diff --git a/phaseK/roboarc/blanket_flatten_02/trajectories/roboarc-blanket-flatten-02-i01-privileged--cm7kan7.json b/phaseK/roboarc/blanket_flatten_02/trajectories/roboarc-blanket-flatten-02-i01-privileged--cm7kan7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a75d5fb9877b8b1ca11a4d36fd3ee59ce0a9e72
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_02/trajectories/roboarc-blanket-flatten-02-i01-standard--4ewzbtq.json b/phaseK/roboarc/blanket_flatten_02/trajectories/roboarc-blanket-flatten-02-i01-standard--4ewzbtq.json
new file mode 100644
index 0000000000000000000000000000000000000000..70608b492e11bdc42df0ad053abb63a5e1ebd2a2
--- /dev/null
+++ b/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,
+   "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-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": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:46:08Z",
+  "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-flatten-02-i01-standard--4ewzbtq/03_label"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-02-i01-standard--4ewzbtq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-02-i01-standard--4ewzbtq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-02-i01-standard--4ewzbtq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bea5470e7e7ccf3bf17f37c0a6c24763d7a63593802549266f25e23824f6e30f",
+   "video_sha256": "4c03fda31bbb493b2b23af4c05229020b9554afc439bd4c15cc6db08cb8057a9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--mqvujrm.json b/phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--mqvujrm.json
new file mode 100644
index 0000000000000000000000000000000000000000..8175db71d4fed13401d5da6dbfb82eccdb2a6fa6
--- /dev/null
+++ b/phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-privileged--mqvujrm.json
@@ -0,0 +1,172 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-03-i01-privileged--mqvujrm",
+ "taskKey": "roboarc/blanket_flatten_03",
+ "dag_sha256": "97a7a5959cbac723c17b8da8e921be671541b3256644a956d5835eb65f16a33f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
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+   "review_max_depth_mm": 0.0,
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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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+   "assets_exact": 1,
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+   "agent_resets": 11,
+   "agent_sim_steps": 9039,
+   "agent_records": 9,
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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,
+   "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-privileged--mqvujrm.mp4",
+  "duration_s": 53.4,
+  "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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--8rzpnie.json b/phaseK/roboarc/blanket_flatten_03/trajectories/roboarc-blanket-flatten-03-i01-standard--8rzpnie.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8f537b08a45157b104cb9b3ceb3f0fed572e50
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--jk3gqv4.json b/phaseK/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-privileged--jk3gqv4.json
new file mode 100644
index 0000000000000000000000000000000000000000..465be91e78074df9716d8953f8b5613b55cf4e5e
--- /dev/null
+++ b/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。"
+   }
+  ]
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--2g7kdhs.json b/phaseK/roboarc/blanket_flatten_04/trajectories/roboarc-blanket-flatten-04-i01-standard--2g7kdhs.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2d020597e7049ce03e6424d5b89fe3721c6cdd6
--- /dev/null
+++ b/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",
+ "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": 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 叙述；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",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "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"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-04-i01-standard--2g7kdhs/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--rrypymg.json b/phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--rrypymg.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e93de319a640574831319de45f57052bdcf1ac0
--- /dev/null
+++ b/phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-privileged--rrypymg.json
@@ -0,0 +1,236 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-07-i01-privileged--rrypymg",
+ "taskKey": "roboarc/blanket_flatten_07",
+ "dag_sha256": "156cc67db22cef8d68926887fd6edd32d159d16cc6e2cf659a2d8a921fc5fcbe",
+ "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": 784,
+   "submitted_actions": 834,
+   "sim_steps": 784,
+   "physics_steps": 7835,
+   "sim_time_s": 19.587499999999956,
+   "final_reward": 1.0,
+   "replay_wall_s": 1067.1,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 784,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 6,
+   "agent_resets": 7,
+   "agent_sim_steps": 4305,
+   "agent_records": 3,
+   "agent_replays": 3,
+   "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-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": [
+  {
+   "name": "coverage_ratio",
+   "value": 0.99966,
+   "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": 0.00493,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_m",
+   "value": 0.003,
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": 1.00168,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": 0.0139,
+   "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": 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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--eknubaj.json b/phaseK/roboarc/blanket_flatten_07/trajectories/roboarc-blanket-flatten-07-i01-standard--eknubaj.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd06f921c6af215106f87e569bc8b435f75afac
--- /dev/null
+++ b/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 自述每次牵拉后褶皱松弛复发），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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--wguci73.json b/phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-privileged--wguci73.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9706610235d672586fe9baa58d55feb2853e25
--- /dev/null
+++ b/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",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--wguci73/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--wguci73/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-privileged--wguci73/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "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",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--vbr74b9.json b/phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--vbr74b9.json
new file mode 100644
index 0000000000000000000000000000000000000000..24da49c289ff521cd1725ed77b8240e609078949
--- /dev/null
+++ b/phaseK/roboarc/blanket_flatten_08/trajectories/roboarc-blanket-flatten-08-i01-standard--vbr74b9.json
@@ -0,0 +1,287 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-flatten-08-i01-standard--vbr74b9",
+ "taskKey": "roboarc/blanket_flatten_08",
+ "dag_sha256": "c3fc53614904199eb02e9a01b27e313faf3d74ced543558049fefd1f67ad0c95",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 13318,
+   "live_rows": 13318,
+   "sim_steps": 13318,
+   "physics_steps": 133180,
+   "steps": 3871,
+   "elapsed_s": 10530.6,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.355,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.982,
+   "peak_cpus": 1.26,
+   "peak_pids": 143,
+   "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-standard--vbr74b9.mp4",
+  "duration_s": 333.0,
+  "fps": 15.0,
+  "frames": 4995,
+  "sha256": "c0f10d59e3e5d2e9413400ace91140a7b38d7d45684629921d0da89bd895ee29"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "blanket_flattened": {
+    "method": "visual",
+    "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": [
+  {
+   "name": "coverage_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_height_m",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_stretch_ratio",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 1.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "release_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "confirmation_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "blanket_flattened",
+   "t": 175.0,
+   "log_step": 330,
+   "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": {
+   "blanket_flattened": false
+  },
+  "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，评分器 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,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "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",
+   "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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "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"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-flatten-08-i01-standard--vbr74b9/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "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）。"
+   }
+  ]
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-privileged--wehkgvb.json b/phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-privileged--wehkgvb.json
new file mode 100644
index 0000000000000000000000000000000000000000..be6785c9e3f93920662fb143fc34bfb805974b28
--- /dev/null
+++ b/phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-privileged--wehkgvb.json
@@ -0,0 +1,273 @@
+{
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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-blanket-fold-01-i01-privileged--wehkgvb.mp4",
+  "duration_s": 33.734,
+  "fps": 15.0,
+  "frames": 506,
+  "sha256": "673ab172bf0b1083d29db3238a1a9b06cc4c613e74d6ef7433df380abda9a1c8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "blanket_folded": {
+    "method": "visual",
+    "intervals": [
+     [
+      33.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 33.6,
+      "log_step": 167,
+      "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）。"
+     }
+    ]
+   }
+  },
+  "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": 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。"
+   }
+  ]
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--unew6hy.json b/phaseK/roboarc/blanket_fold_01/trajectories/roboarc-blanket-fold-01-i01-standard--unew6hy.json
new file mode 100644
index 0000000000000000000000000000000000000000..98acdd161471a9324e186a1e1d4cd707bd637dc0
--- /dev/null
+++ b/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": {
+  "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": 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,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-01-i01-standard--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 夹爪提拉毯子后毯子歪斜皱叠，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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--fc6gsms.json b/phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--fc6gsms.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c6ab7b0a62c71e0d96ab65c48867d0c4e3f735e
--- /dev/null
+++ b/phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-privileged--fc6gsms.json
@@ -0,0 +1,295 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-privileged--fc6gsms",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "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": 1909,
+   "submitted_actions": 1909,
+   "sim_steps": 1909,
+   "physics_steps": 19090,
+   "sim_time_s": 47.72499999999836,
+   "final_reward": 0.0,
+   "replay_wall_s": 1443.9,
+   "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": 2,
+   "agent_resets": 13,
+   "agent_sim_steps": 0,
+   "agent_records": 4,
+   "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-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": [
+  {
+   "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": 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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--ckb55h8.json b/phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--ckb55h8.json
new file mode 100644
index 0000000000000000000000000000000000000000..408410d518635592bc0f4464ddf5ac777abf497c
--- /dev/null
+++ b/phaseK/roboarc/blanket_fold_03/trajectories/roboarc-blanket-fold-03-i01-standard--ckb55h8.json
@@ -0,0 +1,358 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-blanket-fold-03-i01-standard--ckb55h8",
+ "taskKey": "roboarc/blanket_fold_03",
+ "dag_sha256": "40e42f01073d16eb6a841282c0a31333f9ec4aa3d4d8e4d131624df2510d8a23",
+ "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": 12560,
+   "live_rows": 12560,
+   "sim_steps": 12560,
+   "physics_steps": 125600,
+   "steps": 3082,
+   "elapsed_s": 10521.3,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.419,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.792,
+   "peak_cpus": 1.25,
+   "peak_pids": 208,
+   "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-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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-03-i01-standard--ckb55h8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--dyvqoif.json b/phaseK/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-privileged--dyvqoif.json
new file mode 100644
index 0000000000000000000000000000000000000000..874df81004c6d2324e9e1a08d7bfe1054a72a002
--- /dev/null
+++ b/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": {
+  "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": 3833,
+   "submitted_actions": 3833,
+   "sim_steps": 3833,
+   "physics_steps": 38323,
+   "sim_time_s": 95.80750000000465,
+   "final_reward": 1.0,
+   "replay_wall_s": 3142.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "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,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-04-i01-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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--fdzuwwc.json b/phaseK/roboarc/blanket_fold_04/trajectories/roboarc-blanket-fold-04-i01-standard--fdzuwwc.json
new file mode 100644
index 0000000000000000000000000000000000000000..822232a93db3c5f13089c2d4c2163d319bf57b52
--- /dev/null
+++ b/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": {
+  "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": 15899,
+   "live_rows": 15899,
+   "sim_steps": 15899,
+   "physics_steps": 158990,
+   "steps": 6387,
+   "elapsed_s": 10735.5,
+   "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": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-blanket-fold-04-i01-standard--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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-blanket-fold-04-i01-standard--fdzuwwc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_05/trajectories/roboarc-blanket-fold-05-i01-privileged--5j9muv3.json b/phaseK/roboarc/blanket_fold_05/trajectories/roboarc-blanket-fold-05-i01-privileged--5j9muv3.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c336d209d276f0db014beb106a765ff4ae3989
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/blanket_fold_05/trajectories/roboarc-blanket-fold-05-i01-standard--igcaxkc.json b/phaseK/roboarc/blanket_fold_05/trajectories/roboarc-blanket-fold-05-i01-standard--igcaxkc.json
new file mode 100644
index 0000000000000000000000000000000000000000..778c2cbf428a08909a3d92f02a312d5c35c04166
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--cvajmkn.json b/phaseK/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-privileged--cvajmkn.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a87e1516dd58092222f7175a9910664b70507c0
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--g7swrs2.json b/phaseK/roboarc/buzz_wire_3d_01/trajectories/roboarc-buzz-wire-3d-01-i01-standard--g7swrs2.json
new file mode 100644
index 0000000000000000000000000000000000000000..920997ea42e60cb950aee1ee1c207125a6784258
--- /dev/null
+++ b/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": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-privileged--bxqjaut.json b/phaseK/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-privileged--bxqjaut.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d91494865b5b02fb995141aaa088c17bd2af58f
--- /dev/null
+++ b/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，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": "2026-11-08T08:36:35Z",
+  "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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4.json b/phaseK/roboarc/buzz_wire_3d_02/trajectories/roboarc-buzz-wire-3d-02-i01-standard--i2bckm4.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd85f1918cb50369a1e216caf88816837196e4ef
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--7azrtp9.json b/phaseK/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-privileged--7azrtp9.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa08763f521e2663e339c3b915e171b6421dafff
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-standard--op3qx5a.json b/phaseK/roboarc/buzz_wire_3d_04/trajectories/roboarc-buzz-wire-3d-04-i01-standard--op3qx5a.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d06efe5bbf27dfd10f7d93a634955e068f821a
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--wcy5wbv.json b/phaseK/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-privileged--wcy5wbv.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c33c58105a4f66af913df6f7932005748e6909
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj.json b/phaseK/roboarc/buzz_wire_3d_06/trajectories/roboarc-buzz-wire-3d-06-i01-standard--rkpkdxj.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2b93f637fbea9cbb0eb59fdfe20fa52ce7c347c
--- /dev/null
+++ b/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": "观察：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",
+    "round": 0,
+    "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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy.json b/phaseK/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-privileged--8sgqnmy.json
new file mode 100644
index 0000000000000000000000000000000000000000..768f91d6028795c312ece84fed0d79f5f5e0e1c6
--- /dev/null
+++ b/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": {
+  "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": 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,
+   "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": 40,
+   "agent_resets": 69,
+   "agent_sim_steps": 91018,
+   "agent_records": 30,
+   "agent_replays": 29,
+   "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-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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp.json b/phaseK/roboarc/buzz_wire_3d_07/trajectories/roboarc-buzz-wire-3d-07-i01-standard--ob2ncqp.json
new file mode 100644
index 0000000000000000000000000000000000000000..b330e00e9a525e32b3adfe1de2797124e14b7424
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--9e9d9ww.json b/phaseK/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-privileged--9e9d9ww.json
new file mode 100644
index 0000000000000000000000000000000000000000..606a2ff877ae93553ced584f93dac2f94fe1c795
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q.json b/phaseK/roboarc/buzz_wire_3d_09/trajectories/roboarc-buzz-wire-3d-09-i01-standard--pqq5i4q.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33e54ca45b77f1eea8f332b564260bd3a3bd57a
--- /dev/null
+++ b/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",
+    "round": 0,
+    "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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj.json b/phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-privileged--5yxwvwj.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a191428c82634ceb318b6a74814f296fde15570
--- /dev/null
+++ b/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,
+   "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": 450,
+   "submitted_actions": 450,
+   "sim_steps": 450,
+   "physics_steps": 4500,
+   "sim_time_s": 11.250000000000092,
+   "final_reward": 0.0,
+   "replay_wall_s": 46.7,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 5,
+   "agent_resets": 13,
+   "agent_sim_steps": 1350,
+   "agent_records": 0,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media: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"
+  },
+  {
+   "name": "clearance_lower_bound_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_rotation_drift_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 1,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "loop_traversed",
+   "t": 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": {
+  "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": [
+   {
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+    "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."
