握木柄带环沿竖直段上行。"
+     },
+     {
+      "who": "手持工具",
+      "how": "避开",
+      "note_zh": "观察：视频中未见金属环碰线的终止，轨迹保持无碰线。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 167,
+      "log_step": 199,
+      "text_zh": "观察：视频末帧工具仍在夹爪中、位于起点侧上方，未到终点甲板，未松手。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_settling.clearance_lower_bound_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "final_settling.maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_settling.maximum_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_settling.maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "final_settling.maximum_rotation_drift_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 1.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": 167,
+   "where": "操作中",
+   "log_step": 199,
+   "evidence_zh": "观察：视频 0-168 s 环仅沿竖直段上升到顶端附近，末帧仍未走上方弯曲段；agent 自述该轨迹只到约 0.443 m/1.249 m（log step 199）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "够不着",
+    "t": 167,
+    "log_step": 193,
+    "evidence_zh": "推断：服务返回的运动学 IK 读数（非 agent 叙述）显示在第二个弯前手腕外旋 roll=0.75 时，仅 x=0.365 有邻近关节解（dist≈0.05 rad），其余 x=0.375–0.415 的精确解与当前关节距离≈3.9–4.1 rad（log step 193）；视频末帧只见环停在竖直段顶端、无碰线，不能单独支持。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "alt_feasible": "未知",
+    "source_zh": "日志",
+    "log_step": 193,
+    "evidence_zh": "目标与沿线通过的接触方案可行（竖直段已走完且无碰线），但第二弯处无连续逆解：step 193 的 IK 扫描除 x=0.365 外 dist≈4 rad；step 195 profile 出现 IK_JUMP 0.162；step 167/174 报 IK 分支不连续/限位；step 185/189 的备选分支与偏移尝试碰线。是否存在其他可行抓取/路线未验证。"
+   }
+  ],
+  "gap_zh": "根因的逆解结论来自日志的 IK 读数（推断），视频不能单独证实；其他抓取姿态是否可解未验证（alt_feasible=未知）。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "观察：graded 轨迹（agent 保存的部分遍历）中金属环从起点沿竖直段上行，至视频 167 s 到顶端附近，未走完全线，工具未到终点，两个节点均未达成。断点为沿线遍历；现象 运动·够不着 与根因 控制·轨迹或逆解 来自 log step 193 的 IK 读数（推断，alt_feasible 未知），视频只见环停在竖直段顶端；agent 保存的是部分轨迹。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（两节点未达成、断点 wire_traversed、末帧位置）与视频一致；但现象/根因全空，而 log 的运动学 IK 读数（IK_JUMP、扫描 dist≈4 rad、备选分支碰线）支持手腕外旋够不到/无连续逆解，缺少 够不着 + 轨迹或逆解。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（两节点未达成、断点 wire_traversed、末帧位置）与视频一致；但 summary_zh 仍写“现象和根因留空”，与已填的 运动·够不着 和 控制·轨迹或逆解 矛盾。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按建议改写 summary_zh 末句，与 failure 中的现象/根因一致，无矛盾。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按建议改写 summary_zh 末句，与 failure 中的现象/根因一致，无矛盾。",
+   "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": "2026-11-08T08:49:14Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy/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": "4999d57ea997611d525d39909e1febea777af61886da0f9b35642c6d16b167cd",
+   "video_sha256": "2fe2c815125aee742d3167a2ad56c29513a16f35f36cc8ef3a5e22915caeeed6",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp.json

@@ -0,0 +1,188 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp",
+ "taskKey": "roboarc/buzz_wire_3d_07",
+ "dag_sha256": "f0f7ab3315920f9102ebad7e57dd6464e7222394d0d24a82b08b67a440ec4ab1",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 6621,
+   "live_rows": 6621,
+   "sim_steps": 6621,
+   "physics_steps": 66209,
+   "steps": 1746,
+   "elapsed_s": 7327.7,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp.mp4",
+  "duration_s": 165.6,
+  "fps": 15.0,
+  "frames": 2484,
+  "sha256": "125341438443493a6de1f302f37b877e9352f54617234355801ef1532a916aa7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 165.5,
+      "log_step": 225,
+      "text_zh": "观察：视频最后一帧（视频 165.5 s）工具在终点前，环尚未到终点，三个视角均无完成迹象；服务返回 done=true、reason=wire_touched，该块只执行了 10 行（路径点 725-735，终点约 764）（log step 225）。推断：视频 165.6 s≈仿真 165.5 s，在路径尾段金属碰线，遍历未完成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹持工具木柄带环沿线移动；末段触线（金属部分与裸线接触，方式由 log 终止原因 wire_touched 推断）"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 165.5,
+      "log_step": 225,
+      "text_zh": "观察：视频结束时工具仍在夹爪中、位于线上方，未放到终点甲板；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "where": "操作中",
+   "t": 165.0,
+   "log_step": 225,
+   "evidence_zh": "观察：agent 脚本按预规划轨迹沿线走到最后弯曲段，路径点 735 左右服务判定 wire_touched 并终止（log step 225，视频约 165.5 s 结束）。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "视频中工具与线距离太小，看不清具体触线瞬间与原因；日志只给出 wire_touched，无间距数据，故现象与根因留空。",
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "观察：graded 单回合中机械臂夹着工具沿线走完大部分路径，到最后弯曲段（路径点约735/764）时服务报 wire_touched 并终止（视频约 165.5 s），遍历未完成、工具未放置，2 个节点均未达成。断点为金属环走完全线（操作中）。证据缺口：视频无法看清触线细节，未给现象和根因。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点均未达成、断点 wire_traversed（操作中）与服务 wire_touched 终止及视频末帧一致；时钟映射（sim 165.52 s≈视频 165.6 s）有据。现象/根因留空并附 gap_zh，因画面被机械臂遮挡、日志无间距数据，证据无法判定，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": "2026-11-08T08:37:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5443ca3a894e0f058e024a38f668e7dd5fa392cb1aff4539619ffc1d5362df73",
+   "video_sha256": "125341438443493a6de1f302f37b877e9352f54617234355801ef1532a916aa7",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--9e9d9ww.json

@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-09-i01-privileged--9e9d9ww",
+ "taskKey": "roboarc/buzz_wire_3d_09",
+ "dag_sha256": "4aadb7f30e0f9dc92d811d6d611f4534baaee01b6ae4ac5552c5cbe7986c702c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 2,
+   "agent_resets": 35,
+   "agent_sim_steps": 0,
+   "agent_records": 20,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "wire_traversed": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、success=0（评分器字段），未交付可回放轨迹，故无图像可证实遍历。agent 会话内的自测（如 log step 197 保存 prefix_bend）是会话证据，不是节点值。节点无法判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：评分器字段 success=0 且 missing_trajectory=1，没有被评分的放置过程；推断：最终放置是成功判定的一部分，success=0 故 final=false（逻辑推断，无视频）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arclength_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_arclength_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "loop_crossing_radial_offset",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_position_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "robot_target_aabb_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_confirmation_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_confirmation_angular_drift",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1、success=0、agent_replays=0；日志最后一步 log step 348（agent 工作约 10513 s，预算 10800 s）仍在编辑重抓握脚本，未交付可回放轨迹。没有被评分的执行，故定在第一步前。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且没有交付轨迹（missing_trajectory=1）；会话内的试验只是会话证据，不能作为现象。预算用尽不是现象或根因，也无证据区分具体原因，故现象与根因留空。",
+  "unmet": {
+   "wire_traversed": null,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "观察：本次运行未交付可被评分的轨迹（missing_trajectory=1，success=0），无视频与状态日志。环沿线走完无法判定（final 未知），终台放置按 success=0 推断为未达成；断点定在第一步前，现象与根因因缺证据留空。agent 在 log step 348（agent 工作约 10513 s，预算 10800 s）仍在调试重抓握。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频/状态日志，未交付轨迹（missing_trajectory=1, success=0, agent_replays=0）。wire_traversed 未知、wand_on_finish=false（由 success=0 推断）、断点首步前、现象与根因留空并有 gap_zh，均符合规则；时间只用 agent 日志时钟并明示。",
+    "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": "2026-11-08T08:37:02Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-privileged--9e9d9ww/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-privileged--9e9d9ww/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6e6c6d60c3c505c60f8337f6ba0bda9f7a699757e61357e806a86daa13c482d3",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q.json

@@ -0,0 +1,266 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q",
+ "taskKey": "roboarc/buzz_wire_3d_09",
+ "dag_sha256": "4aadb7f30e0f9dc92d811d6d611f4534baaee01b6ae4ac5552c5cbe7986c702c",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 12,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10890,
+   "live_rows": 10890,
+   "sim_steps": 10890,
+   "physics_steps": 108900,
+   "steps": 5735,
+   "elapsed_s": 10148.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q.mp4",
+  "duration_s": 272.334,
+  "fps": 15.0,
+  "frames": 4085,
+  "sha256": "e8c32b00e0a756d719346163d238b583dc66a429fd52ea7eab1ecd12022c621c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "wire_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 272.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-272 s 的三个视角中，小金属环始终停在铜色立体线靠起点的一端，从未沿线绕到带黑色绝缘套的终点立柱；视频 272 s 末帧机械臂已抬离，环仍在起点侧。推断：未走完整根线。agent 自述（log step 1628）仅走到 s≈0.2855 m、‘no complete connected traversal’。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Franka 的 Robotiq 夹爪持 wand 木柄，带环在起点段缓慢沿线移动；环与线的接触状态未能逐帧确认。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 272.0,
+      "log_step": null,
+      "text_zh": "观察：全程未见工具躺在终点黑色绝缘立柱脚边，末帧终点平台上无工具。推断：前置节点未达成，未放置。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "start_arclength_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_arclength_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "loop_crossing_radial_offset",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01267,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_position_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "robot_target_aabb_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_confirmation_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_confirmation_angular_drift",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "wire_traversed",
+   "t": null,
+   "log_step": 1628,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0-272 s 环始终在线的起点侧，只做了很短的沿线推进；agent 最终报告（log step 1628）称下一段路径配置未通过台面间隙检验，未执行完整遍历，也未进入终点放置。"
+  },
+  "unmet": {
+   "wire_traversed": false,
+   "wand_on_finish": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "视频分辨率下无法确认环与线的具体接触或停滞原因；agent 在 log step 1628 自述是离线规划验证不过而停止，停止不算现象/根因，且无物理证据，故现象与根因留空。"
+ },
+ "summary_zh": "观察：graded 视频 272 s 内环始终停在立体线起点侧，仅有很短的沿线推进，未走完整根线（wire_traversed 未达成），终点放置也未发生，0/2 节点。断在整线遍历这一步；agent 自述（log step 1628）因后续路径通过不了间隙验证而停止，没有视频证据能确定物理现象。无状态日志，仅凭视频判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "0/2 节点、断点 wire_traversed、现象/根因留空并附 gap_zh 均与视频及 log 末步一致；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": "2026-11-08T08:37:58Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
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+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "79aee5add3b71b688c7ca88061b9ecd164faf6da38012dc2a8bafe3e6041c6a7",
+   "video_sha256": "e8c32b00e0a756d719346163d238b583dc66a429fd52ea7eab1ecd12022c621c",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj.json