+ }
+}
diff --git a/phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas.json b/phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ded36ad7ff73460636fc2b0e20dde277eb24e5c
--- /dev/null
+++ b/phaseK/roboarc/buzz_wire_3d_10/trajectories/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas.json
@@ -0,0 +1,306 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-buzz-wire-3d-10-i01-standard--zyvrfas",
+ "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": 9,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10246,
+   "live_rows": 10246,
+   "sim_steps": 10246,
+   "physics_steps": 102460,
+   "steps": 3639,
+   "elapsed_s": 10903.0,
+   "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": 0.484,
+   "peak_processes": 37,
+   "peak_disk_gb": 0.553,
+   "peak_cpus": 4.06,
+   "peak_pids": 416,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-buzz-wire-3d-10-i01-standard--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"
+  },
+  {
+   "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",
+   "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
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:37Z",
+  "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-standard--zyvrfas/03_label"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas/04_review_r1"
+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas/05_reconcile_r1"
+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-buzz-wire-3d-10-i01-standard--zyvrfas/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": "153176dd9d72f816c8d8e51d0d00b3874ee69d35db8eafcb04ed35efa732cf6e",
+   "video_sha256": "37a3579d0b5f44a9ca2769c57cc121520b4301fb71f69db88a18c8bf37cd3ae8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--hngnjbz.json b/phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--hngnjbz.json
new file mode 100644
index 0000000000000000000000000000000000000000..a542116583c58479a8703f1d74a4244f3d98a645
--- /dev/null
+++ b/phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-privileged--hngnjbz.json
@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-privileged--hngnjbz",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "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,
+   "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": 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,
+   "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-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。",
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+    "n_major": 0
+   }
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+ },
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+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
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+    "ok": true,
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+   },
+   {
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+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-privileged--hngnjbz/04_review_r1"
+   },
+   {
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+    "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": {
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+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--9hagqvo.json b/phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--9hagqvo.json
new file mode 100644
index 0000000000000000000000000000000000000000..3732cf958e8b052cc7d0164a8b75e3d4ab78e91b
--- /dev/null
+++ b/phaseK/roboarc/cast_coil_04/trajectories/roboarc-cast-coil-04-i01-standard--9hagqvo.json
@@ -0,0 +1,227 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-04-i01-standard--9hagqvo",
+ "taskKey": "roboarc/cast_coil_04",
+ "dag_sha256": "8acbffa20de7a4006decf59d3765f9ad493b9db7355eaab9cfdb62db9f4b99f8",
+ "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": 27523,
+   "live_rows": 27523,
+   "sim_steps": 27523,
+   "physics_steps": 275230,
+   "steps": 7178,
+   "elapsed_s": 10629.2,
+   "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-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": {
+    "method": "visual",
+    "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": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:46:40Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--9hagqvo/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--9hagqvo/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--9hagqvo/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-cast-coil-04-i01-standard--9hagqvo/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ba2b38508fcc4927e1f5c95230c24df2cd046fb3abcc0588dded24485860a17b",
+   "video_sha256": "a19965f409804a68ceddb5a7e037d84e4fd25a45fa8194773dc90c7bdeb61400",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pwt5z4m.json b/phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pwt5z4m.json
new file mode 100644
index 0000000000000000000000000000000000000000..124b1ac9f53e7e2b255b22c8377bb94ba8ad3384
--- /dev/null
+++ b/phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-privileged--pwt5z4m.json
@@ -0,0 +1,233 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-cast-coil-06-i01-privileged--pwt5z4m",
+ "taskKey": "roboarc/cast_coil_06",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "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": 2164,
+   "submitted_actions": 2164,
+   "sim_steps": 2164,
+   "physics_steps": 21640,
+   "sim_time_s": 54.099999999998,
+   "final_reward": 0.0,
+   "replay_wall_s": 374.4,
+   "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": 36,
+   "agent_resets": 46,
+   "agent_sim_steps": 101339,
+   "agent_records": 21,
+   "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-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": [
+   {
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+    "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."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--7kxtbtm.json b/phaseK/roboarc/cast_coil_06/trajectories/roboarc-cast-coil-06-i01-standard--7kxtbtm.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b552d0c92c0e964ba90f629b152f9dec892568b
--- /dev/null
+++ b/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",
+ "dag_sha256": "2751718fb2082401e4ac33223508b1f54c7a4a46d2412d453e9ab30c52f5c861",
+ "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": 19315,
+   "live_rows": 19315,
+   "sim_steps": 19315,
+   "physics_steps": 193150,
+   "steps": 3818,
+   "elapsed_s": 10620.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.324,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.024,
+   "peak_cpus": 3.99,
+   "peak_pids": 236,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-cast-coil-06-i01-standard--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."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--2mx7krl.json b/phaseK/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-privileged--2mx7krl.json
new file mode 100644
index 0000000000000000000000000000000000000000..53b3becc0048db7f208bc4d57ad47b06793f12e6
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--qqc9xie.json b/phaseK/roboarc/cast_coil_07/trajectories/roboarc-cast-coil-07-i01-standard--qqc9xie.json
new file mode 100644
index 0000000000000000000000000000000000000000..8247bebc43a1fb9fbaea995b6558cc40d850bbdc
--- /dev/null
+++ b/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，属抓取和接触设计），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."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_08/trajectories/roboarc-cast-coil-08-i01-privileged--zuzkasp.json b/phaseK/roboarc/cast_coil_08/trajectories/roboarc-cast-coil-08-i01-privileged--zuzkasp.json
new file mode 100644
index 0000000000000000000000000000000000000000..bac3dbe4254d6403c973bb33811f339551c5bbda
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/cast_coil_08/trajectories/roboarc-cast-coil-08-i01-standard--nc4wcm7.json b/phaseK/roboarc/cast_coil_08/trajectories/roboarc-cast-coil-08-i01-standard--nc4wcm7.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7632f4bd170cf2b163cdc3b1c7cdb0908e5906
--- /dev/null
+++ b/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”）与帧不符，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."
+ }
+}
diff --git a/phaseK/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--qcmn83x.json b/phaseK/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-privileged--qcmn83x.json
new file mode 100644
index 0000000000000000000000000000000000000000..24196b8d87f6ff5758576312742a6491cc119aeb
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--nou9bsv.json b/phaseK/roboarc/cast_keyhole_03/trajectories/roboarc-cast-keyhole-03-i01-standard--nou9bsv.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b858a4d457e0d339a916af26e992ca2f3f92b20
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--v9qajfc.json b/phaseK/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-privileged--v9qajfc.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa68f777aac24aadfb474a47d1d5a412f79a2591
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--dzvcbnf.json b/phaseK/roboarc/cast_keyhole_04/trajectories/roboarc-cast-keyhole-04-i01-standard--dzvcbnf.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf2bcefaba97f043ced49797c05d04e5b2c62b4
--- /dev/null
+++ b/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": {
+  "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": 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."
+ }
+}
diff --git a/phaseK/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-privileged--qebjg5j.json b/phaseK/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-privileged--qebjg5j.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a602f81ba6cc576827e99876b13eeceb3ac52ec
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--bynf8al.json b/phaseK/roboarc/cast_keyhole_05/trajectories/roboarc-cast-keyhole-05-i01-standard--bynf8al.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf82bcabf9c4c6072e9664c4395cf5a3583f1296
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-privileged--5vzecp9.json b/phaseK/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-privileged--5vzecp9.json
new file mode 100644
index 0000000000000000000000000000000000000000..425384265dd9a0739446d4c81cbb57f83ff8851e
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-standard--4cymtve.json b/phaseK/roboarc/fiber_bundling_04/trajectories/roboarc-fiber-bundling-04-i01-standard--4cymtve.json
new file mode 100644
index 0000000000000000000000000000000000000000..441c4fa1fa917588b135edce84e272d28234a802
--- /dev/null
+++ b/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."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--dfec2pq.json b/phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-privileged--dfec2pq.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4e4774f93499268c993e69d26bbd645d635ff7c
--- /dev/null
+++ b/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_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."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--be6btek.json b/phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--be6btek.json
new file mode 100644
index 0000000000000000000000000000000000000000..491d256bbc5e129b81a6a9b6a71940b978e7beb2
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_06/trajectories/roboarc-fiber-bundling-06-i01-standard--be6btek.json
@@ -0,0 +1,518 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-06-i01-standard--be6btek",
+ "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": 1,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 4306,
+   "live_rows": 4306,
+   "sim_steps": 4306,
+   "physics_steps": 43059,
+   "steps": 997,
+   "elapsed_s": 5082.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.246,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.602,
+   "peak_cpus": 4.03,
+   "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-fiber-bundling-06-i01-standard--be6btek.mp4",
+  "duration_s": 107.734,
+  "fps": 15.0,
+  "frames": 1616,
+  "sha256": "9b96d7aa6f03066946d080a39ff60ba044c9dea777d09e3d5ac2e8d820bb8e80"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "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_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：夹爪碰细纤维）。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."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--krsvihr.json b/phaseK/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--krsvihr.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3e22f8c1ec03e6f50e43704fad4a01d274ce65d
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-privileged--krsvihr.json
@@ -0,0 +1,488 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-07-i01-privileged--krsvihr",
+ "taskKey": "roboarc/fiber_bundling_07",
+ "dag_sha256": "1ce1bfdb5bf606c4d4b92107ffc1a8763296257e268f8b357f247bdebab8c840",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 49,
+   "agent_resets": 0,
+   "agent_sim_steps": 10215,
+   "agent_records": 17,
+   "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": 17,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "other_fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "other_fibers_through_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "marked_red_fiber_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 284,
+      "text_zh": "观察：没有视频、没有状态日志；agent 最终报告（log step 284）称未产出有效 trajectory.npz，评分器 missing_trajectory=1。节点值无法由评分器字段单独判定，故保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），没有被评分的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs(lay.error_deg)",
+   "value": null,
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "other_fibers_through_1",
+   "t": null,
+   "log_step": 284,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1；agent 最终报告（log step 284）自述两次试验（trial18/19）均以 fiber_gripper_contact 结束，未生成 trajectory.npz / gen.py，也未做重放。推断：没有任何被评分的轨迹，穿环第一步在评分回合中未开始。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；未交付轨迹（agent 侧原因），会话内试验只是会话证据，不作现象或根因。节点最终值无评分器字段可依，均为未知。",
+  "unmet": {
+   "other_fibers_through_1": null,
+   "other_fibers_through_2": null,
+   "other_fibers_through_3": null,
+   "other_fibers_through_4": null,
+   "other_fibers_through_5": null,
+   "other_fibers_through_6": null,
+   "other_fibers_through_7": null,
+   "other_fibers_through_8": null,
+   "other_fibers_through_9": null,
+   "other_fibers_through_10": null,
+   "other_fibers_through_11": null,
+   "other_fibers_through_12": null,
+   "other_fibers_through_13": null,
+   "other_fibers_through_14": null,
+   "other_fibers_through_15": null,
+   "marked_red_fiber_through": null,
+   "front_sheath_through": null
+  }
+ },
+ "summary_zh": "观察：agent 在约 10800 s 的会话内反复试验（夹护套滚转、穿环、预整形），末两次试验都以 fiber_gripper_contact 结束，未交付 trajectory.npz（log step 284，评分器 missing_trajectory=1）。被评分回合没有轨迹，17 个节点均无法判定（无视频、无状态日志），断点记为第1根纤过环（首步前）。现象与根因因无交付证据留空。",
+ "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、未交付轨迹（missing_trajectory=1，log step 284 自述无 trajectory.npz）；17 个节点 unknown、contact_actual 为不适用、现象与根因为空并带 gap_zh，符合 D23(a)、N9 与 CONTACT-8；断点记为首节点首步前合理；validator 通过，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": "2026-11-08T08:39:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-privileged--krsvihr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-privileged--krsvihr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4d2a0c5bfcbb5d1aa2650b4401fbd73d7f7f5f0c46436e249b3abcb85c38a1fc",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-standard--svmwyxm.json b/phaseK/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-standard--svmwyxm.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b372321f175ecee057ab5c4a4d09b432a973d7
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_07/trajectories/roboarc-fiber-bundling-07-i01-standard--svmwyxm.json
@@ -0,0 +1,555 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-07-i01-standard--svmwyxm",
+ "taskKey": "roboarc/fiber_bundling_07",
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+ "video": {
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+ "progress": {
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+  "denominator": 17,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
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+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
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+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
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+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "other_fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "marked_red_fiber_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 206.5,
+      "log_step": null,
+      "text_zh": "观察：视频 20-206.5 s 的主视角与腕部近景中，细纤维始终在夹爪下方的护套架旁散开，从未见彩色细线从金色铜环孔伸到出口侧；视频末帧（206-207 s）纤维仍在铜环立柱外约 0.3 m 处，未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹持黑色护套反复尝试向铜环送入，纤维未过环（视频 20-200 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs(lay.error_deg)",
+   "value": null,
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "other_fibers_through_1",
+   "where": "操作中",
+   "t": 20,
+   "log_step": null,
+   "evidence_zh": "观察：视频约 20-130 s 夹爪夹着护套带纤维向铜环送，但纤维未到环、没有任何一根穿环；其后护套被松开，重抓失败（log 294/299/301）；log step 310 输出 done=true, reason=fiber_gripper_contact（夹爪接触细纤维，被判致命），step 311 状态 control_steps=8287。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "够不着",
+    "t": 130,
+    "log_step": 285,
+    "evidence_zh": "观察：log 283-286 服务 IK 返回 ok False，调平腕姿态在出口深度处位置误差 0.14-0.15 m，换多种腕滚转角（285）仍不可达；视频 20-130 s 夹爪握着护套但纤维始终没送到环前。"
+   },
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 170,
+    "log_step": 301,
+    "evidence_zh": "观察：log 294 后移重抓闭合落空，299/301 小幅上提护套即滑脱，护套落回支架；视频约 130-207 s 夹爪松开后再无抓握。末了 log 310 的 fiber_gripper_contact 为终止原因，仅作证据。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：log 282-286 先把护套调平，之后才查出出口深度 IK 不可达；290-301 为增加外露长度松开原本稳定的握持，之后重抓未能恢复。推断：选定握姿/调平姿态时没先核对后续出口深度的可达性（agent 自述 283/285/286 与服务 IK 读数一致）。",
+    "source_zh": "状态/服务 IK 读数 + agent 日志"
+   }
+  ],
+  "gap_zh": "无状态日志，夹爪碰纤维的精确时刻未知；log 步与视频时刻无逐步对应（t 为按视频段估计）。",
+  "unmet": {
+   "other_fibers_through_1": false,
+   "other_fibers_through_2": false,
+   "other_fibers_through_3": false,
+   "other_fibers_through_4": false,
+   "other_fibers_through_5": false,
+   "other_fibers_through_6": false,
+   "other_fibers_through_7": false,
+   "other_fibers_through_8": false,
+   "other_fibers_through_9": false,
+   "other_fibers_through_10": false,
+   "other_fibers_through_11": false,
+   "other_fibers_through_12": false,
+   "other_fibers_through_13": false,
+   "other_fibers_through_14": false,
+   "other_fibers_through_15": false,
+   "marked_red_fiber_through": false,
+   "front_sheath_through": false
+  }
+ },
+ "summary_zh": "观察：视频 207 s 内 17 个节点均未达成，没有纤维穿过铜环。log 283-286 调平后的腕姿态在出口深度 IK 不可达（0.14 m），松手后移重抓落空/滑脱，末了服务因 fiber_gripper_contact（log 310）结束。断点在第1根纤过环（操作中）。根因为推断（先调平后查可达性、松开稳定握持）。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "进度节点全部未达成与视频一致（末帧纤维仍在护套架处，远未穿环），断点节点可接受；但现象/根因几乎为空：唯一的“位姿不准（纤维未聚拢）”只是复述未达成的判据，而 agent 日志中服务返回的 IK 误差与抓取读数清楚给出了够不着和抓握丢失的链条，应补上并给根因。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第一轮意见已采纳：17个节点均未达成与视频一致（末帧纤维在环外），断点、现象（够不着、没建立接触）和推断型根因有日志与帧支持，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:47:36Z",
+  "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-07-i01-standard--svmwyxm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-standard--svmwyxm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-standard--svmwyxm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-07-i01-standard--svmwyxm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2752948ecf84e4b9488d305ea5f2f89019e26c4355eb164da6227e52d1f457c9",
+   "video_sha256": "090ebe87923847e1c93c1ab8965df1bc65138614196e18dfe634dbce4175d7c0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-privileged--jfvwu3a.json b/phaseK/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-privileged--jfvwu3a.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c28f8b289dbf568e77093fbfd620e3b80055e3f
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-privileged--jfvwu3a.json
@@ -0,0 +1,515 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-09-i01-privileged--jfvwu3a",
+ "taskKey": "roboarc/fiber_bundling_09",
+ "dag_sha256": "5acf966283160f8de493061f23e8e4bed75e40c1a1d5c37f7208b78fda5d355e",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 55,
+   "agent_resets": 0,
+   "agent_sim_steps": 18170,
+   "agent_records": 33,
+   "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": 18,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   },
+   "sheath_routed_at_peg": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 429,
+      "text_zh": "观察：本次运行无视频、无状态日志；评分器字段 missing_trajectory=1，agent 最终报告（log step 429）称未产出 trajectory.npz，没有交付轨迹，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），评分回放不存在。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lay.error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "routes[0].gap_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "fibers_through_1",
+   "t": null,
+   "log_step": 429,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1；agent 最终报告（log step 429）自述未写出 /app/output/trajectory.npz，称 50° 斜向和 30° 偏轴聚拢均失败、滚转辅助同轴搜索未找到完整 IK 路径。没有交付任何轨迹，评分回放不存在。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志、无交付轨迹；agent 因自身原因（规划搜索未成功、未打包）未交付，不给现象和根因（会话证据仅 log step 427-429）。",
+  "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,
+   "fibers_through_9": null,
+   "fibers_through_10": null,
+   "fibers_through_11": null,
+   "fibers_through_12": null,
+   "fibers_through_13": null,
+   "fibers_through_14": null,
+   "fibers_through_15": null,
+   "fibers_through_16": null,
+   "front_sheath_through": null,
+   "sheath_routed_at_peg": null
+  }
+ },
+ "summary_zh": "观察：本次运行未交付任何轨迹（missing_trajectory=1，success=0），无视频与状态日志，所有节点无法判定（unknown）。agent 在会话内尝试聚拢纤维但规划搜索未成功（log step 429 自述），断点记为首步前，现象与根因留空。主要证据缺口：没有图形化回放。",
+ "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）；所有节点 unknown、现象/根因留空并写 gap_zh、断点首步前均与证据一致，未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:38:55Z",
+  "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-09-i01-privileged--jfvwu3a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-09-i01-privileged--jfvwu3a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0afa6e8866a69fa8a8fae85a8bf8beb4621b5a87bf4cec46e29b4787c3c3b651",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-standard--ohdvwku.json b/phaseK/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-standard--ohdvwku.json
new file mode 100644
index 0000000000000000000000000000000000000000..01bf4b3dd80612f1adbd32e65a5581f08aae0a39
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_09/trajectories/roboarc-fiber-bundling-09-i01-standard--ohdvwku.json
@@ -0,0 +1,411 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-09-i01-standard--ohdvwku",
+ "taskKey": "roboarc/fiber_bundling_09",
+ "dag_sha256": "5acf966283160f8de493061f23e8e4bed75e40c1a1d5c37f7208b78fda5d355e",
+ "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": 1015,
+   "live_rows": 1015,
+   "sim_steps": 1015,
+   "physics_steps": 10141,
+   "steps": 237,
+   "elapsed_s": 1072.0,
+   "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": 0.201,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.289,
+   "peak_cpus": 1.17,
+   "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-fiber-bundling-09-i01-standard--ohdvwku.mp4",
+  "duration_s": 25.467,
+  "fps": 15.0,
+  "frames": 382,
+  "sha256": "0ea8f4a4ffeb6d007aac6bad714aedbd310b6f2daa4d31020dae8c05461effba"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 18,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "fibers_through_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频全程（0-25.5 s）无任何细纤维穿过铜环：末帧铜环在远端立柱附近，夹爪夹着护套在定位柱旁，彩色纤维散开在夹爪下方，未靠近铜环。"
+     }
+    ]
+   },
+   "fibers_through_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "fibers_through_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：视频中无纤维过环，本节点未达成。"
+     }
+    ]
+   },
+   "front_sheath_through": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 42,
+      "text_zh": "观察：末帧护套前端仍在定位柱旁，远离铜环，前端面未穿环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq夹爪夹住粗护套后段并带动护套移动；未到穿环阶段。"
+     }
+    ]
+   },
+   "sheath_routed_at_peg": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.4,
+      "log_step": 41,
+      "text_zh": "观察：视频中机械臂夹持护套沿定位柱绕行，末帧夹爪在柱旁；agent 自述柱处护套仍偏错误一侧（log step 41），回合因 fiber_gripper_contact 在 log step 41 终止，节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹住粗护套拖动前段绕柱；末段彩色细纤维被夹爪碰到（评分器终止原因 fiber_gripper_contact）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "sheath_routed_at_peg",
+   "t": 25.0,
+   "log_step": 41,
+   "where": "操作中",
+   "evidence_zh": "观察：agent 夹住护套后把前段绕定位柱拖动（视频 0-25.5 s），尚未开始穿环；log step 41 的服务返回 done=True、reason=fiber_gripper_contact（control_steps 1015），回合在延长绕柱路径时终止。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 25.0,
+    "log_step": 41,
+    "evidence_zh": "观察：服务终止原因 fiber_gripper_contact（log step 41-42）；末帧腕部视图可见彩色细纤维从夹爪前方展开，紧贴夹爪。推断：绕柱动作中细纤维被夹爪碰到，违反禁止夹持细纤维的规则。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因证据不足：未见证据表明是规划、感知或控制中的哪一项（agent 自述只说护套仍在柱错误一侧，需更大绕行）；视频无状态日志，纤维与夹爪接触瞬间无法精确定位。",
+  "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,
+   "sheath_routed_at_peg": false
+  }
+ },
+ "summary_zh": "观察：视频 25.5 s 内没有任何纤维或护套前端穿环，18 个节点均未达成。推断：agent 夹住护套并绕定位柱，在延长绕柱路径时服务以 fiber_gripper_contact 终止回合（log step 41），断点在护套绕柱；根因证据缺口见 gap_zh。无状态日志，依据视频与日志。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标注与证据一致：视频 0-25.5 s 无纤维或护套前端穿环，18 个节点均未达成；断点 sheath_routed_at_peg、被挡/碰撞有服务 fiber_gripper_contact（log step 41/42）支撑，根因留空并写 gap_zh 合理（无状态日志，仅有 agent 自述）。",
+    "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": "2026-11-08T08:39:27Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-09-i01-standard--ohdvwku/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-09-i01-standard--ohdvwku/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f54d6dbd37d3a32910994ecb023ee0743c00aeb70ea9f0385141280ff8adbf6b",
+   "video_sha256": "0ea8f4a4ffeb6d007aac6bad714aedbd310b6f2daa4d31020dae8c05461effba",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_10/trajectories/roboarc-fiber-bundling-10-i01-privileged--jf8mjkd.json b/phaseK/roboarc/fiber_bundling_10/trajectories/roboarc-fiber-bundling-10-i01-privileged--jf8mjkd.json
new file mode 100644
index 0000000000000000000000000000000000000000..8916a9eed3269f16e5942554ec9a4afe0cf1bb8c
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_10/trajectories/roboarc-fiber-bundling-10-i01-privileged--jf8mjkd.json
@@ -0,0 +1,443 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-10-i01-privileged--jf8mjkd",
+ "taskKey": "roboarc/fiber_bundling_10",
+ "dag_sha256": "09dd1811ff3883c3017c3a148f4d64fda671b81e8addb732392fed4c4eb74691",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 22,
+   "agent_resets": 22,
+   "agent_sim_steps": 15510,
+   "agent_records": 27,
+   "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": 20,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rear_terminal_anchored": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "sheath_routed_peg_1": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "sheath_routed_peg_2": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_1": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_2": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_3": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_4": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_5": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_6": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_7": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_8": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_9": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_10": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_11": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_12": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_13": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_14": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_15": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "fibers_through_ring_16": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   },
+   "front_sheath_through_ring": {
+    "method": "log",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 278,
+      "text_zh": "观察：无视频、无状态日志，且评分记录 missing_trajectory=1（没有交付轨迹，无被评分的 episode）。agent 自己的会话测试不能作为节点值，故无法判断（log step 278 为最后一步，空输出）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "peg_1_surface_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "peg_2_surface_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "red_root_angle_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_fiber_exit_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0052,
+   "direction": "higher_better"
+  },
+  {
+   "name": "front_sheath_exit_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.016,
+   "direction": "higher_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "where": "首步前",
+   "log_step": 278,
+   "evidence_zh": "观察：评分记录 missing_trajectory=1、success=0、agent_replays=0；agent 在会话中反复在自己的仿真里试验（22 个会话/重置），最后一次完整尝试仍在运行中（log step 277 自述“runner is still active”），工作时钟 10800 s 的预算已到（log step 277），直到 log step 278 都没有保存/交付轨迹。因此没有被评分的 episode，无法定位到某一步。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且没有交付任何轨迹（missing_trajectory=1）：所有节点无法判断，现象与根因均为空。agent 会话内的试验（如 log step 267 的 tracking stall、log step 272 的 +90° 滚转 IK 失败）只是会话证据，不能作为被评分尝试的现象。",
+  "unmet": {
+   "rear_terminal_anchored": null,
+   "sheath_routed_peg_1": null,
+   "sheath_routed_peg_2": null,
+   "fibers_through_ring_1": null,
+   "fibers_through_ring_2": null,
+   "fibers_through_ring_3": null,
+   "fibers_through_ring_4": null,
+   "fibers_through_ring_5": null,
+   "fibers_through_ring_6": null,
+   "fibers_through_ring_7": null,
+   "fibers_through_ring_8": null,
+   "fibers_through_ring_9": null,
+   "fibers_through_ring_10": null,