@@ -0,0 +1,273 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj",
+ "taskKey": "roboarc/buzz_wire_3d_10",
+ "dag_sha256": "983d09ae6790a176236d3b486160ebb8032b6397017c34a91416aee319de567b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "deterministic": 1,
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+   "instance_exact": 1,
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+   "assets_exact": 1,
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+   "n_actions": 450,
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+   "sim_steps": 450,
+   "physics_steps": 4500,
+   "sim_time_s": 11.250000000000092,
+   "final_reward": 0.0,
+   "replay_wall_s": 46.7,
+   "replays": 2,
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+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 5,
+   "agent_resets": 13,
+   "agent_sim_steps": 1350,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
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+   "resource_monitor_missing": 1,
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+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
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+   "resource_memory_kills": 0,
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+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj.mp4",
+  "duration_s": 11.334,
+  "fps": 15.0,
+  "frames": 170,
+  "sha256": "d7a88737e910e88ce6871ef1dd766517c7780ab89a8a49be04feec07263c209d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": 220,
+      "text_zh": "观察：视频 0-11.3 s 机械臂只在线起端一带活动；11.2 s 夹爪下落到线起端的工具柄处并夹住（工具仍在台面附近，未见明显离台），环仍在起端线旁，未沿线移动。agent 自述两次重放均 object_in_hand=wand（log step 219-220）。agent 自述只保存了“仅取物”检查点（log step 220）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪在线起端附近夹住环柄工具（视频 11.2 s，未见明显离台），未带环沿线移动；手持读数仅来自 agent 自述（log step 219-220）。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.2,
+      "log_step": 220,
+      "text_zh": "观察：视频 11.2 s 工具仍在夹爪中，终点支撑台上没有工具；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
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+  {
+   "name": "clearance_lower_bound_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
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+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 11.2,
+   "log_step": 220,
+   "where": "操作中",
+   "evidence_zh": "观察：提交的 450 步轨迹仅完成拾取，视频 11.2 s 结束时环仍在线起端；agent 自述“pickup-only checkpoint”（log step 220）。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "agent 放弃整段走线并只交付拾取检查点，属 agent 停止；无可见的接触失败现象，也无证据区分根因，故现象与根因留空。",
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "观察：graded 轨迹（视频 11.3 s）只完成取工具，金属环停在线起端，未沿线走动，两个节点均未达成。断点为金属环走完全线（操作中）；agent 自述只交付了拾取检查点（log step 220），现象与根因无足够证据，留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（两个都未达成）、断点 loop_traversed、现象/根因留空加 gap_zh 均与证据一致（交付的 450 步仅为拾取检查点，见 log step 216/220，符合 FAIL-22/23）。仅有一处观察表述过头：视频 11.2 s 帧里工具仍平放在台面、环在线起端，夹爪只是在柄附近夹住，并未“提起”。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点未达成、断点 loop_traversed、现象与根因留空并附 gap_zh 均与证据一致；第一轮的措辞问题已修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-11-08T08:46:12Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
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+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4e9ce1a6b7eaaab265eb5dd5c6ed49b109b403a9160a534d8ae3445124f3ecf6",
+   "video_sha256": "d7a88737e910e88ce6871ef1dd766517c7780ab89a8a49be04feec07263c209d",
+   "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."
+ }
+}

phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas.json

@@ -0,0 +1,306 @@
+{
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+ "taxonomy": "v2",
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-10-i01-standard--zyvrfas.mp4",
+  "duration_s": 256.2,
+  "fps": 15.0,
+  "frames": 3843,
+  "sha256": "37a3579d0b5f44a9ca2769c57cc121520b4301fb71f69db88a18c8bf37cd3ae8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "loop_traversed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 256.0,
+      "log_step": 841,
+      "text_zh": "观察：视频 205 s 环在起点立柱脚边；约 225 s 起夹爪夹住工具柄，235–250 s 带环沿第一根立柱铜线上行，250–256 s 环停在第一段顶端附近；未见走完全线或终端下降。agent 自述（log step 841）第一半遍历（索引 0–275）完成。推断：全线未穿行完，该步未达成。观察：视频约 252–256 s 夹爪张开松手并后撤，工具留在第一段顶端的线上（腕部视角夹爪空开）；agent 日志 step 855–856 显示执行了下放到绝缘套、释放并退出的动作（saved /app/sleeve_released）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 225 s 起夹爪夹住工具柄，约 235–250 s 带环沿第一根立柱铜线上移。抓握至约 250 s 后松开（约 252–256 s 张开退出）。"
+     }
+    ]
+   },
+   "wand_on_finish": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 256.0,
+      "log_step": 934,
+      "text_zh": "观察：视频末帧工具在第一段顶端附近，未到终端木台；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "distance_to_finish_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "finish_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
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+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "where": "操作中",
+   "t": 250.0,
+   "log_step": 859,
+   "evidence_zh": "观察：视频 225–250 s 夹爪抓住工具带环上行，250–256 s 停在第一段顶端附近。观察：视频约 252–256 s 夹爪张开松手并后撤，工具留在第一段顶端的线上��腕部视角夹爪空开）；agent 日志 step 855–856 显示执行了下放到绝缘套、释放并退出的动作（saved /app/sleeve_released）。agent 自述（log step 841/859）：第一半遍历完成，第二半 180° 分支在索引 1087 无可接受候选（DEAD at 1087, attempts=1642），没有可执行的第二半控制文件。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述/推断：离线规划的第二半（180°）分支在索引 1087 逆解/关节余量检查无可行候选（log step 859, 934），故未交付第二半轨迹。",
+    "source_zh": "agent 自述",
+    "log_step": 859
+   }
+  ],
+  "gap_zh": "无状态日志；根因仅来自 agent 日志（自述）与推断，视频无法佐证 IK 失败；是否存在可行替代未验证（alt_feasible 未知）。第二半无轨迹后视频未见可归类的物理现象，故现象留空。奖励字段未报告原生指标。",
+  "unmet": {
+   "loop_traversed": false,
+   "wand_on_finish": false
+  }
+ },
+ "summary_zh": "观察：视频中夹爪约 225 s 抓住工具带环沿第一根立柱上行，约 250 s 停在第一段顶端，之后无后续运动，两节点均未达成。agent 自述（log step 841/859）第一半遍历完成，第二半在索引 1087 无可行逆解候选，未交付第二半轨迹；根因为推断，证据有限。观察：视频约 252–256 s 夹爪张开松手并后撤，工具留在第一段顶端的线上（腕部视角夹爪空开）；agent 日志 step 855–856 显示执行了下放到绝缘套、释放并退出的动作（saved /app/sleeve_released）。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "标注称环全程停在起点且夹爪从未抓起工具，视频不支持：约 205 s 环仍在起点脚边，约 225 s 夹爪抓住工具柄，235–250 s 环随夹爪沿第一根立柱线上行，视频 250–256 s 环位于第一段顶端附近；agent 日志 step 841 记录第一半（索引 0–275）遍历已完成，第二半无可执行轨迹（step 859 在 1087 处无解）。因此 contact_actual、断点时间/证据、现象均需重写；loop_traversed=false 与 final=0 仍成立。",
+    "n_issues": 5,
+    "n_major": 4
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（两节点均未达成、final=0）、断点 loop_traversed/操作中、抓握 contact_actual 均与视频和日志一致。遗漏一个可见事件：约 252–256 s 夹爪松开并退出，工具被留在第一段顶端的线上（对应 log step 855–856 的“lower wand beside insulated sleeve → release → withdraw”）；现有证据把 250–256 s 写成“停在顶端”，读者看不到是 agent 主动放手。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已完整采纳：松手并退出的观察已写入 breakpoint.evidence_zh、loop_traversed.evidence、contact_actual note 和 summary_zh，与视频和日志一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已完整采纳：松手并退出的观察已写入 breakpoint.evidence_zh、loop_traversed.evidence、contact_actual note 和 summary_zh，与视频和日志一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
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+ },
+ "provenance": {
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+  "effort": "high",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+  "review_engine": "claude",
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+  "inputs": {
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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."
+ }
+}

phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--hngnjbz.json

@@ -0,0 +1,225 @@
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+   "n_actions": 2003,
+   "submitted_actions": 2003,
+   "sim_steps": 2003,
+   "physics_steps": 20030,
+   "sim_time_s": 50.07499999999823,
+   "final_reward": 0.0,
+   "replay_wall_s": 246.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 4,
+   "agent_resets": 51,
+   "agent_sim_steps": 0,
+   "agent_records": 12,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
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+   "peak_disk_gb": 0.0,
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+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-04-i01-privileged--hngnjbz.mp4",
+  "duration_s": 50.134,
+  "fps": 15.0,
+  "frames": 752,
+  "sha256": "149176e17dbcba926e0220b7d6901ec63da07a1eb72f70dc79d292dbc5c5a310"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 50.0,
+      "log_step": null,
+      "text_zh": "观察：右臂持金线圈在视频 28-50 s 移到立在桌面的银线圈上方并下降；左臂未夹持银件（约 34 s 起已退回左侧）；视频 50.0 s 两件未嵌合（无嵌合轮廓）。节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0-12 s 起右夹爪抓起金线圈，并在 28-50 s 持金件悬在桌面上的银线圈上方；左夹爪未抓银件（视频约 34 s 起已退回）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 50.0,
+   "log_step": 398,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 50.0 s 结束时右臂持金线圈位于立在桌面的银线圈上方，两线圈未嵌合，左臂已退回；agent 自述（log step 398）安全日志有 4.5 s 的 gold–silver 挤压事件、下降被接触阻挡（仅为自述）。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "观察：左臂未参与最后的装配，由右手单手持金件对银件；金件轮廓与银件未对齐，但评分器未给出相对位置/转角误差、视频分辨率也不足以判断具体偏差，故现象（位姿不准）与根因证据不足，不标注；agent 的多次尝试仅为 session 证据。无状态日志。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 50 s 内右臂抓起金线圈，并持其移到立在桌面的银线圈上方，左臂未夹持银件、约 34 s 后退回；末帧未嵌合，装配节点未达成（0/1）。断点在装配的操作中；现象与根因证据不足（无状态日志，评分器未给误差）。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成与断点 ref 正确，但 contact_actual、证据和 summary 把“左臂夹银线圈、50 s 仍持件”当成事实，视频不支持：左臂从未抓起银线圈，约 34 s 后已退回，银线圈始终立在桌面原处，只有右臂持金线圈下放到银件上方。接触应改为单手 手指/夹爪·抓握。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 coils_assembled/操作中、单手抓握接触均与视频一致（50 s 右夹爪仍持金件，金件在银件上方未嵌合，左臂已退回）。现象/根因留空并写 gap_zh 属诚实处理，agent 自述已标明仅为自述。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "effort": "high",
+  "created": "2026-11-08T08:46:57Z",
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+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--hngnjbz/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--hngnjbz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--hngnjbz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--hngnjbz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d1f5e0c97518f159f24ab975035e79a4ff782dfc6d69c25e67950345280bfed2",
+   "video_sha256": "149176e17dbcba926e0220b7d6901ec63da07a1eb72f70dc79d292dbc5c5a310",
+   "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."
+ }
+}

phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--9hagqvo.json

@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
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+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-04-i01-standard--9hagqvo.mp4",
+  "duration_s": 688.134,
+  "fps": 15.0,
+  "frames": 10322,
+  "sha256": "a19965f409804a68ceddb5a7e037d84e4fd25a45fa8194773dc90c7bdeb61400"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
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+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 688.0,
+      "log_step": 697,
+      "text_zh": "观察：视频 688 s 末帧金、银两件仍分开在桌面上（金件已被移动并翻转姿态，银件在原处）；视频 0 s 同样分开。未见嵌合。agent 末条自述“没有完成装配”（log step 697），评分器 success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：金件在视频 0-400 s 间被翻转（时间钟：视频），之后在银件旁被夹爪处理；是否夹持无法从帧判定。两件从未嵌合。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "where": "操作中",
+   "t": 600.0,
+   "evidence_zh": "观察：视频 0-688 s 两件始终分开，视频 600-688 s 夹爪仍在处理金件，终帧未嵌合；评分器 success=0。",
+   "log_step": 686
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 680.0,
+    "log_step": 697,
+    "evidence_zh": "观察：视频 640-687 s 金件平躺桌面、夹爪在其上方/侧旁，无金件被夹持提起或送向嵌合位姿的画面。agent 自述（log step 697）：右臂对金件夹闭为空、无法 secure gold。推断：未建立有效夹持接触；证据弱。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，无法精确量化嵌合误差；视频仅 688 s，而 agent 会话约 10600 s（含大量相机勘察），日志与视频的时间无法对应；根因证据不足，留空。native_metrics 评分器未给出数值。 现象“没建立接触”主要依据 agent 自述与画面中无夹持，证据弱，不确定是否另有位姿问题。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "观察：视频 688 s 内金银线圈始终分开，最终未嵌合，success=0，唯一节点“金银线圈组装”未达成。断点在装配操作中（视频约 600-688 s 仍在处理金件）；agent 自述（log step 697）对金件夹闭为空、未能夹住（现象证据弱）。证据缺口：无状态日志，根因无法确认。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "节点未达成、断点在装配操作中均与视频一致（金银件始终分开）。但 contact_actual 与 位姿不准 现象的证据不足：视频只显示金件在 ~400 s 前已被翻转、其后在银件旁被夹爪处理，未见‘放回桌面时与银件对位’。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 coils_assembled 操作中、contact_actual 未知、没建立接触（标注证据弱）均与视频一致：金银件至终帧（视频 687 s）始终分开，评分器 success=0。第1轮意见已采纳，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+   {
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+  ],
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+  },
+  "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."
+ }
+}

phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pwt5z4m.json

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+   "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,
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+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-06-i01-privileged--pwt5z4m.mp4",
+  "duration_s": 54.2,
+  "fps": 15.0,
+  "frames": 813,
+  "sha256": "fb5267ba3ee868fced0078838b47ebee26f3fe4f4ceb3655f554880b214e5796"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 54.0,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（约 54.0 s）两个夹爪仍夹着银件和金件，二者并排相邻、未嵌合成四层整体，夹爪未松开退离；全程未见嵌合帧。评分器 success=0、strict_goal_reached=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左右二指夹爪各夹一件线圈（银/金）的外侧横杆，协同搬运并对位；至视频结束未松开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 50.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 54 s 内机器人双臂夹持两件线圈并排移动，末帧两件仍未嵌合、夹爪未释放。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 54.0,
+    "log_step": null,
+    "evidence_zh": "观察：末帧（视频约 54 s）银件与金件并排相邻、未插入嵌合，相对位姿远未达到<1 mm 的验收；夹爪仍夹持。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志；评分器未给出位置/角度误差数值（native_metrics 为 null）；视频只显示末帧两件并排未嵌合、夹爪未释放，看不到手指与金件的阻挡接触，故根因无法判定。agent 会话中关于手指与金件碰撞、重叠约 6.6 mm 的自述仅作推断记入 summary，不作根因。log 最后一步（step 370）仍在后台测试，未见最终交付说明。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "观察：视频 54.2 s 中双臂夹着金、银两件线圈并排移动，直至结束未嵌合也未释放，唯一目标节点未达成（success=0）。推断：断点在“金银线圈装配”的操作中，位姿未对准；agent 会话自述曾因左夹爪手指与金件碰撞而中止，仅为推断，未在交付视频或评分器字段中确认，根因未判定。",
+ "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、断点和位姿不准现象与视频相符（两夹爪至末帧仍夹着两件、并排未嵌合）。但根因“抓取和接触设计”只来自 agent 会话自述（手指与金件碰撞、6.6 mm 重叠），未经交付视频或评分器字段核实，不应作为已判定的根因。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点（coils_assembled，操作中）、位姿不准现象与视频相符；末帧两夹爪仍夹持两件并排未嵌合。根因留空并写 gap_zh 合理，第1轮意见已落实。",
+    "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": "2026-11-08T08:46:04Z",
+  "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/roboarc-cast-coil-06-i01-privileged--pwt5z4m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--pwt5z4m/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--pwt5z4m/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-privileged--pwt5z4m/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f0be461e6ce9a21f05457a18de19e3df65a2ac575e59913c741ad39238692005",
+   "video_sha256": "fb5267ba3ee868fced0078838b47ebee26f3fe4f4ceb3655f554880b214e5796",
+   "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."
+ }
+}

phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--7kxtbtm.json

@@ -0,0 +1,205 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-standard--7kxtbtm",
+ "taskKey": "roboarc/cast_coil_06",
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+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
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+   "n_actions": 19315,
+   "live_rows": 19315,
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+   "physics_steps": 193150,
+   "steps": 3818,
+   "elapsed_s": 10620.2,
+   "video_rendered": 1,
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+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
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+   "resume_max_joint_dev": 0.0,
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+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
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+   "peak_memory_gb": 0.324,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.024,
+   "peak_cpus": 3.99,
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+   "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,
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+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-06-i01-standard--7kxtbtm.mp4",
+  "duration_s": 482.934,
+  "fps": 15.0,
+  "frames": 7244,
+  "sha256": "9f4fcf3bf8845d664162fcf6fdee612cab09247175df59f0048d223fa24b7f52"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 440,
+      "log_step": 663,
+      "text_zh": "观察：视频 100-400 s 两个夹爪各夹一件线圈在桌面上方对接，视频 360 s 左右金件销钉伸入银件但未嵌合；视频 440 s 起两件重新分开放回桌面，视频 482 s 末帧两件分离直立、夹爪张开退开，没有金银嵌合的整体。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 100-440 s 左右夹爪各抓持一件线圈的板壁并在空中调整对接，随后分别放回桌面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "where": "操作中",
+   "t": 360,
+   "log_step": null,
+   "evidence_zh": "观察：视频 330-400 s 双臂持两件线圈在桌面上方反复对接，未见嵌合成整体；视频 440 s 后放回桌面分离，末帧仍分离。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 360,
+    "log_step": null,
+    "evidence_zh": "观察：视频 360-400 s 金件销钉与银件槽口相对，但两件始终没有嵌入。agent 自述插入轴向残差约 3.9 mm（agent 时钟约 4967 s，log step 325，与视频 360 s 无换算），为其声称，视频只支持未嵌合。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频仅见两件未嵌合；agent 自述的抓取/腕姿不兼容无法由视频或状态核实，根因无法判定。毫米级对齐误差也无法从视频判定。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "观察：图像显示此次尝试（标准模式）未完成装配，唯一节点最终为假：视频 100-440 s 双臂持件对接未嵌合，视频 440 s 后放回桌面分离。失败于装配操作，现象为位姿不准；无状态日志，根因无法判定。",
+ "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、时钟、断点与『位姿不准』基本与视频一致（视频 360 s 销钉未入槽，440 s 后两件分离放回，末帧 482 s 分离）。主要问题：根因『抓取和接触设计』仅凭 agent 自述（log step 656-662、150），无任何被采纳的证据（无状态日志、视频看不出抓取不兼容或不可达），不应作为根因下判。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点最终为假、断点在装配操作中、位姿不准现象与视频一致（360 s 销钉未入槽，482 s 末帧两件分离）；根因已置空并写明 gap_zh，时钟已修正。",
+    "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": "2026-11-08T08:46:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--7kxtbtm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--7kxtbtm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--7kxtbtm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-06-i01-standard--7kxtbtm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8e136cd302c8121d113a6be637f51d58c05f178c5ff13db38f5ecce860960068",
+   "video_sha256": "9f4fcf3bf8845d664162fcf6fdee612cab09247175df59f0048d223fa24b7f52",
+   "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."
+ }
+}

phaseK/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--2mx7krl.json

@@ -0,0 +1,217 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-privileged--2mx7krl",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 35,
+   "agent_resets": 35,
+   "agent_sim_steps": 64782,
+   "agent_records": 16,
+   "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": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "unknown",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 success=0 且 missing_trajectory=1（run.json reward），即没有交付可评分的轨迹。推断：目标节点（绑定评分器成功判定）final=false；到达时间无法给出，intervals 为 null。agent 在会话中多次试跑（最后一步 log step 370 仍在调试 gen.py，装配跟踪误差约 3.5 mm / 0.02 rad），这些是会话证据，不是节点取值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；无视频，无法核对接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "relative_position_error_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "relative_rotation_error_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_table_gap_m",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_drift_m",
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "maximum_angular_drift_rad",
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "minimum_robot_clearance_m",
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better",
+   "value": null
+  },
+  {
+   "name": "confirmation_time_s",
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1、success=0（run.json reward），无可回放的交付轨迹；agent 至 log step 370（agent 工作约 10600 s，上限 10800 s）仍在调试轨迹生成脚本，未保存可验证的交付文件。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "没有视频、没有状态日志，也没有交付轨迹（missing_trajectory=1），无法观察被评分的尝试，故现象与根因留空（会话证据不作现象；缺交付不推根因）。"
+ },
+ "summary_zh": "任务设计无明显问题。观察：评分器 success=0、missing_trajectory=1，唯一节点“金银线圈装合”final=false；agent 在 10800 s 预算内反复试跑装配脚本（log step 358-370 的跟踪误差仍约 3.5 mm、0.02 rad），未交付可评分轨迹。无视频与状态日志，现象和根因无法判定。",
+ "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；评分器 success=0、missing_trajectory=1，节点 final=false、现象与根因留空并写 gap_zh，符合 D23(a)；时间均标明为 agent 时间且未换算成视频时间。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": "2026-11-08T08:36:53Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--2mx7krl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-privileged--2mx7krl/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a337ad1881a38adcd309d2030f6709c338179549f866ec3bf336c775c049987",
+   "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."
+ }
+}

phaseK/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--qqc9xie.json

@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-07-i01-standard--qqc9xie",
+ "taskKey": "roboarc/cast_coil_07",
+ "dag_sha256": "3741847afd3cdc289d011dfb3f8273be561e1a70126a5e08c37eff2a44b334c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 6,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 33073,
+   "live_rows": 33073,
+   "sim_steps": 33073,
+   "physics_steps": 330730,
+   "steps": 31633,
+   "elapsed_s": 10902.0,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.408,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.263,
+   "peak_cpus": 2.65,
+   "peak_pids": 273,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-07-i01-standard--qqc9xie.mp4",
+  "duration_s": 826.934,
+  "fps": 15.0,
+  "frames": 12404,
+  "sha256": "6bfc59b0c2cf69303ac592bc390f129ce7a432eac841f2b748a1325dda015e19"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 826.5,
+      "log_step": 620,
+      "text_zh": "观察：视频 826.5 s（末帧）金件被右臂夹持悬在桌面上方，银件独立留在桌面左侧，两件未互锁；视频 5-826 s 抽帧各时段均未见两件嵌合。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 300-826 s 夹爪夹持金件并多次重新抓取、翻转；银件未被夹持，装配未完成。"
+     },
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：log step 480-533 左手夹爪抓取金件、其后右手重抓；视频约 600 s 两臂同时作用于金件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": 826,
+   "log_step": 620,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 826.5 s 金件仍被夹爪持在空中、尚未靠近银件；agent 自述（log step 616-619）仍在调整金件姿态与抓取位置，从未进入插接。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 826,
+    "log_step": 620,
+    "evidence_zh": "观察：视频全程金件始终未被送到与银件匹配的装配位姿，末帧仍悬空未对准。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 617-618）：低位抓取会令夹爪本体低于桌面、较高的外侧抓取在直立姿态下够不到，所选抓取点无法同时满足直立插接与桌面净空；是否另有可行抓取未验证。",
+    "source_zh": "agent 自述 log step 617-618 + 视频 826 s 金件仍在空中"
+   }
+  ],
+  "gap_zh": "无状态日志，装配精度（毫米级）无法从视频核对；根因“抓取和接触设计”来自 agent 自述（推断），是否存在可行替代未验证。",
+  "unmet": {
+   "coils_assembled": false
+  }
+ },
+ "summary_zh": "观察：视频 826.9 s 内金线圈始终未与银线圈互锁，节点“金银线圈装合”未达成（final false），至末帧金件仍被右手持在空中；推断：所选抓取点无法同时满足直立插接与桌面净空（log step 617-618）。无状态日志，证据缺口为毫米级对准。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点 coils_assembled 正确；但根因“控制”与证据不符（log 617-618 显示是抓取点选择导致无法到达装配位姿，属抓取和接触���计），contact_actual 漏了左手与双臂协作，summary 的“花大量时间”是无证据的时间分配推断。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 coils_assembled/操作中、位姿不准 + 抓取和接触设计（alt_feasible 未知）与帧和 log 617-620 一致；第一轮意见已采纳，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": "2026-11-08T08:47:07Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--qqc9xie/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--qqc9xie/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--qqc9xie/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-07-i01-standard--qqc9xie/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1784adcfd1744e13c1341b30e9d1e9d3011f2cd1b475887842f091088cb8e513",
+   "video_sha256": "6bfc59b0c2cf69303ac592bc390f129ce7a432eac841f2b748a1325dda015e19",
+   "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."
+ }
+}

phaseK/roboarc/cast_coil_08/trajectories/roboarc-cast-coil-08-i01-privileged--zuzkasp.json

@@ -0,0 +1,206 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-08-i01-privileged--zuzkasp",
+ "taskKey": "roboarc/cast_coil_08",
+ "dag_sha256": "3f044b7057527f213bcd8353082b5cb53f260fe14541d55a8e7065d112ba23f4",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 1,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 13926,
+   "submitted_actions": 13926,
+   "sim_steps": 13926,
+   "physics_steps": 139253,
+   "sim_time_s": 348.13249999995725,
+   "final_reward": 1.0,
+   "replay_wall_s": 2763.3,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 13926,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 4,
+   "agent_resets": 10,
+   "agent_sim_steps": 27852,
+   "agent_records": 1,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.51,
+   "peak_memory_gb": 2.003,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.555,
+   "peak_cpus": 3.05,
+   "peak_pids": 447,
+   "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:roboarc-cast-coil-08-i01-privileged--zuzkasp.mp4",
+  "duration_s": 348.2,
+  "fps": 15.0,
+  "frames": 5223,
+  "sha256": "2a5027478f3015c28e9cba0ec617e81abb360ac1477b3a090c13c68079928110"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      347.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 280.0,
+      "log_step": null,
+      "text_zh": "观察：视频 280 s 起金、银两件已在中央交错互锁，两个夹爪仍在夹持/围住零件（尚未释放，节点不算达成）。"
+     },
+     {
+      "t": 315.0,
+      "log_step": null,
+      "text_zh": "观察：视频 315–330 s 夹爪仍夹持/围住组件；340 s 起夹爪张开后退，互锁组件稳定留在桌面；对照 oracle 视频成功形态一致。"
+     },
+     {
+      "t": 347.6,
+      "log_step": null,
+      "text_zh": "观察：视频 347.8 s 夹爪与组件之间出现间隙，组件静止。评分器字段 strict_goal_row=13926 等于最后一个动作行（仿真 348.1 s），success=1；推断：严格验收（释放、净距≥5 mm、0.5 s 静止确认，由 strict_goal_row=最后一行支持）在视频末尾达成，达成时刻 ≈ 视频 347.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 0–330 s 左右夹爪各夹持一件线圈（金、银），双臂协同抬起、对准并插合；约 340 s 起双夹爪张开后退。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：图像视频 348.2 s 中机器人双臂夹持金银线圈，约视频 280 s 前已插合互锁，315–330 s 夹爪仍夹持，340 s 起张开后退，终态静止；评分器 success=1、strict_goal_row 为最后一行。唯一节点 coils_assembled 达成（时间按末行推断 ≈ 347.6 s）。无状态日志，毫米级精度由原生验收结果确认；日志（agent 自述）记录多次会话重置，但图像与评分器一致。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点 coils_assembled 最终达成、时间≈347.6 s（由 strict_goal_row=最后一行界定）判断正确，无需改动；但证据文字把 315–330 s 写成夹爪已张开退离，与画面不符（此时夹爪仍夹住/围住零件），属于观察被说错。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "coils_assembled 在视频末尾（≈347.6 s）达成，由 strict_goal_row=最后一行与 success=1 界定，判断正确；第 1 轮指出的 315–330 s 夹爪仍夹持的措辞已改正。347.8 s 帧显示夹爪张开、与组件有间隙，组件静止。contact_actual 双臂协作+抓握合理。无新问题。",
+    "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": "2026-11-08T08:46:34Z",
+  "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/roboarc-cast-coil-08-i01-privileged--zuzkasp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-privileged--zuzkasp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-privileged--zuzkasp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-privileged--zuzkasp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "15f434f42d91582be220ebadbb1443a8572a26bf1add672e02f885a0c67d0fe8",
+   "video_sha256": "2a5027478f3015c28e9cba0ec617e81abb360ac1477b3a090c13c68079928110",
+   "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."
+ }
+}

phaseK/roboarc/cast_coil_08/trajectories/roboarc-cast-coil-08-i01-standard--nc4wcm7.json