+   "fibers_through_ring_11": null,
+   "fibers_through_ring_12": null,
+   "fibers_through_ring_13": null,
+   "fibers_through_ring_14": null,
+   "fibers_through_ring_15": null,
+   "fibers_through_ring_16": null,
+   "front_sheath_through_ring": null
+  }
+ },
+ "summary_zh": "观察：本次运行没有交付任何轨迹（missing_trajectory=1，success=0），也无视频和状态日志，所有 20 个节点均无法判断（method 为 log，final 为 null）。agent 工作约 10800 s 全部花在会话内的仿真试验上，到预算耗尽（log step 277）仍未保存轨迹。因没有被评分的 episode，不给现象与根因。",
+ "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、missing_trajectory=1；节点全部 unknown、断点 unknown/首步前、现象与根因为空并带 gap_zh，符合 03 对「智能体侧原因未交付」的规则；wall_s=10832 超过 10800 s 预算，未见时间换算。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:39:35Z",
+  "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-fiber-bundling-10-i01-privileged--jf8mjkd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-privileged--jf8mjkd/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d89e69784f343e2feef10b9cb2705b52fd410e952a0a6cce02111df654bea8e2",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/fiber_bundling_10/trajectories/roboarc-fiber-bundling-10-i01-standard--sks4naw.json b/phaseK/roboarc/fiber_bundling_10/trajectories/roboarc-fiber-bundling-10-i01-standard--sks4naw.json
new file mode 100644
index 0000000000000000000000000000000000000000..378be64b6f11dc5bccd27981d2eb7e1ab62e177c
--- /dev/null
+++ b/phaseK/roboarc/fiber_bundling_10/trajectories/roboarc-fiber-bundling-10-i01-standard--sks4naw.json
@@ -0,0 +1,550 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-fiber-bundling-10-i01-standard--sks4naw",
+ "taskKey": "roboarc/fiber_bundling_10",
+ "dag_sha256": "09dd1811ff3883c3017c3a148f4d64fda671b81e8addb732392fed4c4eb74691",
+ "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": 3868,
+   "live_rows": 3868,
+   "sim_steps": 3868,
+   "physics_steps": 38674,
+   "steps": 1382,
+   "elapsed_s": 5956.7,
+   "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": 0.352,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.354,
+   "peak_cpus": 1.38,
+   "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-fiber-bundling-10-i01-standard--sks4naw.mp4",
+  "duration_s": 96.8,
+  "fps": 15.0,
+  "frames": 1452,
+  "sha256": "722a935630de14665f76c2016df844e6f3bf4b612cbea4d18c105f5773a88462"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 20,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rear_terminal_anchored": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 起黑色线束后端接在绿色端座上，至视频 96.8 s 结束仍连着端座，未见拔出或越过铜环。"
+     }
+    ]
+   },
+   "sheath_routed_peg_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 210,
+      "text_zh": "观察：视频 80-96.8 s 主视角下护套没有按要求的左右侧绕过两根柱。agent 自述第2柱处护套仍在错误一侧（log step 210），仅作旁证；终态未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "仅视频 80 s 后可见夹爪在环前的纤维根部附近；护套是否被夹持、搬运或交接看不到，未知。"
+     }
+    ]
+   },
+   "sheath_routed_peg_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 210,
+      "text_zh": "观察：视频 80-96.8 s 主视角下护套没有按要求的左右侧绕过两根柱。agent 自述第2柱处护套仍在错误一侧（log step 210），仅作旁证；终态未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "仅视频 80 s 后可见夹爪在环前的纤维根部附近；护套是否被夹持、搬运或交接看不到，未知。"
+     }
+    ]
+   },
+   "fibers_through_ring_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "仅视频 80 s 后可见夹爪在环前方；是否夹持护套未知。"
+     }
+    ]
+   },
+   "fibers_through_ring_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "fibers_through_ring_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ]
+   },
+   "front_sheath_through_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 96.0,
+      "log_step": 231,
+      "text_zh": "观察：视频 80-96.8 s 的各视角中，护套始终留在铜环入口侧，没有套过铜环、彩色纤维根部在环这一侧；未见纤维或护套穿环。评分器 success=0（log step 231：失败原因 fiber_gripper_contact）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "仅视频 80 s 后可见夹爪在环前方；是否夹持护套未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_bend_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 60,
+   "direction": "lower_better"
+  },
+  {
+   "name": "peg_1_surface_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "peg_2_surface_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "red_root_angle_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "minimum_fiber_exit_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0052,
+   "direction": "higher_better"
+  },
+  {
+   "name": "front_sheath_exit_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.016,
+   "direction": "higher_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sheath_routed_peg_1",
+   "t": 88.0,
+   "log_step": 231,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0 s 起机械臂在场并逼近护套前端，14-18 s 腕部视角见护套在两指之间（是否夹住未知）；60-90 s 夹爪在环前的纤维根部附近，护套未绕过两柱、纤维未穿环；94-96.5 s 护套被带离初始位置（向右上拖起）；log 227-228 记录搬运护套到交接位姿，step 231 评分器给出失败原因 fiber_gripper_contact（服务读数）。旁证（agent 自述，非证据）：log step 210 自测护套距第1柱约 26 mm（超出 20 mm）、第2柱处在错误侧。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "评分器因空夹爪触碰纤维（fiber_gripper_contact，log step 231 服务读数）结束运行，具体物理原因在帧上不可辨，不作独立现象；无状态日志，peg 间隙、纤维穿环只能从视频判断，根因证据不足，故不填根因。native_metrics 无评分器字段，value 为 null。",
+  "unmet": {
+   "rear_terminal_anchored": true,
+   "sheath_routed_peg_1": false,
+   "sheath_routed_peg_2": false,
+   "fibers_through_ring_1": false,
+   "fibers_through_ring_2": false,
+   "fibers_through_ring_3": false,
+   "fibers_through_ring_4": false,
+   "fibers_through_ring_5": false,
+   "fibers_through_ring_6": false,
+   "fibers_through_ring_7": false,
+   "fibers_through_ring_8": false,
+   "fibers_through_ring_9": false,
+   "fibers_through_ring_10": false,
+   "fibers_through_ring_11": false,
+   "fibers_through_ring_12": false,
+   "fibers_through_ring_13": false,
+   "fibers_through_ring_14": false,
+   "fibers_through_ring_15": false,
+   "fibers_through_ring_16": false,
+   "front_sheath_through_ring": false
+  }
+ },
+ "summary_zh": "观察：视频 96.8 s（评分 episode 时钟）内护套基本留在初始位置，机械臂 35 s 起才靠近纤维端；后端始终锚定（1/20），两柱绕行与全部纤维、前护套穿环均未达成。断在护套绕柱步骤；agent 日志约 5900 s（agent 时钟）内反复规划 IK 分支与重抓；最后评分器以 fiber_gripper_contact 判负（log step 231）。缺口：无状态日志，根因证据不足，未给根因。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点终态（仅后端锚定成立）与断点 ref 基本可信，但文件有两处不实的观察/时钟表述：称“视频全程夹住护套”与帧矛盾，summary 的“log 约 7500 s”超出日志；碰撞现象仅来自评分器规则且无帧证，应降级或改写。",
+    "n_issues": 4,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点终态与断点 ref 可信，空现象/根因加 gap_zh 可接受（fiber_gripper_contact 仅为评分规则）；但断点证据里“0-30 s 机械臂在画面外或远处、未接触护套”“护套路径终态与 0 s 基本相同”两句观察与帧不符（上轮建议的措辞本身有误）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按建议重写 breakpoint.evidence_zh，不实表述已删除，与帧和 log 一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按建议重写 breakpoint.evidence_zh，不实表述已删除，与帧和 log 一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-standard--sks4naw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-standard--sks4naw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-standard--sks4naw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-standard--sks4naw/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-standard--sks4naw/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-fiber-bundling-10-i01-standard--sks4naw/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": "41cc0e69cb046f97ebd5ea2eaee9b0493d7a3ff5a3a0cec7a69daef461040bc5",
+   "video_sha256": "722a935630de14665f76c2016df844e6f3bf4b612cbea4d18c105f5773a88462",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk.json b/phaseK/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e11e3509db068a1172792ab9ce2042ee5ef1325
--- /dev/null
+++ b/phaseK/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk.json
@@ -0,0 +1,242 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk",
+ "taskKey": "roboarc/hedgehog_in_cage_05",
+ "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7",
+ "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": 4563,
+   "submitted_actions": 4563,
+   "sim_steps": 4563,
+   "physics_steps": 45630,
+   "sim_time_s": 114.07500000000881,
+   "final_reward": 1.0,
+   "replay_wall_s": 724.2,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 4563,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 5,
+   "agent_resets": 15,
+   "agent_sim_steps": 23687,
+   "agent_records": 5,
+   "agent_replays": 9,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.546,
+   "peak_memory_gb": 1.504,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.555,
+   "peak_cpus": 7.03,
+   "peak_pids": 334,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk.mp4",
+  "duration_s": 114.134,
+  "fps": 15.0,
+  "frames": 1712,
+  "sha256": "b0516889ae39e7aa426d2dab0025798aaded8637d7a399d944baeff0550dde7b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "hedgehog_out_of_cage": {
+    "method": "visual",
+    "intervals": [
+     [
+      80.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 80.0,
+      "log_step": 118,
+      "text_zh": "观察：视频 46–58 s 球虽在笼口上方，但向下的尖刺仍在笼口环内/下方；60–76 s 球侧移但尖刺仍与笼杆、笼口环穿插；约 80–84 s 起球与全部尖刺脱离笼体并保持至后续（82、88 s 帧确认）。推断：到达时间约 80 s，不确定约 ±4 s（视频时钟）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机械臂二指夹爪夹住朝上的尖刺，带球从笼口移出，侧移至笼外，约 80 s 起完全脱离。"
+     }
+    ]
+   },
+   "hedgehog_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      111.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 111.9,
+      "log_step": 131,
+      "text_zh": "观察：视频 112 s 外部视角球被夹爪持住下降到桌面上方，腕部视角球位于绿色方框内；视频至 114.1 s 保持不动。评分器 strict_goal_reached=1、strict_goal_row=4563（最后一行），success=1。推断：2 s 确认窗在视频末尾完成，到达时间约 111.9 s，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪持球从笼外移到目标区并保持夹持直至结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goal_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 2.0,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：2/2 节点达成。观察：视频约 80 s 起夹爪夹持的刺球与全部尖刺脱离笼体（46–76 s 尖刺仍与笼口/笼杆穿插），约 112 s 球夹持停稳于目标区至视频结束；评分器 success=1。推断：节点时间由抽帧估计，无状态日志，精度约 ±4 s。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "hedgehog_out_of_cage 的到达时间 46 s 不成立：46–58 s 球虽在笼口上方，但向下的尖刺仍在笼口环内/穿过笼口；60–76 s 球侧移，尖刺仍与笼杆、笼口环穿插；约 80–84 s 才完全脱离笼。应改为约 80 s。hedgehog_in_goal 与 final 无异议。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第2轮修正后的标注与帧一致：80 s 刺球已离笼并被夹持，112 s 球在目标框内，评分器 success=1。未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:47:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-privileged--fpdgukk/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b8b0ae37a5608360fae99ade17c71488cf9db666dc3fa6b474f23a95824813d6",
+   "video_sha256": "b0516889ae39e7aa426d2dab0025798aaded8637d7a399d944baeff0550dde7b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy.json b/phaseK/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy.json
new file mode 100644
index 0000000000000000000000000000000000000000..f05fc535f09ecb84ad53352619e2749eefc07b7e
--- /dev/null
+++ b/phaseK/roboarc/hedgehog_in_cage_05/trajectories/roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy.json
@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy",
+ "taskKey": "roboarc/hedgehog_in_cage_05",
+ "dag_sha256": "fd387d7143797ed6749df0166e3b8c96a1d61da0c7146866e3936f95230860e7",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 22301,
+   "live_rows": 22301,
+   "sim_steps": 22301,
+   "physics_steps": 223010,
+   "steps": 5546,
+   "elapsed_s": 10758.3,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.467,
+   "peak_processes": 8,
+   "peak_disk_gb": 2.102,
+   "peak_cpus": 1.24,
+   "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-hedgehog-in-cage-05-i01-standard--crhnqqy.mp4",
+  "duration_s": 557.6,
+  "fps": 15.0,
+  "frames": 8364,
+  "sha256": "6551b2de917bf4136e3a58187a1e097a8f9bd6d82a6a8836df4cae2fc3293426"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "hedgehog_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 556.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-557.6 s 全程，刺球始终在棕色笼体内；视频 556 s 末帧夹爪空着停在笼侧，球落在笼底部，从未像参考录像那样完整露出笼口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 二指夹爪夹住刺球朝上的尖刺（agent 自述夹持间隙 10.6 mm，log step 33），举起约 20 mm（log step 35）后卡在笼杆间；后期夹爪夹空。"
+     }
+    ]
+   },
+   "hedgehog_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 556.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程刺球未离开笼体，也从未到绿色目标区；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "hedgehog_out_of_cage",
+   "t": 300,
+   "log_step": 59,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 300-557 s 夹爪在笼口附近抓着球试图向外取出，球始终未出笼，末帧球掉在笼底。（以下为 agent 自述，非视频所见；log 步骤与视频 t 无已述映射）agent 自述第二段倾转弧遇到固定笼杆而停住（log step 59），随后抓取滑脱（log step 62），后续多次重抓与外移均无法穿过笼杆缝隙（log step 525-531），最终空夹（log step 535）。"
+  },
+  "unmet": {
+   "hedgehog_out_of_cage": false,
+   "hedgehog_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 300,
+    "log_step": 59,
+    "evidence_zh": "观察：视频约 120-300 s 仅见夹爪夹着球始终在笼内，约 260 s 起手臂改变姿态；帧上看不到球与笼杆的阻挡接触。推断（来自 agent 自述，log step 59、531；log 步骤时间为墙钟，与视频时刻无已述映射，t=300 为近似）：机械臂在固定笼杆处停滞，球体加尖刺跨度大于笼口净开口。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因：agent 自述笼口净半径约 48 mm 小于尖刺跨度（log step 41），但没有证据判断是否存在可行的穿出路径（运动规划还是抓取设计），故根因留空；无状态日志，位姿细节只凭视频与 agent 自述。"
+ },
+ "summary_zh": "观察：刺球全程未出笼，两个节点均未达成（0/2）。agent 夹住朝上的尖刺并抬起约 20 mm，但倾转穿出笼口时被固定笼杆挡住，之后抓取滑脱并多次重抓失败，末帧球在笼底、夹爪空着。根因证据不足；无状态日志。 被挡/碰撞仅来自 agent 自述，属推断，conf 下调。",
+ "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（0/2、均未达成）、断点节点与操作中判断与视频一致：全程球在笼内，末帧夹爪空着。问题只在证据标注：被挡/碰撞的“观察”实际来自 agent 自述（log 步骤号为墙钟时间，与视频时间无已述映射），t=300 的映射无依据说明。根因留空有 gap_zh，可接受。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点（hedgehog_out_of_cage，操作中）、contact_actual 与视频一致：全程球在笼内，末帧夹爪空着、球在笼底。被挡/碰撞已标为推断并说明无时间映射，根因留空有 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": "2026-11-08T08:47:07Z",
+  "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-hedgehog-in-cage-05-i01-standard--crhnqqy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-05-i01-standard--crhnqqy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "44f71e45d7d984e167ffb25cd38e02184ae3e70717e94e69ef61fc150861ea6b",
+   "video_sha256": "6551b2de917bf4136e3a58187a1e097a8f9bd6d82a6a8836df4cae2fc3293426",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--rxwqlqh.json b/phaseK/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--rxwqlqh.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd33c2ef5d1bd7522fd377a8563d211c63f02dde
--- /dev/null
+++ b/phaseK/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-privileged--rxwqlqh.json
@@ -0,0 +1,193 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-privileged--rxwqlqh",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 6,
+   "agent_resets": 13,
+   "agent_sim_steps": 8386,
+   "agent_records": 6,
+   "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": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；run.json 的 reward 中 missing_trajectory=1、agent_replays=0，未交付任何轨迹，评分器无该节点的结果字段，故无法判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回放中机器人未执行任何动作。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；run.json 的 reward 中 missing_trajectory=1、agent_replays=0，未交付任何轨迹，评分器无该节点的结果字段，故无法判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回放中机器人未执行任何动作。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；run.json 的 reward 中 missing_trajectory=1、agent_replays=0，未交付任何轨迹，评分器无该节点的结果字段，故无法判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回放中机器人未执行任何动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": null,
+   "where": "首步前",
+   "evidence_zh": "观察：reward 中 missing_trajectory=1、agent_replays=0、success=0；log 最后几步（log step 790-801，agent 工作约 10740-10830 s，限额约 10800 s）仍在修改几何抬升/绕行脚本和测试，从未保存交付轨迹。推断：评分的尝试里机器人没有开始出笼这一步。",
+   "log_step": 801
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；智能体全程只在会话内用自建碰撞查询规划星体出笼路径（log step 21-23 起），始终未交付轨迹。会话证据不构成现象；未交付属智能体侧原因，按规则两层留空。",
+  "unmet": {
+   "star_out_of_cage": null,
+   "star_in_goal": null,
+   "remainder_on_system_side": null
+  }
+ },
+ "summary_zh": "观察：本次运行没有交付任何轨迹（missing_trajectory=1，agent_replays=0），无视频与状态日志，三个节点均无法判定（unknown）。断点记为 星体出笼（首步前）；智能体在 log step 21 起发现初始间隙仅约 0.02 mm，直接拔出会穿插笼子，之后一直在规划绕行/抬升，到时限仍未保存可回放轨迹。现象与根因证据不足，留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1，agent_replays=0）；三节点 unknown（N9）、断点 首步前、现象与根因留空并写 gap_zh，均符合 D23/CASES OPEN-16；未把会话测试当作评分局事实，未标没尝试。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": "2026-11-08T08:38:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--rxwqlqh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-privileged--rxwqlqh/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1f0a034406c582bbab53cc5e32cf608ba89d8c4ebca8256f7ff691979709abce",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--txybsvu.json b/phaseK/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--txybsvu.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c580c5f086a836ee93aea490de0f53d6367446
--- /dev/null
+++ b/phaseK/roboarc/hedgehog_in_cage_06/trajectories/roboarc-hedgehog-in-cage-06-i01-standard--txybsvu.json
@@ -0,0 +1,254 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-06-i01-standard--txybsvu",
+ "taskKey": "roboarc/hedgehog_in_cage_06",
+ "dag_sha256": "46e3f634cb8fb8608ecec4de5fdd5c0a51753252aa6a8af91b0d4d0f23e0a7b6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 15217,
+   "live_rows": 15217,
+   "sim_steps": 15217,
+   "physics_steps": 152170,
+   "steps": 2654,
+   "elapsed_s": 10773.8,
+   "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": 0.42,
+   "peak_processes": 8,
+   "peak_disk_gb": 3.139,
+   "peak_cpus": 1.44,
+   "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-hedgehog-in-cage-06-i01-standard--txybsvu.mp4",
+  "duration_s": 380.534,
+  "fps": 15.0,
+  "frames": 5708,
+  "sha256": "9b362745e4ccc0d0c39ea91e488e81241bc1d0ecb1b148cda3782b49bf24f7e9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "star_out_of_cage": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 380.0,
+      "log_step": 646,
+      "text_zh": "观察：视频 0-380.5 s 各帧（含最后一帧视频 380 s）星体始终在黑色笼内，从窗口可见其尖刺，未出笼；机械臂夹爪/细杆在笼旁反复接近。agent 末条自述“星体仍在笼内”（log step 646）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察/推断：夹爪多次靠近并闭合在笼窗处的星体尖刺附近（视频约 190-380 s 的腕部视角可见夹爪贴着笼窗），星体始终未被带出；agent 自述有夹空和受阻读数（log step 613、562）。"
+     },
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 95-150 s 夹爪持细杆伸入笼窗探触星体（agent 自述杆未触及尖刺，log step 206），星体未动。"
+     }
+    ]
+   },
+   "star_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 380.0,
+      "log_step": 646,
+      "text_zh": "观察：视频 380 s 绿色虚线目标区空着，星体仍在笼内；该节点依赖 星体出笼，未达成。"
+     }
+    ]
+   },
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 380.0,
+      "log_step": null,
+      "text_zh": "观察：笼子与支架全程立在桌面原位，未见笼件被移出（视频 0-380 s）；该条件从 t=0 起成立。推断：未被触碰的保持类节点。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_min_horizontal_inset",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.237284,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 2,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "star_out_of_cage",
+   "t": null,
+   "log_step": 646,
+   "where": "操作中",
+   "evidence_zh": "观察：全程 0-380.5 s 星体未离开笼子，机械臂一直在尝试用夹爪/细杆取星体，最终收回夹爪停止（log step 646 agent 自述未完成，星体仍在笼内）。第一步从未完成，故断点为星体出笼。"
+  },
+  "unmet": {
+   "star_out_of_cage": false,
+   "star_in_goal": false,
+   "remainder_on_system_side": true
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "视频中夹爪与笼窗内星体的接触被笼架遮挡/分辨率低，无法分辨是没夹住、被笼肋卡住还是位姿不准；agent 的受阻/夹空读数只是其自述，故不给现象和根因。奖励字段未给 native_metrics 数值，均记 null。"
+ },
+ "summary_zh": "观察：星体在整个视频（0-380.5 s）里始终在笼内，3 个节点中仅“笼架留系统侧”（从 t=0 成立）为真，出笼和入目标区均未达成。断点在星体出笼的操作中；agent 用夹爪和细杆反复尝试但星体未出笼，最后自述未完成。证据缺口：窗口内接触被遮挡，无法给出现象与根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值正确：星体全程在笼内，出笼与入区均未达成，笼架留侧从 0 s 起成立；断点为星体出笼（操作中）合理。现象与根因留空并写明 gap_zh，因为窗内接触被遮挡，只有 agent 自述（空夹、夹在笼上），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": "2026-11-08T08:38:21Z",
+  "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-hedgehog-in-cage-06-i01-standard--txybsvu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-06-i01-standard--txybsvu/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "59beb53a12127dbb667e3e336bd0228f19c8115216d16b546468df7b6c4f108c",
+   "video_sha256": "9b362745e4ccc0d0c39ea91e488e81241bc1d0ecb1b148cda3782b49bf24f7e9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-privileged--upwtrv5.json b/phaseK/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-privileged--upwtrv5.json
new file mode 100644
index 0000000000000000000000000000000000000000..757c2f56022fb7b64068ff679d811d628de9893d
--- /dev/null
+++ b/phaseK/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-privileged--upwtrv5.json
@@ -0,0 +1,173 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-07-i01-privileged--upwtrv5",
+ "taskKey": "roboarc/hedgehog_in_cage_07",
+ "dag_sha256": "c5aae98458ded54ec7493715c470ad29eeccca8a558bfb744ea2b57c268b2fa0",
+ "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": 2,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 2,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "owl_extracted": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 584,
+      "text_zh": "观察：无视频、无状态日志，没有交付轨迹（评分字段 missing_trajectory=1）；agent 自述“没有产生有效交付物”（log step 584）。出笼是否在评分回放中发生无法判断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回放中无任何接触。"
+     }
+    ]
+   },
+   "owl_in_goal": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 584,
+      "text_zh": "观察：评分字段 success=0、missing_trajectory=1，未交付轨迹；由总评分 success=0 逻辑推断目标节点最终未达成（非视频观察）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "owl_extracted",
+   "t": null,
+   "log_step": 584,
+   "where": "首步前",
+   "evidence_zh": "观察：agent 在两个会话中反复规划/试验猫头鹰出笼路径（如 log step 172、456、577-583），最终 log step 584 自述未产生有效交付物，未保存 trajectory.npz；评分字段 missing_trajectory=1。评分回放中没有任何动作，故断点为出笼步骤、交付前。"
+  },
+  "unmet": {
+   "owl_extracted": null,
+   "owl_in_goal": 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），会话内试验（log step 583 抓取在第33个路点丢失、局部重抓失败）只是会话证据，不作现象；故现象与根因层留空。"
+ },
+ "summary_zh": "agent 未交付任何轨迹（missing_trajectory=1，success=0），评分回放无内容；两节点均无法由视频证实，目标节点按 success=0 记为未达成。会话中 agent 长时间规划出笼路径，在第33个路点后抓取丢失、局部重抓失败（log step 583-584），但这些是会话证据。无视频与状态日志，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，success=0）。该标注按 D23 把现象与根因留空并写 gap_zh，断点在 owl_extracted / 首步前，目标节点 false 由 success=0 推出，均有依据。未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:39:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-privileged--upwtrv5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-privileged--upwtrv5/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2e52511c5d88ad54b5e68574292887dae48a8e8aad8ea593cc649989ec39ceb5",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp.json b/phaseK/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp.json
new file mode 100644
index 0000000000000000000000000000000000000000..e153d49f7fe7702653aa090ba74127feedb89f7e
--- /dev/null
+++ b/phaseK/roboarc/hedgehog_in_cage_07/trajectories/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp.json
@@ -0,0 +1,253 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp",
+ "taskKey": "roboarc/hedgehog_in_cage_07",
+ "dag_sha256": "c5aae98458ded54ec7493715c470ad29eeccca8a558bfb744ea2b57c268b2fa0",
+ "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": 40,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 34137,
+   "live_rows": 34137,
+   "sim_steps": 34137,
+   "physics_steps": 341370,
+   "steps": 9590,
+   "elapsed_s": 10831.6,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.258,
+   "peak_processes": 8,
+   "peak_disk_gb": 2.619,
+   "peak_cpus": 1.24,
+   "peak_pids": 83,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp.mp4",
+  "duration_s": 853.534,
+  "fps": 15.0,
+  "frames": 12803,
+  "sha256": "02ea6cb6fd37668a59f4f12be2c47e587d099644b4731806672433dd2966641d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "owl_extracted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 853.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–853.5 s 抽帧（150、300、350、430、450、600、640、700 s 及最后一帧）猫头鹰一直在圆柱木笼内，450 s 起斜卧卡在笼条间；最后一帧（约 853 s）仍在笼内。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：300、430 s 帧夹爪伸入笼内贴近猫头鹰，450 s 起猫头鹰被拨成斜卧；帧上不见夹爪包住猫头鹰，抓握未确认，how 记未知。"
+     },
+     {
+      "who": "其他",
+      "how": "推/扫",
+      "note_zh": "观察：约 380–420 s（视频钟）夹爪处可见一根红色细杆伸向笼，夹爪贴着笼条，应为持杆推拨笼内猫头鹰（持杆与否以帧判读，略有不确定）；650–700 s 细杆已放在桌上、夹爪空着。"
+     }
+    ]
+   },
+   "owl_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 853.0,
+      "log_step": null,
+      "text_zh": "观察：绿色虚线目标框在整段视频中始终为空，最后一帧可见。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "owl_extracted",
+   "where": "操作中",
+   "t": 450.0,
+   "evidence_zh": "观察：视频约 300–450 s 夹爪从侧面伸入笼内，450 s 起猫头鹰斜倚在笼条之间（身体倾斜卡在笼内），直到 700 s 及 853 s 姿态基本不变，从未出笼；最终 success=0。",
+   "log_step": null
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 450.0,
+    "log_step": null,
+    "evidence_zh": "观察：450 s 帧（主视角与腕部视角）猫头鹰被夹爪拨成斜卧、卡在笼条之间；700 s、853 s 帧姿态仍如此，笼条挡住出笼路径，整只未出笼。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "已查看视频 150、300、350、430、450、600、640、700、850 s 帧：能确认的现象是猫头鹰被拨成斜卧并卡在笼条间；但帧上看不出夹爪是否真正夹住过猫头鹰、也看不出滑脱的具体机制，agent 自述（log 163“尾部滑脱”、406“释放过早”）无视频核实，故根因留空。无状态日志。",
+  "unmet": {
+   "owl_extracted": false,
+   "owl_in_goal": false
+  }
+ },
+ "summary_zh": "观察：整段视频（853.5 s）猫头鹰始终留在木笼内，两个节点均未达成。断点为出笼步骤（操作中），约 450 s 起猫头鹰被拨成斜卧、卡在笼条间，直到结束未变（现象：被挡/碰撞）。夹爪是否夹住过、为何未能带出帧上不可判，根因留空并写明缺口；agent 自述的“滑脱/释放过早”仅为线索。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（两节点均未达成、final=0）与视频一致：整段猫头鹰留在笼内。但 failure 层因标注者自述“未逐段细看视频”而留空，断点 t 为 null，contact_actual 未核实且漏掉持杆；应补看视频后给出现象/根因或给出站得住的 gap_zh。",
+    "n_issues": 4,
+    "n_major": 1
+   },
+   {
+    "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=false）与视频一致：全程猫头鹰留在笼内，绿框始终空。断点 owl_extracted/操作中合理。问题在 contact_actual：约 380–420 s 主视角可见夹爪持细杆伸向笼内，标注却写“持杆是否推拨未知”；而 抓握 夹住猫头鹰在帧上并未看到，被当作 contact。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按 accept 完整落实：抓握 how 改为未知并注明帧上不见夹持，推/扫 note 改为观察 380–420 s 持杆推拨，并保留不确定说明；与 400 s 帧一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按 accept 完整落实：抓握 how 改为未知并注明帧上不见夹持，推/扫 note 改为观察 380–420 s 持杆推拨，并保留不确定说明；与 400 s 帧一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-hedgehog-in-cage-07-i01-standard--nsxvvtp/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": "b2befc66ab5b210877f06db5e554dc298d7fffe2ce91a58c131f8b9769a07496",
+   "video_sha256": "02ea6cb6fd37668a59f4f12be2c47e587d099644b4731806672433dd2966641d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--vfennnr.json b/phaseK/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--vfennnr.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ff34e20b5ac4331f1899588d164c824c7e3b3e5
--- /dev/null
+++ b/phaseK/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-privileged--vfennnr.json
@@ -0,0 +1,225 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-02-i01-privileged--vfennnr",
+ "taskKey": "roboarc/horseshoe_ring_02",
+ "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 63,
+   "agent_resets": 11,
+   "agent_sim_steps": 83859,
+   "agent_records": 96,
+   "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": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_separated": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 493,
+      "text_zh": "观察：本次运行无视频、无状态日志（video.kind=none），grader 字段 missing_trajectory=1、success=0，说明没有交付可评分的轨迹；agent 在 log step 493（agent 10785 s，时限 10800 s）仍在会话内重放测试。无法判定该节点的任何时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），无受评估的接触。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 493,
+      "text_zh": "观察：本次运行无视频、无状态日志（video.kind=none），grader 字段 missing_trajectory=1、success=0，说明没有交付可评分的轨迹；agent 在 log step 493（agent 10785 s，时限 10800 s）仍在会话内重放测试。无法判定该节点的任何时间区间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），无受评估的接触。"
+     }
+    ]
+   },
+   "horseshoes_on_system_side_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 493,
+      "text_zh": "观察：本次运行无视频、无状态日志（video.kind=none），grader 字段 missing_trajectory=1、success=0，说明没有交付可评分的轨迹；agent 在 log step 493（agent 10785 s，时限 10800 s）仍在会话内重放测试。无法判定该节点的任何时间区间。"
+     }
+    ]
+   },
+   "horseshoes_on_system_side_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 493,
+      "text_zh": "观察：本次运行无视频、无状态日志（video.kind=none），grader 字段 missing_trajectory=1、success=0，说明没有交付可评分的轨迹；agent 在 log step 493（agent 10785 s，时限 10800 s）仍在会话内重放测试。无法判定该节点的任何时间区间。"
+     }
+    ]
+   },
+   "chains_on_system_side_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 493,
+      "text_zh": "观察：本次运行无视频、无状态日志（video.kind=none），grader 字段 missing_trajectory=1、success=0，说明没有交付可评分的轨迹；agent 在 log step 493（agent 10785 s，时限 10800 s）仍在会话内重放测试。无法判定该节点的任何时间区间。"
+     }
+    ]
+   },
+   "chains_on_system_side_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 493,
+      "text_zh": "观察：本次运行无视频、无状态日志（video.kind=none），grader 字段 missing_trajectory=1、success=0，说明没有交付可评分的轨迹；agent 在 log step 493（agent 10785 s，时限 10800 s）仍在会话内重放测试。无法判定该节点的任何时间区间。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_separated",
+   "t": null,
+   "log_step": 493,
+   "where": "首步前",
+   "evidence_zh": "观察：reward 中 missing_trajectory=1，agent_replays=0；log step 493（agent 10785 s）仍在会话内测试 bore_negative_roll 路线，时限 10800 s 用尽时没有交付轨迹。受评估的 episode 中圆环分离一步没有开始。"
+  },
+  "unmet": {
+   "ring_separated": null,
+   "ring_in_goal": null,
+   "horseshoes_on_system_side_1": null,
+   "horseshoes_on_system_side_2": null,
+   "chains_on_system_side_1": null,
+   "chains_on_system_side_2": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且没有交付轨迹（missing_trajectory=1）；会话内的多次测试只是会话证据，不能作为受评估尝试的现象或节点值。因未交付的原因属 agent 侧（会话 63 次、重置 11 次，直到时限仍在调试），现象与根因留空。"
+ },
+ "summary_zh": "观察：无视频、无状态日志，grader 记 missing_trajectory=1、success=0，agent 在 10800 s 时限内（log step 493）仍在会话中调试圆环抽出路线，未交付可评分的轨迹。所有节点无法判定（intervals 为 null）；断点记为圆环脱离谜题（首步前）。主要缺口：没有受评估的 episode，现象与根因无证据。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1）；各节点 unknown/final null（N9）、断点 ring_separated 首步前、现象与根因留空并有 gap_zh，均符合 D23(a)；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": "2026-11-08T08:39:10Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--vfennnr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-02-i01-privileged--vfennnr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "390f6ececae7686537ea4e3ffbd9bde9a0e850ae72a845a211500e1908cf41e7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--shcphkn.json b/phaseK/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--shcphkn.json