@@ -0,0 +1,235 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-08-i01-standard--nc4wcm7",
+ "taskKey": "roboarc/cast_coil_08",
+ "dag_sha256": "3f044b7057527f213bcd8353082b5cb53f260fe14541d55a8e7065d112ba23f4",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 6,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 20553,
+   "live_rows": 20553,
+   "sim_steps": 20553,
+   "physics_steps": 205530,
+   "steps": 9585,
+   "elapsed_s": 10429.8,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-08-i01-standard--nc4wcm7.mp4",
+  "duration_s": 513.934,
+  "fps": 15.0,
+  "frames": 7709,
+  "sha256": "df6f7995e08df4c98cbc6f17454fc25337a5b19fdeee93b2456c18d1048848c5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "coils_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 513.5,
+      "log_step": 566,
+      "text_zh": "观察：视频 470、500、512、513.5 s 帧中，金色线圈仍被夹爪夹在空中，银色线圈倾斜（非规整直立）地落在桌面、位于金色一侧并紧邻左臂夹爪，未与金色互锁；抽查的帧（每约 20 s 一帧）均未见中央互锁，不排除帧间事件。agent 自述“没有完成装配，done=False”（log step 566）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频中夹爪夹持并移动金色线圈（末帧仍夹持）；银色线圈曾被夹持转运（log step 404，自述）后最终倾斜落在桌面（log 566 自述被释放），其间过程未逐帧核对；有 6 次 forcing 事件（评分器字段）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "coils_assembled",
+   "t": null,
+   "log_step": 566,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 513.5 s 金色线圈仍在夹爪中，银色倾斜落在桌面、紧邻左臂夹爪，两件从未互锁；整个视频都在抓取、配准和送入过程中。评分器字段 success=0、forcing_events=6。"
+  },
+  "unmet": {
+   "coils_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：agent 反复配准—抓取—送入，期间出现关节限位、接触早于预期（log step 134、404）和低位侧抓产生 forcing（log step 566），说明抓取与送入执行不稳；子类无法从证据分辨。",
+    "source_zh": "agent 自述 / 评分器字段 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，未逐帧核对视频；log 404 显示银色曾被夹持并转运、与零件提前接触（间隙 32.8→22.6 mm），log 505 自述窄夹爪落空，log 560/566 提到银色倾倒/被释放，这些均无帧级核实，故不给出接触类现象；breakpoint.t 无法定位；根因子类无法区分。"
+ },
+ "summary_zh": "观察：513.9 s 视频内金银线圈未互锁，coils_assembled 未达成（final false）；末帧金色仍被夹持，银色倾斜落在桌面。推断：断点在装配操作中，根因仅能定到“控制”，现象无帧级证据故留空；无状态日志，置信度有限。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "WHERE 标签（coils_assembled=false、断点 coils_assembled/操作中）与视频一致；但对银色线圈末态的描述（“独立直立”）��帧不符，且“没建立接触”只依据一个未核对的自述步（log 505），而 log 404 显示银色曾被夹持、转运中提前接触，该现象证据不足。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（coils_assembled=false、断点 coils_assembled/操作中、phenomena 置空）与视频和评分器字段一致；仅 summary_zh 仍含与正文和 gap_zh 矛盾的陈述。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按建议改写 summary_zh，与 evidence 和 gap_zh 一致，未引入新矛盾。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按建议改写 summary_zh，与 evidence 和 gap_zh 一致，未引入新矛盾。",
+   "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": "2026-11-08T08:49:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-standard--nc4wcm7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-standard--nc4wcm7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-standard--nc4wcm7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-standard--nc4wcm7/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-standard--nc4wcm7/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-08-i01-standard--nc4wcm7/06_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": "8423943b188514bc6cd5cd94bdffb0b14df6c5b696d374b372a710a2763046cf",
+   "video_sha256": "df6f7995e08df4c98cbc6f17454fc25337a5b19fdeee93b2456c18d1048848c5",
+   "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."
+ }
+}

phaseK/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--qcmn83x.json

@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-privileged--qcmn83x",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 2,
+   "agent_resets": 13,
+   "agent_sim_steps": 0,
+   "agent_records": 5,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 769,
+      "text_zh": "观察：无视频、无状态日志；评分器字段 missing_trajectory=1，未交付任何轨迹，agent 的规划脚本（log step 2-769）未在图形化的评分回合中执行。金色件初态应在系统侧，但无画面或状态可核对，故不判定。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 769,
+      "text_zh": "观察：评分器 success=0、missing_trajectory=1：未交付轨迹，银色件入目标区未达成（final 由评分器结果推出，无视频故无区间）。agent 在 log step 763-769 仍在对最后一条边做碰撞修正（最大穿透约 15.4 mm，dense 校验失败，自述“no trajectory has been accepted”，log step 767），最后一步在 10639.8 agent 秒，预算 10800 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，机器人未在评分回合中接触任何物体。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": null,
+   "log_step": 767,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1，无任何轨迹交付；log step 767 agent 自述 no trajectory has been accepted，最后一步（log step 769）仍在为银色件脱出路径的最后一条边做规划（OPMPL/RRTConnect，穿透约 15.4 mm）。机器人在评分回合中从未开始该步。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 767,
+    "evidence_zh": "观察：未交付轨迹（missing_trajectory=1），评分回合中该步骤从未开始。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志（video.kind none）；未交付轨迹且原因在 agent 一侧（规划未完成即用尽预算，agent 自述未接受任何轨迹，log step 767），按规则不从未交付推出根因，故根因层为空。预算耗尽本身不是现象或根因。金色件节点无任何可核对证据，保持未知。",
+  "unmet": {
+   "gold_on_system_side": null,
+   "silver_in_goal": false
+  }
+ },
+ "summary_zh": "观察：未交付任何轨迹（评分器 missing_trajectory=1，success=0），无视频与状态日志。agent 用约 10640 agent 秒做路径规划（log step 2-769），到最后仍有一条边碰撞校验失败，未能产出可执行轨迹；银色件入目标区未达成，金色件节点无证据故未知。断点为银色件入目标区（首步前）；根因因无证据留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、success=0，未交付轨迹。银色件 final=false、金色件 unknown、首步前+没尝试、根因层空并写 gap_zh，均与 03 的规则（无交付、预算不作现象/根因、不由未交付推根因）一致，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": "2026-11-08T08:37:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--qcmn83x/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-privileged--qcmn83x/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7f93922fd2b39d23eb8e9fca1f280a85ed4fd3c94a2dc1122925c67f50a3e617",
+   "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."
+ }
+}