new file mode 100644
index 0000000000000000000000000000000000000000..237511579d29d22c1e3aded8b4c307bd1b810e4a
--- /dev/null
+++ b/phaseK/roboarc/horseshoe_ring_02/trajectories/roboarc-horseshoe-ring-02-i01-standard--shcphkn.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-02-i01-standard--shcphkn",
+ "taskKey": "roboarc/horseshoe_ring_02",
+ "dag_sha256": "c49fecc8b6552ae87132d86b5b45891260e4e11904e9372bbeb6f650f216391b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 12996,
+   "live_rows": 12996,
+   "sim_steps": 12996,
+   "physics_steps": 129960,
+   "steps": 6415,
+   "elapsed_s": 10895.2,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.307,
+   "peak_processes": 8,
+   "peak_disk_gb": 2.086,
+   "peak_cpus": 2.21,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-horseshoe-ring-02-i01-standard--shcphkn.mp4",
+  "duration_s": 325.0,
+  "fps": 15.0,
+  "frames": 4875,
+  "sha256": "878e2338d92e15d4346bee54e34db818969522174074f827761ec297d7b5c125"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 4,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "ring_separated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324,
+      "log_step": 925,
+      "text_zh": "观察：视频 120-324 s 铜色圆环始终套在银色马蹄铁/链上；右臂伸至谜题附近，左夹爪操作环/马蹄铁；视频 324 s 环仍与谜题缠在一起，未见分离。右夹爪是否夹持马蹄铁帧上不能确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪抓环/马蹄铁尝试拉出，环仍卡在马蹄铁眼端，未分离。右臂伸至谜题附近，但右夹爪是否夹持马蹄铁无法从帧确认（未知），不作为接触记录。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 324,
+      "log_step": 925,
+      "text_zh": "观察：全程圆环未离开谜题，绿色目标框内始终为空（视频 0-324 s 取样）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪曾抓环并抬起，但环未脱离谜题，未送入目标区；末段环从左夹爪滑脱（log step 922）。"
+     }
+    ]
+   },
+   "horseshoes_on_system_side_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 324,
+      "log_step": null,
+      "text_zh": "观察：开局成立；视频中马蹄铁和链条虽被夹爪抬起/移动，但始终在绿框后方的谜题一侧（视频 0-324 s 取样）。推断：未见越过分隔面。"
+     }
+    ]
+   },
+   "horseshoes_on_system_side_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 324,
+      "log_step": null,
+      "text_zh": "观察：开局成立；视频中马蹄铁和链条虽被夹爪抬起/移动，但始终在绿框后方的谜题一侧（视频 0-324 s 取样）。推断：未见越过分隔面。"
+     }
+    ]
+   },
+   "chains_on_system_side_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 324,
+      "log_step": null,
+      "text_zh": "观察：开局成立；视频中马蹄铁和链条虽被夹爪抬起/移动，但始终在绿框后方的谜题一侧（视频 0-324 s 取样）。推断：未见越过分隔面。"
+     }
+    ]
+   },
+   "chains_on_system_side_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 324,
+      "log_step": null,
+      "text_zh": "观察：开局成立；视频中马蹄铁和链条虽被夹爪抬起/移动，但始终在绿框后方的谜题一侧（视频 0-324 s 取样）。推断：未见越过分隔面。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_separated",
+   "t": 300,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 120-324 s 夹爪抓环与马蹄铁反复抬起、滑动，环始终套在马蹄铁眼端上；agent 自述（log id 922，agent 时钟）环从夹爪滑脱仍在谜题上。",
+   "log_step": 922
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 315,
+    "log_step": 922,
+    "evidence_zh": "观察：视频 ~305-322 s 左夹爪张开离开、环仍套在谜题上。推断：与 agent 自述（log id 922，agent 时钟，未换算为视频时间）环从夹爪滑脱一致；t 为按视频末段帧取的锚点。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志；证据不足以区分规划、抓取设计与轨迹问题，故根因留空。视频 325 s，agent 会话 10800 s，两个时钟未换算。",
+  "unmet": {
+   "ring_separated": false,
+   "ring_in_goal": false,
+   "horseshoes_on_system_side_1": true,
+   "horseshoes_on_system_side_2": true,
+   "chains_on_system_side_1": true,
+   "chains_on_system_side_2": true
+  }
+ },
+ "summary_zh": "观察：视频 0-324 s 铜环始终未与马蹄铁/链脱开，目标区为空；4 个留侧节点（开局成立）保持，4/6。断点为圆环脱离谜题，环在拉出时滑脱；根因证据不足。无状态日志，视频与 agent 时钟不同。",
+ "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（环未分离、未入区、4个留侧节点成立）与断点节点基本正确，但 ring_separated 的 contact_actual 与证据称“右夹爪全程抓马蹄铁”，视频 150-322 s 右臂静止远离谜题，只有左臂操作；summary 写“2/6”而 progress 为 4/6；现象证据依赖 agent 自述并把 agent 时间 10768 s 折成视频 300 s 且未说明映射；gap_zh 含标注者元评论。",
+    "n_issues": 4,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（环未分离、未入区、4个留侧节点开局成立，4/6）、断点（ring_separated，操作中）、现象（没保持住）与空根因+gap_zh均有帧证据支持；agent时钟未换算为视频时间；上一轮问题已修复。",
+    "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": "2026-11-08T08:47:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--shcphkn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--shcphkn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--shcphkn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-02-i01-standard--shcphkn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bb3648d513be98b509af75ee6e21e115893b63efbc964dcbd8cb2681cbe31d1d",
+   "video_sha256": "878e2338d92e15d4346bee54e34db818969522174074f827761ec297d7b5c125",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--g4kfvfz.json b/phaseK/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--g4kfvfz.json
new file mode 100644
index 0000000000000000000000000000000000000000..7807bdf4ebef8283f6be5cda33f531e3dc7d12f0
--- /dev/null
+++ b/phaseK/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-privileged--g4kfvfz.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-privileged--g4kfvfz",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "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": 31,
+   "agent_sim_steps": 0,
+   "agent_records": 52,
+   "agent_replays": 27,
+   "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": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_detached": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，且评分器记录 missing_trajectory=1（未交付轨迹）；该节点无法判定，不采信 agent 自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，且评分器记录 missing_trajectory=1（未交付轨迹）；该节点无法判定，不采信 agent 自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，且评分器记录 missing_trajectory=1（未交付轨迹）；该节点无法判定，不采信 agent 自述。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "joint_confirmation_time",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_detached",
+   "t": null,
+   "log_step": 276,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1；agent 最终报告（log step 276）自述未产出 trajectory.npz，也未做回放验证；因此没有可评分的已交付轨迹。会话中 agent 反复尝试右手取环、左手持马蹄但圆环仍与拼图相套（agent 自述，仅为会话证据）。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志、未交付轨迹：被评分的尝试不存在，节点均无法判定；会话内失败属 agent 自述，不作现象/根因。",
+  "unmet": {
+   "remnants_system_side": null,
+   "ring_in_goal": null
+  }
+ },
+ "summary_zh": "观察：该次运行未交付任何轨迹（missing_trajectory=1），无视频与状态日志，三个节点均无法判定。断点记为圆环脱离（未交付，首步前）；agent 自述（log step 276）最后一轮取环后圆环仍与拼图接触。因缺证据，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），属 agent 自身未交付（非外部中断，wall_s 10905 超过 10800 s 限额后自述未完成）；节点 unknown、断点 ring_detached/首步前、现象与根因为空并带 gap_zh，符合 D23(a)，会话自述未被当作现象。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": "2026-11-08T08:39:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--g4kfvfz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-privileged--g4kfvfz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8dd652d898780fb29587d72e0d8b6fb74fcd5c9493cab100ed80b091b53bc4b7",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--rhe9b9k.json b/phaseK/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--rhe9b9k.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbcb848a67dfb6adb70ce8e9ca217e434324c234
--- /dev/null
+++ b/phaseK/roboarc/horseshoe_ring_03/trajectories/roboarc-horseshoe-ring-03-i01-standard--rhe9b9k.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-horseshoe-ring-03-i01-standard--rhe9b9k",
+ "taskKey": "roboarc/horseshoe_ring_03",
+ "dag_sha256": "a0cc5a0bff48ef00249319566ffc034ff8107921244d43836534d1af1f535681",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 1,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 30081,
+   "live_rows": 30081,
+   "sim_steps": 30081,
+   "physics_steps": 300810,
+   "steps": 12740,
+   "elapsed_s": 8887.0,
+   "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": 0.346,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.437,
+   "peak_cpus": 1.24,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-horseshoe-ring-03-i01-standard--rhe9b9k.mp4",
+  "duration_s": 752.134,
+  "fps": 15.0,
+  "frames": 11282,
+  "sha256": "9acf8730e5d91ab007cb3d285c2bf9429547f9f2e129a32aa423f7a57b588b35"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 1,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "ring_detached": {
+    "method": "visual",
+    "intervals": [
+     [
+      650,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 650,
+      "log_step": null,
+      "text_zh": "观察：视频约 560-640 s 铜环仍与银色马蹄相套（右侧近景），约 650-670 s 起近景中铜环与银色件分离，时间不确定（±20 s）。成功判定佐证最终已分离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：一侧夹爪夹住铜环，另一侧夹爪握住/操作马蹄，两臂协同，视频约 150-650 s 反复调整（另一手是否稳定夹住马蹄帧上不完全确定）"
+     }
+    ]
+   },
+   "remnants_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 413,
+      "text_zh": "观察：开局余件即在系统侧；视频末帧(750.5 s)马蹄与链仍在后方；评分器 success=1，故终态成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：另一夹爪持马蹄把余件整体后移（log step 411 自述移远），视频后段可见"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [
+     [
+      690,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 750.5,
+      "log_step": 413,
+      "text_zh": "观察：视频末帧 750.5 s 铜环在绿色虚线框内被夹爪持住；进入时间约 690 s，不确定。评分器 success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：一侧夹爪持环移入目标区并保持，另一夹爪同时持马蹄悬于后方"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "goal_horizontal_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "joint_confirmation_time",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：评分器 success=1（live，无 review/forcing 事件）。观察：视频约 650 s 前铜环仍与马蹄相套，约 650-690 s 分离并被夹爪移入绿框，末帧仍持环于框内；余件开局即在系统侧。分离与入区的精确时间仅凭粗采样帧估计（±20 s），无状态日志。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "成功运行，节点终态与时间量级（分离约650-670 s、入区约690 s，±20 s）与帧一致；主要问题是 ring_detached 的 contact_actual 与其自身备注矛盾：备注写一夹爪夹环、另一夹爪操作马蹄，却标为单手抓握。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，评分器 success=1；ring_detached/ring_in_goal 的时间量级（约650/690 s，±20 s）与帧一致，第1轮的 contact_actual 问题已按双臂协作修正，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": "2026-11-08T08:47:18Z",
+  "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-horseshoe-ring-03-i01-standard--rhe9b9k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--rhe9b9k/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--rhe9b9k/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-horseshoe-ring-03-i01-standard--rhe9b9k/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "430eae80d34c97bd0d7216e55f46f6faf9e11c8edc2aeb889bdc02323fd1ea89",
+   "video_sha256": "9acf8730e5d91ab007cb3d285c2bf9429547f9f2e129a32aa423f7a57b588b35",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--pwqf6uk.json b/phaseK/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--pwqf6uk.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b7801502c6989edd954f2e91e8e035a2ef689b4
--- /dev/null
+++ b/phaseK/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-privileged--pwqf6uk.json
@@ -0,0 +1,415 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-privileged--pwqf6uk",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "goal_at_end": 1,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 1,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 6.501,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 267980,
+   "sim_steps": 1071920,
+   "sim_time_s": 669.9500000117222,
+   "replays": 2,
+   "replay_wall_s": 788.2,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.01,
+   "peak_processes": 11,
+   "peak_disk_gb": 3.025,
+   "peak_cpus": 2.16,
+   "peak_pids": 85,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-eket-i00-privileged--pwqf6uk.mp4",
+  "duration_s": 30.04,
+  "fps": 25.0,
+  "frames": 751,
+  "sha256": "a0e637fe4fa231c869f5dfcb04248af1de976e421c9a660d96260a533d10b821"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 2.0 s 起：顶板与第一块侧板形成直角框边，之后到视频结束（30.04 s）保持。评分器 success=1、goal_at_end=1。时间为目测，精度约 1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 1.5–2.3 s 右臂 Panda 夹爪夹持侧板送入装配位；左臂是否稳住框架看不清（未知）。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0–5.0 s 左臂仍握第二块侧板在框旁搬运，约 5.5 s 起三边框（顶板+两侧板）成形，之后到视频结束（30.04 s）保持。评分器 success=1、goal_at_end=1。时间为目测，精度约 1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 4–5.5 s 左臂夹持第二块侧板送入装配位；右臂是否稳框看不清（未知）。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 9.5–11.75 s 右臂持灰色背板在框上方对位，约 12.0 s 起背板入框后侧、夹爪撤开，之后到视频结束（30.04 s）保持。评分器 success=1、goal_at_end=1。时间为目测，精度约 1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 9.5–11.75 s 右臂夹持背板在框上方对位并插入框后侧；左臂稳框与否看不清（未知）。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.8,
+      "log_step": null,
+      "text_zh": "观察：视频约 19.5–22.5 s 左臂顶着白色底板入框口，约 22.8 s 起框封闭成箱，之后机械臂撤离，到视频结束（30.04 s）保持。评分器 success=1、goal_at_end=1。时间为目测，精度约 1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 19.5–23 s 左臂夹持底板推入框口；右臂是否稳框看不清（未知）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "value": 6.501,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：视频中两条机械臂依次装好甲侧板（约视频 2 s）、乙侧板（约 5.5 s）、背板（约 12.0 s）、底板（约 22.8 s），4/4 节点保持到视频结束 30.04 s，评分器 success=1。无状态日志，节点时间由目测抽帧得出，精度约 1 s。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "成功运行，4/4 节点 final=true 与评分器一致；但按帧核对，乙侧板、背板、底板三个节点的起始时间与可见事件偏差超过 1 s（乙约 5–5.5 s，背板约 10.5–11 s，底板约 22.5–23 s），且四个节点 contact_actual 完全相同，疑为复制模板。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "成功运行，4/4 final=true 与评分器一致。侧板甲/乙、底板时间与帧吻合；但背板 back_inserted 标 10.75 s 偏早约 1.2 s：10.75–11.75 s 灰色背板仍被夹在框上方半空，约 12.0 s 才入框消失。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的修改已完整应用：back_inserted 区间为 [12.0,null]，证据文本同步，帧核对一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的修改已完整应用：back_inserted 区间为 [12.0,null]，证据文本同步，帧核对一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--pwqf6uk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--pwqf6uk/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--pwqf6uk/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--pwqf6uk/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--pwqf6uk/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-privileged--pwqf6uk/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": "792e439c2373cb18c5226632f08aaecd70db89884d39d729651ca82a470228d3",
+   "video_sha256": "a0e637fe4fa231c869f5dfcb04248af1de976e421c9a660d96260a533d10b821",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--rsjwdcu.json b/phaseK/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--rsjwdcu.json
new file mode 100644
index 0000000000000000000000000000000000000000..a846bddcb087cf1cc075a9b0b1bdbad0e334595a
--- /dev/null
+++ b/phaseK/roboarc/ikea_eket/trajectories/roboarc-ikea-eket-i00-standard--rsjwdcu.json
@@ -0,0 +1,403 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-eket-i00-standard--rsjwdcu",
+ "taskKey": "roboarc/ikea_eket",
+ "dag_sha256": "6bb158d5af15b4e0ebf7778cc1e356fd350121bd1938074a8d151e906e9d51cb",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 300544,
+   "sim_steps": 1202176,
+   "control_steps": 300544,
+   "sim_time_s": 751.3600000134992,
+   "elapsed_s": 10774.0,
+   "service_time_s": 1090.6,
+   "calls": 738,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.438,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.939,
+   "peak_cpus": 1.69,
+   "peak_pids": 114,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-eket-i00-standard--rsjwdcu.mp4",