phaseK/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--nou9bsv.json

@@ -0,0 +1,243 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-03-i01-standard--nou9bsv",
+ "taskKey": "roboarc/cast_keyhole_03",
+ "dag_sha256": "b3c76f087b01b1e9b92b7f49cd79a4319c6f7e66e449d9fd184127cc33a1417f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 8,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 25373,
+   "live_rows": 25373,
+   "sim_steps": 25373,
+   "physics_steps": 253730,
+   "steps": 6343,
+   "elapsed_s": 10909.5,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.478,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.553,
+   "peak_cpus": 1.45,
+   "peak_pids": 145,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-keyhole-03-i01-standard--nou9bsv.mp4",
+  "duration_s": 634.4,
+  "fps": 15.0,
+  "frames": 9516,
+  "sha256": "99027abde856b910fff5dccf046163491292cf48efbcf99029cf6e55c314a039"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      550.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 金色件在绿框下方（系统侧），条件初态成立。"
+     },
+     {
+      "t": 558,
+      "log_step": 790,
+      "text_zh": "观察：视频 545-558 s 双臂夹爪在绿框内、金色件进入绿框；视频 634 s 金色件立在绿框内。推断：约视频 550 s 越过分隔面而失去，至结束未恢复。agent 末步自述想把金色件推出目标区（log step 788/790）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 60-300 s 左臂夹爪夹持/拨动金色件；末段夹爪触及金色件并把它带入绿框。"
+     }
+    ]
+   },
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 634,
+      "log_step": 790,
+      "text_zh": "观察：视频 20-540 s 右臂夹爪抓着银色件与金色件反复互锁/拖动，从未见银色件整体入绿框；视频 634 s 银色件仍被夹爪握着在绿框外，金色件在绿框内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 20-540 s 左臂夹爪夹金色件、右臂夹爪夹银色件尝试解开；后段双臂在绿框附近推/拨金色件。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "where": "操作中",
+   "t": 550.0,
+   "log_step": 790,
+   "evidence_zh": "观察：视频 20-634 s 银色件始终未整体进入绿框，视频约 550 s 金色件进入绿框，634 s 结束时仍未恢复。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 300.0,
+    "log_step": 405,
+    "evidence_zh": "观察：视频 100-520 s 及 633 s，右夹爪持银色件时金色件仍卡在银色件孔内、两件互锁，抬起/拖动时金色件被一并带动，两件始终未解脱，银色件从未被带到绿框附近；约 550 s 双臂末段推拨把金色件带入绿框。日志 step 405 agent 自述抬起银色件时金色件随之被带起，step 790 自述手指反复穿过金色件开口、金色件侧立。（上一版“位姿不准”与证据不符，已改。）"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述 step 405（抬起银色件时金色件被一并带起，两件互锁）和 step 790（闭合手指反复穿过金色件开口）；视频 100-520 s 可见互锁未解脱。抓取点/接触几何使两件无法解脱��是否存在可行替代抓法未验证。",
+    "source_zh": "agent 自述 + 视频"
+   }
+  ],
+  "gap_zh": "已读 779 步日志：根因仅有 agent 自述与视频支持，无状态日志核实，alt_feasible 未知；金色件越界时刻约视频 550 s 为视觉估计。",
+  "unmet": {
+   "gold_on_system_side": false,
+   "silver_in_goal": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 634 s 内银色件与金色件始终互锁未解脱，银色件从未入目标区；金色件初态在系统侧，约视频 550 s 被推入绿框而丢失；两节点最终均未达成。断点在银色件入区（操作中），现象为被挡/碰撞（互锁），根因为抓取和接触设计（据 agent 自述与视频，alt_feasible 未知）。缺状态日志，金色件越界时刻为视觉估计。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "节点值与时间大体与视频一致（金色件约550 s越界，银色件始终未入区）；但断点现象“位姿不准”与证据不符（实际是两件始终互锁、未解脱），且根因层留空、理由是“未检查日志”，而 inputs/run.json 有完整779步日志可查。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点值、金色件约550 s越界（帧 542-556 s 附近越过绿框近边，时间在容差内）、银色件始终未入区、断点与被挡/碰撞（互锁）+抓取和接触设计均有帧与日志支持，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": "2026-11-08T08:47:15Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--nou9bsv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--nou9bsv/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--nou9bsv/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-03-i01-standard--nou9bsv/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c789bdf0fcc0764dce6f7abf338917035bd0bc16100da98f1f537ef4d23f9902",
+   "video_sha256": "99027abde856b910fff5dccf046163491292cf48efbcf99029cf6e55c314a039",
+   "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."
+ }
+}

phaseK/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--v9qajfc.json

@@ -0,0 +1,188 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-privileged--v9qajfc",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 17,
+   "agent_resets": 56,
+   "agent_sim_steps": 17864,
+   "agent_records": 15,
+   "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": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1161,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1，success=0，/app/output 中仅有会话日志（log step 209），agent 从未交付轨迹。无法判断该节点，intervals 与 final 置空。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 1161,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1，success=0，/app/output 中仅有会话日志（log step 209），agent 从未交付轨迹。无法判断该节点，intervals 与 final 置空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_inset",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_confirmation",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "where": "首步前",
+   "t": null,
+   "log_step": 1161,
+   "evidence_zh": "观察：agent 在整个 10800 s 会话（log step 2-1161，agent 时间约 10790 s）里只做离线几何/RRT 路径搜索，试图在碰撞网格中找到银色件与金色件脱开的路径，从未交付轨迹（评分 missing_trajectory=1，log step 209 时 /app/output 只有会话日志）。没有被评分的回合，银色件入区步骤从未开始。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，也无已交付轨迹；agent 因自身原因未交付，会话内的试探只是会话证据，不构成现象或根因（D23），故两层留空。会话大部分时间用于搜索互锁拼图的脱开路径，路径始终未找到（log step 1155-1161）。",
+  "unmet": {
+   "silver_in_goal": null,
+   "gold_on_system_side": null
+  }
+ },
+ "summary_zh": "观察：agent 在 10800 s 预算内始终做离线路径规划，没有交付任何轨迹（missing_trajectory=1），无视频与状态日志。两个节点无法判断（unknown），断点为银色件入区、首步前。现象与根因因无图像证据且为 agent 侧未交付而留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志；两节点按 N9 仅凭评分字段（missing_trajectory=1, success=0）无法判定，unknown 合理；断点首步前、两层留空加 gap_zh 符合 D23(a)。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": "2026-11-08T08:37:56Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--v9qajfc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-privileged--v9qajfc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d29bdd5dc4937a094bed3d43ce5545616d49521cb4ab5a83c033873cd7863f35",
+   "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."
+ }
+}

phaseK/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--dzvcbnf.json

@@ -0,0 +1,230 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-04-i01-standard--dzvcbnf",
+ "taskKey": "roboarc/cast_keyhole_04",
+ "dag_sha256": "70720774d01cbeadb5de0aa235fa5558388d350a894bac65e2e2f759e5f7b4c7",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 44107,
+   "live_rows": 44107,
+   "sim_steps": 44107,
+   "physics_steps": 441070,
+   "steps": 8799,
+   "elapsed_s": 10895.1,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.411,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.732,
+   "peak_cpus": 3.95,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-keyhole-04-i01-standard--dzvcbnf.mp4",
+  "duration_s": 1102.734,
+  "fps": 15.0,
+  "frames": 16541,
+  "sha256": "9841ee4de6d9532bce659162cdb9da0bf42a60603e024b26d11ef4a5655ff4ab"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1101,
+      "log_step": 598,
+      "text_zh": "观察：视频 1101 s 末帧，银色件在绿色虚线框内但被夹爪持握且金色件同时被带入框内；全程无满足0.5秒静止+金色留侧的时段。agent 自述“金色随银色被带入”（log step 593）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：双夹爪夹持金/银件互相分离、搬运（视频 200–1100 s）。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      1091
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1101,
+      "log_step": 593,
+      "text_zh": "观察：视频 0–约1090 s 金色件在拼图侧桌面或被夹持在系统侧（1090 s 帧仍在系统侧）；1094 s 帧金色件被夹爪带越分隔面，末帧（1101 s）在绿框内。推断：失去时刻约视频 1091 s，不确定（±数秒）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：一侧夹爪夹住金色件，最终将其带入目标框。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "gold_on_system_side",
+   "t": 1091,
+   "where": "操作中",
+   "evidence_zh": "观察：视频末段 agent 把银色件送入框，金色件被夹爪连带越过分隔面（约视频 1091 s：1090 s 帧仍在系统侧，1094 s 帧已越界），失去金色留侧；log step 593、598 agent 自述金色被一起带前。观察：视频 1096–1102 s 左夹爪抓着金色件，末帧金色仍在框内；log step 598 开始回拉后即达时限，未见修复（时限本身不作为现象）。",
+   "log_step": 598
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 1101,
+    "log_step": 598,
+    "evidence_zh": "观察：视频 1101 s 金色件越过分隔面与银色件同入目标区，银色件未能与金色件分开保持静止。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因证据不足：未见决定性的单一原因；状态日志缺失，节点时间由视频目测，金色越界时刻不确定。",
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  }
+ },
+ "summary_zh": "观察：视频 1102 s 内双臂反复分离并搬运钥匙孔件，直到末尾银色件才进入绿框，但金色件被一并带入，两节点均未持续满足 0.5 秒，银色入区未达成、金色留侧在约视频 1091 s 失去。断点为金色留原侧（操作中）；根因无足够证据。无状态日志，时间为目测。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "银色未入区、金色留侧最终失去的结论正确，但金色越界时刻写成约1070 s，帧显示约1091 s；失去前的“无状态日志”说法不影响，但断点t与区间终点需改。现象“位姿不准”的证据把agent自述当作观察且未说明运行在step 598回拉金色途中被时限截断。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、约1091 s失去时刻、断点（金色留侧、操作中）与帧一致；末帧金色随银色在框内，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": "2026-11-08T08:47:11Z",
+  "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/roboarc-cast-keyhole-04-i01-standard--dzvcbnf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--dzvcbnf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--dzvcbnf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-04-i01-standard--dzvcbnf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "a930c45ef8c9ffe26d01654e29660a8ae78ce78cfe9038f0316e135c57813f54",
+   "video_sha256": "9841ee4de6d9532bce659162cdb9da0bf42a60603e024b26d11ef4a5655ff4ab",
+   "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."
+ }
+}

phaseK/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-privileged--qebjg5j.json