+  "duration_s": 751.4,
+  "fps": 10.0,
+  "frames": 7514,
+  "sha256": "826cb46d9d4df88aacf14c7e1029925d4cc1e67f7aa69c3804aa88b63b4e8b00"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "side_a_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      91.0,
+      123.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 95.0,
+      "log_step": null,
+      "text_zh": "观察：视频 92–123 s 俯视，顶板左端有一块竖立侧板，与顶板左端相接成直角框边，左臂放手后仍立住；外观与参考成功视频U形框边相近。推断：按外观判相接；无状态日志，0.25 mm 级精度与锁合无法从画面判定。"
+     },
+     {
+      "t": 126.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 123–126 s 右手放开后顶板松落、倾倒并右移；视频 126、130、140、250 s 甲侧板单独立在原处，与顶板之间有明显间隙，不再构成框边。区间止于约 123 s；其后至约 403 s 的单独站立不属装配，403 s 左右该板倒下。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 85–91 s 左臂夹爪抓持侧板送到顶板左端，约 92 s 后夹爪退出而板仍立住（视频 92–125 s）；推断：属计划2（单夹爪完成），顶板由桌面承托。agent 自述（log step 110/112）放手后板仍立住，仅作旁证。"
+     }
+    ]
+   },
+   "side_b_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 170.0,
+      "log_step": null,
+      "text_zh": "观察：视频 170 s 起顶板已于约 124 s 移位，两块侧板分立在顶板两侧外、与顶板端部有明显间距，未形成与甲板、顶板相接的三边框；170–189 s 乙板虽竖立，但不与顶板相接，故不判达成；约 190 s 起平躺。"
+     }
+    ]
+   },
+   "back_inserted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 750.0,
+      "log_step": null,
+      "text_zh": "观察：视频 750 s 终态及抽查的 200–700 s 画面未见背板插槽/底板锁合；四块板散放，无框架。"
+     }
+    ]
+   },
+   "bottom_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 750.0,
+      "log_step": null,
+      "text_zh": "观察：视频 750 s 终态及抽查的 200–700 s 画面未见背板插槽/底板锁合；四块板散放，无框架。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.end_pose.max_error_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "report.end_pose.max_angle_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal.max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal.max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal.max_part_depth_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_entry.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_entry.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_a_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_entry.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_entry.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.00025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "side_b_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "back_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "back_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_entry.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_entry.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_slide.position_error_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bottom_slide.angle_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "side_a_assembled",
+   "t": 124.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 100–123 s 甲侧板与顶板左端相接；约 123–126 s 右手放手后顶板倾倒移位、甲侧板与顶板脱开，此后未修复；视频 403 s 倒下的是已脱离的单独侧板。推断：首个最终未达成的步骤为甲侧板（曾达成后丢失、未修复）。"
+  },
+  "unmet": {
+   "side_a_assembled": false,
+   "side_b_assembled": false,
+   "back_inserted": false,
+   "bottom_assembled": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，仅抽帧检视；甲侧板（视频 91–123 s）的“相接”是外观判断，未核对精度与锁合。顶板松落倾倒的原因（右手放手方式）画面未能判定，故不给现象与根因；agent 自述的后期重抓发生在装配毁坏之后，不作为断点现象。"
+ },
+ "summary_zh": "观察：视频 751 s 内甲侧板约 91–123 s 与顶板左端相接，约 124 s 右手放手后顶板倾倒移位、侧板脱开，此后未恢复；乙侧板未与顶板相接；背板、底板从未装上，终态无框架，任务失败（success=0）。断点取甲侧板（曾达成后丢失，约 124 s）。无状态日志，原因未判定，证据偏弱。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "标注称四个节点全程未达成、断点在第一步甲侧板，但视频约100–400 s 顶板左端竖立着甲侧板（与参考成功视频的U形框外观一致），约165–185 s 乙侧板也竖在顶板右端，三边框形成，随后乙板倒下、后期被拆散。节点值、断点、现象与根因都建立在“从未装上”这一错误前提上，agent 在这段时间的自述（log id 110/112 放手后两侧板仍立住）与画面一致。",
+    "n_issues": 6,
+    "n_major": 4
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "甲侧板“相接”区间止点错误：视频约 123–124 s 右手放开后顶板被松落、倾倒并移位，126 s 起甲侧板独立立在原处，与顶板左端有明显间隙，不再构成直角框边；125–400 s 的“立住”只是侧板单独站立，不是装配关系。节点区间、断点时刻与 where 需随之改。乙侧板同理需核对其与（已移位）顶板是否相接。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "三条 round-2 意见的接受均已正确落实：甲板区间止于 123 s、断点 t=124、乙板区间清空，与视频帧一致。",
+    "n_issues": 0,
+    "n_checks": 3
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "三条 round-2 意见的接受均已正确落实：甲板区间止于 123 s、断点 t=124、乙板区间清空，与视频帧一致。",
+   "checks_ok": "3/3",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:50:55Z",
+  "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-ikea-eket-i00-standard--rsjwdcu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--rsjwdcu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--rsjwdcu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--rsjwdcu/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--rsjwdcu/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-eket-i00-standard--rsjwdcu/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": "6a3b9eb8f75665c3abb56e03649bebae6ef7003152b63e27ca7475a2bc568a54",
+   "video_sha256": "826cb46d9d4df88aacf14c7e1029925d4cc1e67f7aa69c3804aa88b63b4e8b00",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--gjnfo3f.json b/phaseK/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--gjnfo3f.json
new file mode 100644
index 0000000000000000000000000000000000000000..8742debbe15c746e9e85ab007e4ef21027f94262
--- /dev/null
+++ b/phaseK/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-privileged--gjnfo3f.json
@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-privileged--gjnfo3f",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.468,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 214510,
+   "sim_steps": 858040,
+   "sim_time_s": 536.2750000088043,
+   "replays": 2,
+   "replay_wall_s": 758.8,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.835,
+   "peak_processes": 17,
+   "peak_disk_gb": 5.275,
+   "peak_cpus": 4.0,
+   "peak_pids": 120,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-gladom-i00-privileged--gjnfo3f.mp4",
+  "duration_s": 30.0,
+  "fps": 25.0,
+  "frames": 750,
+  "sha256": "cdea1f56fc8e3cba7f1c07cb088e99e6d6cf67b80698acb3a8a5988c14d574f7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.5,
+      "log_step": 1652,
+      "text_zh": "观察：视频约 4.5 s 起后部两副橙色框架呈交叉对合形态，至视频 29.9 s 末帧保持，与 oracle 末态框架形态一致；推断：agent 会话检查点读数 retain_frame_b=true（log step 1652）与此相符，但亚毫米公差无法由低分辨率画面确认，起始时刻约 4.5 s 不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 2-8 s 双臂夹爪在框架处操作；具体抓握部位在画面上难以辨认"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": 1691,
+      "text_zh": "观察：视频 29.9 s 末帧上部交叉处不见长螺钉到位，与 oracle 末态不同；评分器字段 goal_at_end=0；agent 末报告长螺钉未焊接、倾斜 3.28°（log step 1691，会话自述）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "推断：右臂持螺钉/驱动杆在交叉连接处尝试旋入，未成功；视频分辨率不足以细看"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": 1652,
+      "text_zh": "观察：agent 会话检查点读数 retain_screw_bottom 焊接已锁定（log step 1652、1702 自述），但视频分辨率太低，底部螺钉旋入不可见，且无状态日志；无法按画面判定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "画面无法显示"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": 1702,
+      "text_zh": "观察：视频 29.9 s 末帧圆环未与框架装配、托盘未在环上（对照 oracle 末态）；圆环未装好；agent 末报告也说环、环钉、托盘未完成（log step 1702，自述）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频 8-29.8 s 圆环始终在桌面原位，画面未见夹持圆环；会话自述曾单边缘抓握（log step 1690，非交付轨迹观察）"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": 1702,
+      "text_zh": "观察：视频 29.9 s 末帧圆环未与框架装配、托盘未在环上（对照 oracle 末态）；环钉未拧；agent 末报告也说环、环钉、托盘未完成（log step 1702，自述）。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": 1702,
+      "text_zh": "观察：视频 29.9 s 末帧圆环未与框架装配、托盘未在环上（对照 oracle 末态）；环钉未拧；agent 末报告也说环、环钉、托盘未完成（log step 1702，自述）。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": 1702,
+      "text_zh": "观察：视频 29.9 s 末帧圆环未与框架装配、托盘未在环上（对照 oracle 末态）；托盘未放上；agent 末报告也说环、环钉、托盘未完成（log step 1702，自述）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "long_screw_driven",
+   "where": "操作中",
+   "t": 24.0,
+   "evidence_zh": "观察：视频 24-29.9 s 机械臂在框架上方操作，末帧长螺钉未到位；评分器 goal_at_end=0。推断（agent 会话自述，log step 1702）：圆环尝试曾失败、长螺钉靠近接收孔但未焊接；圆环与长螺钉谁先失败无法由视频判定。",
+   "log_step": 1702
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频仅 512×288 且为 536 s 仿真的 30 s 压缩渲染，螺钉姿态、底部螺钉与圆环抓握不可见；会话中 4.42 mm/3.28° 读数来自被放弃的恢复尝试（log step 1690），不是交付轨迹的读数，故不采用；位姿不准等现象因无允许证据而留空，根因留空；底部螺钉节点判 unknown。agent 预算用尽停止，不作为现象。",
+  "unmet": {
+   "frame_b_crossed": true,
+   "long_screw_driven": false,
+   "bottom_screw_driven": null,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  }
+ },
+ "summary_zh": "观察：视频 30 s 内框架交叉对合约在 4.5 s 达成，长螺钉未拧入，圆环、两颗环钉和托盘均未完成，评分器 success=0（goal_at_end=0）。断点取长螺钉拧入（操作中），但圆环步骤与其先后无法由视频判定；底部螺钉仅有 agent 自述，视频不可见，记 unknown。主要证据缺口：无状态日志、画面分辨率低，失败现象无法确定。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "终态节点值（框架交叉达成、长螺钉/圆环/环钉/托盘未达成、底螺钉unknown）与帧和 goal_at_end=0 相符；但位姿不准现象和断点证据引用的 4.42 mm/3.28° 来自已中止的会话恢复尝试，并非交付并回放的轨迹；圆环抓握的“观察”在画面上看不到；框架交叉起始时刻偏晚。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点终态与帧、goal_at_end=0 一致；第 1 轮指出的 4.42mm/3.28° 已移除，圆环抓握已改为未知，现象留空并写明 gap_zh，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": "2026-11-08T08:48:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--gjnfo3f/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--gjnfo3f/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--gjnfo3f/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-privileged--gjnfo3f/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "88a13e55ccea3bc400c2062e37f13c58b9503b081b7d5e93d90da28f3c35dd63",
+   "video_sha256": "cdea1f56fc8e3cba7f1c07cb088e99e6d6cf67b80698acb3a8a5988c14d574f7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--drw3gly.json b/phaseK/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--drw3gly.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae6333099d0305b52702d368f37f49d42b6869e0
--- /dev/null
+++ b/phaseK/roboarc/ikea_gladom/trajectories/roboarc-ikea-gladom-i00-standard--drw3gly.json
@@ -0,0 +1,360 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-gladom-i00-standard--drw3gly",
+ "taskKey": "roboarc/ikea_gladom",
+ "dag_sha256": "4eab343f43a958c6ebd7c9673ab5fee7aee101dbbdd9ce977f15423ddfbc9bd6",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 168490,
+   "sim_steps": 673960,
+   "control_steps": 168490,
+   "sim_time_s": 421.2250000062931,
+   "elapsed_s": 10800.3,
+   "service_time_s": 1091.9,
+   "calls": 831,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.456,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.613,
+   "peak_cpus": 1.61,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-gladom-i00-standard--drw3gly.mp4",
+  "duration_s": 421.3,
+  "fps": 10.0,
+  "frames": 4213,
+  "sha256": "b0126493a54618418d84683ecee9c64e164ed3c1ca83510bfd051eb84e414ff8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "frame_b_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 300,
+      "log_step": 681,
+      "text_zh": "观察：视频 300 s 附近，两只机械臂夹持框架杆件移动框架，框架平躺/斜靠在台面，未对合。"
+     },
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "双臂二指夹爪各夹住框架B/A的一段圆杆并抬起搬动框架，试图使两框架交叉；夹持多次滑脱（log step 707、710）"
+     }
+    ]
+   },
+   "long_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。 推断：该步未进行到可见的程度。"
+     }
+    ]
+   },
+   "bottom_screw_driven": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。 推断：该步未进行到可见的程度。"
+     }
+    ]
+   },
+   "ring_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。 推断：该步未进行到可见的程度。"
+     }
+    ]
+   },
+   "ring_screws_driven_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。 推断：该步未进行到可见的程度。"
+     }
+    ]
+   },
+   "ring_screws_driven_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。 推断：该步未进行到可见的程度。"
+     }
+    ]
+   },
+   "tray_on_ring": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 420.5,
+      "log_step": 715,
+      "text_zh": "观察：视频 420.5 s 末帧，两副橙色框架在工作台上相互叠压、歪斜，未形成交叉对合的桌腿结构；圆环与托盘仍在工作台远端原处，画面中看不到任何螺钉被旋入。评分器 success=0。 推断：该步未进行到可见的程度。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "assembly_axial_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_lateral_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_tilt",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tray_yaw_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 7.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "assembly_relative_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tray_support_samples_above_0_01_N",
+   "value": null,
+   "unit": "samples",
+   "threshold": 12,
+   "direction": "higher_better"
+  },
+  {
+   "name": "tray_ring_mean_force",
+   "value": null,
+   "unit": "N",
+   "threshold": 0.01,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_part_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "frame_b_crossed",
+   "t": 300,
+   "log_step": 715,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0–421 s 全程机械臂都在处理两副框架（抬起、旋转、夹持），末帧（视频 420.5 s）框架仍叠压歪斜未对合；log step 656–715 显示 agent 反复把框架A/B夹起重新对合，夹持滑脱、框架被碰倒（agent 自述）。后续螺钉、圆环、托盘均未开始。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 300,
+    "log_step": 707,
+    "evidence_zh": "观察：末帧（视频 420.8 s）框架倾斜叠压、未对合。推断：agent 日志 log step 707、710 自述夹爪夹住的框架在抬起时滑脱（agent 自述，视频抽查帧中看不出滑脱瞬间）；agent 在 712/715 又自述夹稳并竖起交叉，与滑脱并存。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 659、665、678）：夹爪夹圆杆时框架绕杆轴自由转动、夹持滑脱；握持位置为单点圆杆，几何上不能抗扭。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，节点只按末帧与过程帧判断；视频为仿真时钟 421 s，而 agent 会话为 10800 s，log 与视频时间不能互转，早期（视频约 60 s）框架是否曾短暂对合未逐帧核实。",
+  "unmet": {
+   "frame_b_crossed": false,
+   "long_screw_driven": false,
+   "bottom_screw_driven": false,
+   "ring_seated": false,
+   "ring_screws_driven_1": false,
+   "ring_screws_driven_2": false,
+   "tray_on_ring": false
+  }
+ },
+ "summary_zh": "观察：视频 421 s 内机械臂只在处理两副框架，末帧（视频 420.5 s）框架叠压歪斜未对合，螺钉、圆环、托盘均未进入装配，7 个节点全部未达成。断点在框架交叉对合：推断为夹爪单点夹圆杆，框架易绕杆轴转动/滑脱（agent 自述 log step 659–710）。缺口：无状态日志，且视频与 agent 时钟不能换算。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点全 false、末帧未对合、断点 frame_b_crossed 均与视频一致；但失败现象“没保持住”的“视频中框架多次落回台面”没有帧证据支持，现象与根因基本只来自 agent 自述。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "7 个节点全 false、末帧框架叠压未对合、断点 frame_b_crossed 与抽查帧一致；第 1 轮的证据问题已按要求修正。现象“没保持住”和根因仅来自 agent 自述，label 已如实标注为推断/自述，故不再要求改动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:47:25Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--drw3gly/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--drw3gly/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--drw3gly/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-gladom-i00-standard--drw3gly/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "26c1043f7eaaaca791b4365362af3bdae33fa71b104324dca346d3bee0decc69",
+   "video_sha256": "b0126493a54618418d84683ecee9c64e164ed3c1ca83510bfd051eb84e414ff8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--smlbvm9.json b/phaseK/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--smlbvm9.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cd4d4e94677f9b93e0c4d4a8eab470234827378
--- /dev/null
+++ b/phaseK/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-privileged--smlbvm9.json
@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-privileged--smlbvm9",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 2.245,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 396850,
+   "sim_steps": 1587400,
+   "sim_time_s": 992.1250000187546,
+   "replays": 2,