@@ -0,0 +1,196 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-05-i01-privileged--qebjg5j",
+ "taskKey": "roboarc/cast_keyhole_05",
+ "dag_sha256": "72c806611a2ace5a0d722fe75d51f43c87a2b2b6545ad3a20cbf47330adbbc70",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 1,
+   "agent_resets": 17,
+   "agent_sim_steps": 0,
+   "agent_records": 36,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 410,
+      "text_zh": "观察：run.json reward 中 missing_trajectory=1、agent_replays=0，无视频、无状态日志；agent 会话用满 10800 s 预算，最后一步（log step 410）读到 time_left 0.0，仍在做逆向路径搜索脚本，未交付轨迹。推断：评分局没有可评的轨迹，银件入区未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 410,
+      "text_zh": "观察：无视频、无状态日志、未交付轨迹（missing_trajectory=1）。该节点（金件留系统侧）初态可能已成立，但无任何画面或状态字段可核实，故未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": null,
+   "log_step": 410,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1，agent 会话（agent 工作约 10893 s，预算 10800 s）全程在用脚本做几何/逆向路径搜索与验证，最后一步（log step 410）读到 time_left 0.0，未向评分局交付轨迹，机器人在评分局中没有动作。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 410,
+    "evidence_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹，评分局里分离银件这一步没有启动（无视频，由评分器字段与 log step 410 判断）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，评分局内容仅由评分器字段（missing_trajectory=1）推知。根因留空：不能从没尝试或缺交付反推；会话中 agent 花费全部时间做搜索、未得到可交付的分离路径，但没有足够证据把它归为认知或控制的某一类。",
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": null
+  }
+ },
+ "summary_zh": "任务设计无异常。agent 在 10800 s 预算内一直做分离路径的离线搜索，直到 log step 410 time_left=0 仍没有交付轨迹（missing_trajectory=1），银件入区未达成，断在第一步前。无视频和状态日志，金件节点无法核实。",
+ "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，agent_replays=0，sim submit 全 0）；银件节点 false、金件节点 unknown、断点首步前/没尝试、根因留空并写 gap_zh，均符合 03 与 D23(a)/FAIL-22，未把停止或预算当作原因。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": "2026-11-08T08:38:41Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-privileged--qebjg5j/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-privileged--qebjg5j/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c65fa89a0ed84f398e961fdb9cecbd28d7285593330c215bca7cb9e9ccbf9b55",
+   "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."
+ }
+}

phaseK/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--bynf8al.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-keyhole-05-i01-standard--bynf8al",
+ "taskKey": "roboarc/cast_keyhole_05",
+ "dag_sha256": "72c806611a2ace5a0d722fe75d51f43c87a2b2b6545ad3a20cbf47330adbbc70",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 34628,
+   "live_rows": 34628,
+   "sim_steps": 34628,
+   "physics_steps": 346280,
+   "steps": 8649,
+   "elapsed_s": 10894.9,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.458,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.4,
+   "peak_cpus": 1.46,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-keyhole-05-i01-standard--bynf8al.mp4",
+  "duration_s": 865.8,
+  "fps": 15.0,
+  "frames": 12987,
+  "sha256": "2a8d9d67a657d7806cb25c7a3aa5be0afdcc8e8e7cab3ebbc4310f8d90a582f3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "silver_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 864.5,
+      "log_step": 744,
+      "text_zh": "观察：视频 864.5 s，银件被一只夹爪提在半空，只在绿虚线框附近，未整件落入框内；全程无一帧银件整件处于目标体积内且静止。观察：视频约 770-865 s 银件被夹持横向搬运，金件被带着走。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：多数尝试阶段左夹爪夹金件锚固、右夹爪夹银件（log 252、264、474）；末段搬运阶段左臂已停靠，只有右夹爪持银件（log 733-737）。两者未能解开互锁。"
+     }
+    ]
+   },
+   "gold_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      800.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 800.0,
+      "log_step": 737,
+      "text_zh": "观察：视频 0 s 金件在系统侧；视频约 780-865 s 金件挂在银件上被一同抬起并被带向绿框，视频 864.5 s 金件立在绿框处。推断：约 800 s 金件越过分隔面（时间不确定，约±20 s，分隔面不可见）。agent 自述“Gold was still snagged and followed the transport”（log step 737）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪夹持金件后段；金件与银件互锁，被一并带离系统侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "silver_in_goal",
+   "t": 790,
+   "log_step": 735,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 770-865 s 机器人夹着银件向绿框搬运，金件仍与银件互锁并被带走；864.5 s 结束时银件未入框。agent 自述“Gold was still snagged”（log step 737）。"
+  },
+  "unmet": {
+   "silver_in_goal": false,
+   "gold_on_system_side": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 864.5,
+    "log_step": 737,
+    "evidence_zh": "观察：视频约 780-865 s 银件一被夹起，互锁的金件即被一并带起、挂在银件下方，整件分离从未发生（864.5 s 主视角金件仍挂在银件下）。推断：银/金齿互锁相互挡住脱开（齿卡位置不可见）；agent 自述 log step 252「definite tooth catch」、264「combined lift raised both pieces together」、737「Gold was still snagged」。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "未知",
+    "evidence_zh": "log 约 700 步内反复换拉/抬/滚/偏航方向试探互锁（step 252、264、474），step 702 自述「gravity seats the interlock rather than removes it」后仍试同类方向；step 720「Silver is now out of gold's plane」，step 737 搬运才发现金件仍被带走，说明解开互锁的分离策略选错/未验证。",
+    "source_zh": "agent 自述 / 日志（非视频）；仅为策略层推断，未排除控制层（抓取接触设计）原因，故待核实。"
+   }
+  ],
+  "gap_zh": "金件越界时刻无状态日志，约 800 s 为目测估计；视频仅 865.8 s 而 agent 会话约 10800 s，两个时钟不换算。根因只来自 agent 日志（策略选错），视频不能直接显示。"
+ },
+ "summary_zh": "观察：视频全程两个夹爪反复尝试解开银/金互锁拼件，到视频 864.5 s 银件被夹在半空未入绿框，两节点最终均未成立（银件从未入区；金件原在系统侧，约视频 800 s 起被带离）。断点为银件入区的操作。无状态日志，金件越界时间为目测；现象：银/金互锁挡住分离，银件一抬金件被带起（被挡/碰撞）；根因依 agent 日志推断为分离策略选错（推理/规划，待核实）。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "WHERE 标签（两节点终值 false、断点 silver_in_goal、时钟）基本站得住；问题在现象/根因两层被整体留空：这是一次有完整尝试的 live 单局，视频与 log 都有可见的失败现象，不属于“证据不足”。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点终值 false、断点 silver_in_goal（操作中）、被挡/碰撞 现象与 推理/规划（待核实）根因均与视频和 log 相符；上一轮意见已落实。金件越界约 800 s 为带不确定度的目测估计，已如实标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:47:17Z",
+  "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/roboarc-cast-keyhole-05-i01-standard--bynf8al/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--bynf8al/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--bynf8al/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-keyhole-05-i01-standard--bynf8al/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "21709f902f19fb7c3dade8e1e8b2d826f7a76ea195bb243eb9909388830e6ba0",
+   "video_sha256": "2a8d9d67a657d7806cb25c7a3aa5be0afdcc8e8e7cab3ebbc4310f8d90a582f3",
+   "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."
+ }
+}

phaseK/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-privileged--5vzecp9.json

@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-04-i01-privileged--5vzecp9",
+ "taskKey": "roboarc/fiber_bundling_04",
+ "dag_sha256": "974ce857ea30b6ca70332e06d1d89dcd3504544bc3d10cacf082ea04b08fb4b6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 7,
+   "agent_resets": 40,
+   "agent_sim_steps": 0,
+   "agent_records": 34,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.548,
+   "peak_memory_gb": 1.443,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.555,
+   "peak_cpus": 2.23,
+   "peak_pids": 210,
+   "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": {
+   "fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 482,
+      "text_zh": "观察：本次无视频、无状态日志；评分结果只有 success=0、missing_trajectory=1（未交付可回放轨迹），不按节点报告。推断：无法判定该节点，agent 会话内的自测读数（如 log step 21 自述两根纤维获得穿环记分）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": null,
+   "log_step": 482,
+   "where": "首步前",
+   "evidence_zh": "观察：评分字段 missing_trajectory=1，success=0；agent 在 log step 477-482（agent 工作约 10520-10793 s，总时限 10800 s）仍在调试 experiment_full_hybrid.py 的整套穿环序列，最后一步还在改写重抓取程序，未见已保存并验证的交付轨迹。推断：评分的交付轨迹缺失，被评分的尝试没有任何穿环动作可看，故断点记在第一步、位置为首步前。"
+  },
+  "unmet": {
+   "fibers_through_1": null,
+   "fibers_through_2": null,
+   "fibers_through_3": null,
+   "fibers_through_4": null,
+   "fibers_through_5": null,
+   "fibers_through_6": null,
+   "fibers_through_7": null,
+   "fibers_through_8": null,
+   "front_sheath_through": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；未交付轨迹是 agent 侧原因（反复在会话中试验、时限 10800 s 用尽，wall_s 10802），按规则不给现象与根因（会话证据不是现象）。各节点 final 无评分器逐节点字段，均为 null。"
+ },
+ "summary_zh": "观察：agent 用 7 次会话、40 次重置在会话内反复试验穿环序列，直到 wall 10802 s（时限 10800 s）仍在改脚本，评分结果 missing_trajectory=1、success=0。推断：评分的尝试无可见进展，所有节点无法判定（无视频、无状态日志）；断点记为 fibers_through_1 首步前，现象与根因因证据不足留空。",
+ "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，评分字段 missing_trajectory=1、success=0；agent 自身原因未交付轨迹，按规则节点 unknown、现象与根因留空并写 gap_zh，断点 fibers_through_1 首步前，均符合 03 的规定，未发现需改之处。",
+    "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": "2026-11-08T08:37:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-privileged--5vzecp9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-privileged--5vzecp9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "52482cb8c5941ad5288e908834767f4fc9e7973392844e157b141d7df7a61b12",
+   "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."
+ }
+}

phaseK/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-standard--4cymtve.json

@@ -0,0 +1,331 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-04-i01-standard--4cymtve",
+ "taskKey": "roboarc/fiber_bundling_04",
+ "dag_sha256": "974ce857ea30b6ca70332e06d1d89dcd3504544bc3d10cacf082ea04b08fb4b6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 1340,
+   "live_rows": 1340,
+   "sim_steps": 1340,
+   "physics_steps": 13393,
+   "steps": 259,
+   "elapsed_s": 1346.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-fiber-bundling-04-i01-standard--4cymtve.mp4",
+  "duration_s": 33.6,
+  "fps": 15.0,
+  "frames": 504,
+  "sha256": "8e47a015d6bbd53d31a298481057d4df6b88bdff65337cc2dcbe335142381898"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Panda 夹爪夹住黑色厚护套（log step 41 测得指距 23.9 mm），推着纤维尖端靠近铜环；末段夹爪与纤维接触导致终止（log step 79）。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "观察：服务读数 fiber_gripper_contact，夹爪与纤维接触（DAG 要求避开，未避开）。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周��未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.0,
+      "log_step": 79,
+      "text_zh": "观察：视频 33.0-33.6 s 末帧，彩色细纤维散开在铜环近侧/环周，未见成束穿过环；评分器 success=0，agent 日志 step 79 称 episode 以 fiber_gripper_contact 终止。推断：本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "where": "操作中",
+   "t": 33.0,
+   "evidence_zh": "观察：视频全程夹爪握护套在铜环前调整，末帧纤维仍散在环外；log step 78-79 把护套插入环管后 episode 以 fiber_gripper_contact 终止，无任何纤维完整穿环。",
+   "log_step": 79
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 33.0,
+    "log_step": 79,
+    "evidence_zh": "观察：视频 33.0 s 夹爪/护套端面送到环口时纤维尖端散开宽于环口；推断：端面相对环口与散开纤维的位置不够，推进时碰到纤维。服务 reason=fiber_gripper_contact（终止规则），step 78 forcing events 0、max_press_force_n 0.0，无力异常证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "note_zh": "agent 在 log step 18、73-74 自述纤维散开宽于环口，仍选择直接推进护套，没有改变收拢策略，属跨阶段策略选择而非夹持几何问题（判别次序先看规划）。",
+    "evidence_zh": "log step 18、73、74 的自述；step 78-79 服务判 fiber_gripper_contact。",
+    "source_zh": "日志",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "视频为回放压缩（33.6 s），无状态日志，纤维是否部分穿环和接触的精确时刻无法逐帧确认；root cause 依据 agent 自述与服务终止原因。；alt_feasible 未知：无证据证明另有可行的收拢方案。只有 fibers_through_1 为实际尝试过的节点，其余节点无独立接触记录（视频 24 s 仅见尖端穿环）。",
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "观察：九个节点均未达成，agent 在视频 0-33.6 s 内握住护套在铜环前反复调整，纤维始终散开，最后插入时夹爪触碰纤维（log step 79 reason=fiber_gripper_contact）而终止。断点为第1根纤维穿环，原因推断为规划：明知纤维散开仍直接推进，端面位姿不准。主要缺口：无状态日志、视频为压缩回放。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "九个节点未达成、断点 fibers_through_1 基本可接受（末帧 33.4 s 仅纤维尖端穿环，根部仍在护套侧，评分器 success=0）。主要问题：现象“接触力异常”缺少力不对的证据，实为终止规则 fiber_gripper_contact 的换名；contact_actual 只写了第1个节点且漏记夹爪触纤维。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "九个节点未达成、断点 fibers_through_1、末帧仅纤维尖端靠近环、服务终止原因 fiber_gripper_contact 均与视频和日志一致；第一轮意见已采纳，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": "2026-11-08T08:46:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-standard--4cymtve/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-standard--4cymtve/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-standard--4cymtve/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-04-i01-standard--4cymtve/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "11f7f087ad05f7d003a43884705d422dd3e6d3b8add3b94c0627b468cb187939",
+   "video_sha256": "8e47a015d6bbd53d31a298481057d4df6b88bdff65337cc2dcbe335142381898",
+   "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."
+ }
+}

phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--dfec2pq.json

@@ -0,0 +1,412 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-privileged--dfec2pq",
+ "taskKey": "roboarc/fiber_bundling_06",
+ "dag_sha256": "bd458c0ae6a25593ec6f0550eb9a4287ce0e26ea89e1611a602d30dd0b5542e1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "gpu_backend": 1,
+   "infra_error": 0,
+   "simulator_instability": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "assets_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 1392,
+   "submitted_actions": 1392,
+   "sim_steps": 1392,
+   "physics_steps": 13920,
+   "sim_time_s": 34.799999999999095,
+   "final_reward": 0.0,
+   "replay_wall_s": 1039.9,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 4,
+   "agent_resets": 28,
+   "agent_sim_steps": 9862,
+   "agent_records": 36,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-fiber-bundling-06-i01-privileged--dfec2pq.mp4",
+  "duration_s": 34.867,
+  "fps": 15.0,
+  "frames": 523,
+  "sha256": "45c48d8cf8dde7fe89203bdfc4b19016b3b4084f6b12055ae33dbbdd9c4dc0d8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Panda 的 Robotiq 夹爪夹住黑色粗护套（trunk_04）推动线束靠近并穿向铜环；不直接抓细纤维。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读��）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）���推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 34.7,
+      "log_step": 347,
+      "text_zh": "观察：视频 34.7 s 末帧，腕部视角中多根彩色纤维的前段已伸入铜环孔，但黑色粗护套/分叉根部仍在环入口侧，纤维根部未越过出口；与 oracle 成功时整束穿出的形态不同。agent 自述最终仅 6 根尖端计入、轴向范围为负、最大弯折 87.5°（log step 347，会话内读数）。推断：没有任何一根纤维 11 个材料点全部过环，本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪始终夹住护套，但护套未穿过铜环。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": 87.5,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 20.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0–34.9 s 机械臂夹护套把纤维束推向铜环，末帧纤维尖端已多数穿环但根部仍在入口侧，纤维折叠；没有一根完整通过。agent 自述最终 6 根尖端计入、弯折 87.5°（log step 347）。",
+   "log_step": 347
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "t": 34.7,
+    "log_step": 347,
+    "evidence_zh": "观察：视频末帧腕部视角中纤维扇面散开，部分纤维折叠、未整束同轴进入铜环；agent 自述外圈尖端绕过环外 60–84 mm（log step 38）及最终折叠、弯折 87.5°（log step 347）。推断：线束相对铜环的位姿/展开不对，导致无法完整穿过。",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "phenomena 名称按分类表近似使用，未核对 TAXONOMY 精确取值；无状态日志，无法逐根核对 11 点穿环历史，节点值由末帧和 agent 读数推断；根因证据不足（agent 多次轨迹试验，无证据表明具体控制/规划缺陷）。",
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "观察：视频 34.9 s 内机械臂夹着粗护套推线束向铜环，末帧多根纤维尖端穿环但根部与护套仍在入口侧、纤维折叠，成功=0。推断：17 个节点均未达成，断点为第1根纤维过环（操作中）；根因证据不足。无状态日志，节点依据末帧与 agent 读数。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "17 个节点均未达成与末帧（主视角+腕部视角：护套和纤维根部仍在环入口侧）一致，成功=0；断点 fibers_through_1/操作中、现象位姿不准未见证据矛盾。无状态日志，根因留空并写 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": "2026-11-08T08:38:50Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--dfec2pq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-privileged--dfec2pq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f6207bb6786671e72caea61d0573fe834870775d601d48394f7823bfd6cfb703",
+   "video_sha256": "45c48d8cf8dde7fe89203bdfc4b19016b3b4084f6b12055ae33dbbdd9c4dc0d8",
+   "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."
+ }
+}

phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--be6btek.json

@@ -0,0 +1,518 @@
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+ "progress": {
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+     }
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+    "contact_actual": [
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+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
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+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 107.5,
+      "log_step": 176,
+      "text_zh": "观察：视频末帧（约107.5 s）腕部视角中铜环只压在张开的纤维扇面上，彩色纤维散开，没有纤维从环孔穿到出口侧；全程未见任何纤维根部越过环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "Robotiq夹爪夹住黑色粗护套，带动纤维向铜环推进（无穿环成功）"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": 105.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约100-107 s夹爪夹着护套把纤维扇送到铜环处，末帧纤维仍散开、未穿环；log step 176-177 服务返回终止原因 fiber_gripper_contact，episode 结束。",
+   "log_step": 176
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 105.0,
+    "log_step": 176,
+    "evidence_zh": "观察：视频末段纤维扇面（散开宽度大于环孔）无法对准环孔，夹爪最终移到环附近并触发 fiber_gripper_contact（log step 176），无纤维穿环。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "agent 自述“自由空间扭转只是刚性旋转扇面，并不能收窄”（log step 169），多次尝试仍未把16根纤维收拢成束；最终仍整扇送环，导致夹爪触环失败。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，纤维材料点穿环情况只能由视频判断；根因依据主要来自日志与末段视频，把握有限。",
+  "unmet": {
+   "fibers_through_1": false,
+   "fibers_through_2": false,
+   "fibers_through_3": false,
+   "fibers_through_4": false,
+   "fibers_through_5": false,
+   "fibers_through_6": false,
+   "fibers_through_7": false,
+   "fibers_through_8": false,
+   "fibers_through_9": false,
+   "fibers_through_10": false,
+   "fibers_through_11": false,
+   "fibers_through_12": false,
+   "fibers_through_13": false,
+   "fibers_through_14": false,
+   "fibers_through_15": false,
+   "fibers_through_16": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "观察：视频107.7 s内无任何纤维穿过铜环，17个节点均未达成（全部false）。断点为第1根纤维过环：夹爪夹护套推送散开的纤维扇到环处，最终触发 fiber_gripper_contact 终止。推断：未能收拢纤维扇是主因；无状态日志，判断依赖视频。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "17个节点全 false、断点 fibers_through_1（约105 s 视频）与视频一致：末帧纤维扇仍散开、铜环压在扇面上无纤维穿环；log step 176 服务返回 fiber_gripper_contact（任务失败条件：夹爪碰细���维）。位姿不准与推理/规划有视频和日志支撑，未发现必须修改的错误。",
+    "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": "2026-11-08T08:38:39Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--be6btek/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-06-i01-standard--be6btek/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "21a21a97312671d5447bacae07a225405c06c70e1bd3d3373efbf1ba8dd1985f",
+   "video_sha256": "9b96d7aa6f03066946d080a39ff60ba044c9dea777d09e3d5ac2e8d820bb8e80",
+   "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."
+ }
+}