+   "replay_wall_s": 588.3,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.327,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.974,
+   "peak_cpus": 3.07,
+   "peak_pids": 86,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-ikea365-i00-privileged--smlbvm9.mp4",
+  "duration_s": 30.04,
+  "fps": 25.0,
+  "frames": 751,
+  "sha256": "2148e6b485f2e06d13002742920f45b67f031d1939870dd524233d0a718a260e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 339,
+      "text_zh": "观察：视频 3-6 s 左臂持螺丝刀对准 A 中央螺钉，视频 8 s 起左臂把螺丝刀带到台面左侧、A 中央已无螺钉；螺钉过小，具体脱出时刻按前后帧估计（±2 s）。agent 自述 remove_same_screw 已被接受（log step 339），仅作旁证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "左臂夹持螺丝刀，刀头嵌入螺钉头旋拧（候选“嵌合旋拧”）；会话日志另记 A 被翻转使螺钉靠重力脱出，视频未能区分。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": 346,
+      "text_zh": "观察：视频 10-12 s 螺钉不在 A 孔口，右臂举起构件 B 在台面中央上方，左臂持工具停在桌边；螺钉被夹爪拿在一旁或放在台面，画面太小看不清。agent 自述 park 已接受（log step 346），仅作旁证。时间为估计。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂夹爪把螺钉移到连接位置之外暂放（画面太小，由日志与前后帧推断）。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": 369,
+      "text_zh": "观察：视频 19 s 右臂夹着 B 悬在 A 上方，视频 21-22 s 起俯视画面中两根棕色构件在中央交叉叠合，之后至视频 30 s 一直保持十字（视频 24、27、29.5 s 复核）。agent 自述 cross_members 已接受（log step 369）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右臂二指夹爪夹住构件 B 横放到构件 A 上；左臂夹爪此时持螺丝刀/螺钉在一旁。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 27.0,
+      "log_step": 1018,
+      "text_zh": "观察：视频 27-30 s 左臂夹着一件细长物（螺钉）悬在十字中心上方，十字中心未见螺钉装入，右上方可见红色螺丝刀被右臂拿在一旁，直到视频结束；评分器 goal_at_end=0。agent 自述螺纹拧入中途停滞、手指滑脱螺钉头（log step 1015-1018）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住螺钉头，在十字中心上方尝试带回/拧入；视频未见坐实。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30 s 内十字支架始终正放在台面上，从未翻面。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30 s 内蓝碗始终在台面上、支架旁，未放上支架。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_lateral_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_axis_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": 2.245,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screw_reinstalled",
+   "t": 27.0,
+   "log_step": 1018,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 27-30 s 左臂夹着螺钉停在已交叉的十字中心上方，螺钉未坐入，视频结束仍如此；评分器 goal_at_end=0。agent 自述螺钉拧入中途停滞、夹爪滑脱螺钉头、改用螺丝刀时 IK 出错，agent 工作约 10800 s 预算用尽前未完成（log step 1015-1024）；预算耗尽本身不是原因。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述：螺丝刀十字槽在螺钉头上打滑进不了螺纹，改用二指夹持螺钉头直接拧，仍在拧入约 1.5 mm 前手指滑脱（log step 959, 1015, 1018）。夹持/嵌合几何不足以传扭，属会话证据，视频看不到螺纹处。",
+    "source_zh": "agent 自述 / 日志"
+   }
+  ],
+  "gap_zh": "现象层留空：视频仅 30 s、分辨率 512×288，螺钉和螺纹处看不清，视频未显示滑脱或打滑的瞬间；日志是整个会话而非已评分回合，其滑脱记录只作根因旁证。无状态日志，各节点时间为视觉估计（前三个节点时间还参考日志的接受说明，误差约 ±2 s）。视频 30 s 对应 sim 992 s 的回放，疑似压缩播放，未核对时钟映射。",
+  "unmet": {
+   "screw_unscrewed": true,
+   "screw_parked": true,
+   "members_crossed": true,
+   "screw_reinstalled": false,
+   "stand_turned": false,
+   "bowl_on_stand": false
+  }
+ },
+ "summary_zh": "观察：已评分回合视频 30 s 内完成拧出螺钉（约视频 8 s）、螺钉暂放（约 10 s）、两杆交叉（约 20.5 s），共 3/6；螺钉装回未完成，左臂夹着螺钉停在十字上方，未翻转支架也未放碗。推断：断点在螺钉装回的操作中，根因是夹爪/螺丝刀与螺钉头的传扭接触设计不足（来自 agent 自述，视频看不到螺纹处），现象层无视频证据，留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "抽查帧与标签一致：视频约 8 s 起 A 中央无螺钉、约 20-22 s 起两构件交叉并保持到结束，后三个节点未达成，断点在 screw_reinstalled 与评分器 goal_at_end=0 相符；现象层留空并给出 gap_zh、根因来自日志旁证，未发现需要改动的内容。螺钉太小，节点 1、2 的时间只能是估计，标签已如实说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:42:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--smlbvm9/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-privileged--smlbvm9/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "595b3e384b2fbc75eba0ffbe8506b60efe22a9854bd771ce73f4ce3f845dff79",
+   "video_sha256": "2148e6b485f2e06d13002742920f45b67f031d1939870dd524233d0a718a260e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--ju57myf.json b/phaseK/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--ju57myf.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d9b6238e4f5fd6571d6572079955ad88463f656
--- /dev/null
+++ b/phaseK/roboarc/ikea_ikea365/trajectories/roboarc-ikea-ikea365-i00-standard--ju57myf.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-ikea365-i00-standard--ju57myf",
+ "taskKey": "roboarc/ikea_ikea365",
+ "dag_sha256": "a81808572f37fd6a6ee71f12b50749d1854062136ade249f6b5ab22654190f05",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 263303,
+   "sim_steps": 1053212,
+   "control_steps": 263303,
+   "sim_time_s": 658.257500011467,
+   "elapsed_s": 10689.6,
+   "service_time_s": 3453.0,
+   "calls": 1071,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.295,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.592,
+   "peak_cpus": 1.23,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-ikea365-i00-standard--ju57myf.mp4",
+  "duration_s": 658.3,
+  "fps": 10.0,
+  "frames": 6583,
+  "sha256": "abeeb355af629087d6d4e9e72795b228283c4cd4164cec7a9f1cfcc682e12f84"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "screw_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.0,
+      "log_step": 645,
+      "text_zh": "观察：视频 657 s 末帧，右臂夹持、位于桌右缘的是此前被移位的构件 A（依 log step 594、636-643），桌面中央留下另一根棕杆；螺钉是否退出无法从俯视画面判断，碗仍在桌上，未见任何该节点完成迹象；agent 最终自述“螺钉未被验证移除，其余装配操作均未完成”（log step 645）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：视频 100 s 前后右臂夹爪握住螺丝刀、刀头对准构件 A 中央螺钉做旋拧试验（log step 124：20° 旋拧试验，几乎无阻力）；候选名“嵌合旋拧”，但未见螺钉退出。"
+     }
+    ]
+   },
+   "screw_parked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.0,
+      "log_step": 645,
+      "text_zh": "观察：视频 657 s 末帧，右臂夹持、位于桌右缘的是此前被移位的构件 A（依 log step 594、636-643），桌面中央留下另一根棕杆；螺钉是否退出无法从俯视画面判断，碗仍在桌上，未见任何该节点完成迹象；agent 最终自述“螺钉未被验证移除，其余装配操作均未完成”（log step 645）。"
+     }
+    ]
+   },
+   "members_crossed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.0,
+      "log_step": 645,
+      "text_zh": "观察：视频 657 s 末帧，右臂夹持、位于桌右缘的是此前被移位的构件 A（依 log step 594、636-643），桌面中央留下另一根棕杆；螺钉是否退出无法从俯视画面判断，碗仍在桌上，未见任何该节点完成迹象；agent 最终自述“螺钉未被验证移除，其余装配操作均未完成”（log step 645）。"
+     }
+    ]
+   },
+   "screw_reinstalled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.0,
+      "log_step": 645,
+      "text_zh": "观察：视频 657 s 末帧，右臂夹持、位于桌右缘的是此前被移位的构件 A（依 log step 594、636-643），桌面中央留下另一根棕杆；螺钉是否退出无法从俯视画面判断，碗仍在桌上，未见任何该节点完成迹象；agent 最终自述“螺钉未被验证移除，其余装配操作均未完成”（log step 645）。"
+     }
+    ]
+   },
+   "stand_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.0,
+      "log_step": 645,
+      "text_zh": "观察：视频 657 s 末帧，右臂夹持、位于桌右缘的是此前被移位的构件 A（依 log step 594、636-643），桌面中央留下另一根棕杆；螺钉是否退出无法从俯视画面判断，碗仍在桌上，未见任何该节点完成迹象；agent 最终自述“螺钉未被验证移除，其余装配操作均未完成”（log step 645）。"
+     }
+    ]
+   },
+   "bowl_on_stand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 657.0,
+      "log_step": 645,
+      "text_zh": "观察：视频 657 s 末帧，右臂夹持、位于桌右缘的是此前被移位的构件 A（依 log step 594、636-643），桌面中央留下另一根棕杆；螺钉是否退出无法从俯视画面判断，碗仍在桌上，未见任何该节点完成迹象；agent 最终自述“螺钉未被验证移除，其余装配操作均未完成”（log step 645）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "terminal_axial_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_lateral_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_axis_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "screw_unscrewed",
+   "where": "操作中",
+   "t": 100.0,
+   "log_step": null,
+   "evidence_zh": "观察：视频 90-110 s 持螺丝刀位于螺钉处，其后各段（约 150-550 s）持续在构件 A 处操作（持握、抬起、放回），657 s 螺钉仍未被取出。日志（agent 时钟，非视频时钟）记录多次尝试：step 124-132 试转无阻力且受双臂相碰干扰；step 173 起发现 A 倾倒、需抬起重握（186-426）；step 498 确认螺钉头在构件侧面、竖直刀具无法嵌入；step 564-583 棘轮式拧出循环；step 594 A 后撤时被碰到桌右缘；step 636-643 重新抓回 A；step 645 自述螺钉未被验证移除。t=100 仅作视频导航锚点，log step 与视频时间无逐点映射（日志 t 为 agent 时钟 0-10672 s，视频为仿真 658 s）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "t": 100.0,
+    "log_step": 111,
+    "evidence_zh": "推断（日志）：step 111-112 深度拟合显示持握的螺丝刀轴倾斜约 8°、刀尖在 y 向偏离螺钉约 15 mm，step 124 试转无阻力；视频中未见螺钉退出。后期 step 498 另发现螺钉头在构件侧面，竖直刀具无法嵌入。",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断（日志，未能判定是否可行故 alt_feasible 保持未知）：(a) 刀头/螺钉相对位置与朝向估计错——step 111-112 刀杆倾斜约 8°、刀尖偏 15 mm，step 486 手眼变换（extrinsic_cv 行/列）用错，step 498 才确认螺钉头在构件侧面，step 540 复合估计错误；(b) 双臂在 A 附近互相干涉——step 132 试转负载来自双臂相碰，A 倾倒（173）、重握及末段 A 被碰出桌沿（594、605-612）。",
+    "source_zh": "agent 自述 / 日志"
+   }
+  ],
+  "gap_zh": "视频为俯视远景，看不清刀头与螺钉嵌合，现象与根因主要依据 agent 日志（待核实）；日志时钟（agent，约 10672 s）与视频（仿真 658 s）不能互相换算，log step 与视频时刻只作粗略对照。",
+  "unmet": {
+   "screw_unscrewed": false,
+   "screw_parked": false,
+   "members_crossed": false,
+   "screw_reinstalled": false,
+   "stand_turned": false,
+   "bowl_on_stand": false
+  }
+ },
+ "summary_zh": "观察：视频 658 s 内六个节点均未达成；agent 反复尝试在构件 A 上拧出螺钉（含 A 倾倒后抬起重握、棘轮式拧出），末段 A 被碰到桌右缘后又被重新抓回。断点为拧出螺钉（操作中）。推断（日志）：刀头/螺钉位姿估计错误（含螺钉头在构件侧面）与双臂干涉；俯视画面看不清刀头与螺钉，原因依据日志，大部分日志未逐条核对。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点均未达成、断点 ref=screw_unscrewed 可接受，但文件把 600-657 s 末段读错：日志显示 agent 在 step 186-594 把构件 A 抬起、换握、掉落到桌右缘，step 636-643 又重新抓回 A；末帧右缘被夹的是 A，不是 B，A 也不在桌面中央。依此写的 members_crossed.contact_actual、各节点 evidence、summary 都是错的；根因/现象只覆盖 step 124 附近的刀杆倾斜，漏掉后续 400+ 步里 agent 自己发现的失败（螺钉头在构件侧面、竖直螺丝刀无法嵌入、双臂互相碰撞与 A 掉落），且 100 s 与 log step 124 的对应是未说明的 agent 时间转换。",
+    "n_issues": 4,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮问题已修正：六节点均未达成、断点 screw_unscrewed 合理，末帧右缘被夹的是构件 A，日志时钟与视频时钟已分开说明；证据标注为推断，conf 4 诚实。未发现需改内容的新错误。",
+    "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": "2026-11-08T08:48:18Z",
+  "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-ikea-ikea365-i00-standard--ju57myf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--ju57myf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--ju57myf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-ikea365-i00-standard--ju57myf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "245d5004424cb489f743ef88d300d4e41a3f6e28fa006117d63c6404c91f12f2",
+   "video_sha256": "abeeb355af629087d6d4e9e72795b228283c4cd4164cec7a9f1cfcc682e12f84",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--vvdb567.json b/phaseK/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--vvdb567.json
new file mode 100644
index 0000000000000000000000000000000000000000..81a98d569403530d6be36964a8950055532b8b2c
--- /dev/null
+++ b/phaseK/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-privileged--vvdb567.json
@@ -0,0 +1,251 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-privileged--vvdb567",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "all_success": 1,
+   "deterministic": 1,
+   "goal_at_end": 1,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 1,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.437,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 169750,
+   "sim_steps": 679000,
+   "sim_time_s": 424.37500000636186,
+   "replays": 2,
+   "replay_wall_s": 1586.9,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.021,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.584,
+   "peak_cpus": 2.05,
+   "peak_pids": 24,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-lack-i00-privileged--vvdb567.mp4",
+  "duration_s": 30.04,
+  "fps": 25.0,
+  "frames": 751,
+  "sha256": "5a0dce593aef6b0f34b2d87014f5109eeecd6720641ba18250e633a4cdf2ebe9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频被大幅加速（30 s 对应仿真424 s），逐腿拧入过程基本不可见；约视频 5.5 s 起第1根腿已立在桌板螺柱上（左臂执行；视频钟，误差约1 s，帧间逐帧复核）。桌腿已立在螺柱上，评分器 success=1、goal_at_end=1、all_success=1 确认终态四腿合格，故目标节点 true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中左臂二指夹爪抓住第1根桌腿，竖起后对准螺柱并旋拧。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频被大幅加速（30 s 对应仿真424 s），逐腿拧入过程基本不可见；约视频 10.0 s 起第2根腿已立在桌板螺柱上（右臂执行；视频钟，误差约1 s，帧间逐帧复核）。桌腿已立在螺柱上，评分器 success=1、goal_at_end=1、all_success=1 确认终态四腿合格，故目标节点 true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中右臂二指夹爪抓住第2根桌腿，竖起后对准螺柱并旋拧。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频被大幅加速（30 s 对应仿真424 s），逐腿拧入过程基本不可见；约视频 17.5 s 起第3根腿已立在桌板螺柱上（左臂执行；视频钟，误差约1 s，帧间逐帧复核）。桌腿已立在螺柱上，评分器 success=1、goal_at_end=1、all_success=1 确认终态四腿合格，故目标节点 true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中左臂二指夹爪抓住第3根桌腿，竖起后对准螺柱并旋拧。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.5,
+      "log_step": null,
+      "text_zh": "观察：视频被大幅加速（30 s 对应仿真424 s），逐腿拧入过程基本不可见；约视频 25.5 s 起第4根腿已立在桌板螺柱上（左臂执行；视频钟，误差约1 s，帧间逐帧复核）。左臂夹持中的腿已立于左前角螺柱，评分器 success=1、goal_at_end=1、all_success=1 确认终态四腿合格，故目标节点 true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中左臂二指夹爪抓住第4根桌腿，竖起后对准螺柱并旋拧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：四根腿均拧装完成（评分器 success=1，goal_after_settle=1，max_part_depth 1.437 mm）。视频只有 30 s，由 424 s 仿真加速而成，各腿到位时间只能从桌板上腿的数量粗略估计（约视频 7/11.5/19/28 s），旋拧细节不可见。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "终态 4/4 与评分器一致，无失败层；但四个节点的到位时间均按“估计”写在帧所见之后，且与帧不符：第1/2/3/4腿实际约 5.5/10/17.5/25.5 s（视频钟），标注 7/11.5/19/28 s；证据文字“机械臂离开/离手”与帧矛盾（第4腿至 29.95 s 仍被左臂夹持）。",
+    "n_issues": 5,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "终态 4/4 与评分器 success=1 一致，无失败层；第1–4腿到位时间（约 5.5/10/17.5/25.5 s，视频钟）与抽查帧相符，contact_actual 为抓握，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": "2026-11-08T08:47:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--vvdb567/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--vvdb567/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--vvdb567/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-privileged--vvdb567/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c91333f687d7a4711cfe5767c560aebd336c3bd1fd112dfef95e58d9c820a9e8",
+   "video_sha256": "5a0dce593aef6b0f34b2d87014f5109eeecd6720641ba18250e633a4cdf2ebe9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--dudjfw7.json b/phaseK/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--dudjfw7.json
new file mode 100644
index 0000000000000000000000000000000000000000..11713fb68c91967d17afbde92fcdfce1852961e0
--- /dev/null
+++ b/phaseK/roboarc/ikea_lack/trajectories/roboarc-ikea-lack-i00-standard--dudjfw7.json
@@ -0,0 +1,307 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-lack-i00-standard--dudjfw7",
+ "taskKey": "roboarc/ikea_lack",
+ "dag_sha256": "032dc5eb84292700c59af733a86d00f083e1f9a8aa515bd469fdbd0a68dcbcba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 341128,
+   "sim_steps": 1364512,
+   "control_steps": 341128,
+   "sim_time_s": 852.8200000157138,
+   "elapsed_s": 10790.4,
+   "service_time_s": 845.7,
+   "calls": 967,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.298,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.798,
+   "peak_cpus": 1.66,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-lack-i00-standard--dudjfw7.mp4",
+  "duration_s": 852.9,
+  "fps": 10.0,
+  "frames": 8529,
+  "sha256": "191cd0089ac807446eee8259afa19c5a4059277b90efc3fbffeae6a9fb6d4df5"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "legs_screwed_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      470.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 470.0,
+      "log_step": null,
+      "text_zh": "观察：视频 200-350 s 左缘的长条腿与下缘的腿均平放/斜靠板边，并非直立拧入（直立腿在斜俯视下应为短块，对照 oracle 视频 29 s）；视频 470 s 与 560 s 左下角螺柱处出现并保持一个短块，是画面中唯一可见的疑似坐实腿。推断：第1根最早约视频 470 s 前后坐实，时间不确定（380-470 s 之间无法排除）；agent 自述（log step 226、520）称早先已装好，但 log step 231 自认早先几次“装好”其实腿仍平躺，故不作依据。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：该根腿拧入时的夹持在视频中看不清；仅见视频 440 s 右臂在板边附近、470 s 左下角短块出现。具体接触未知。"
+     }
+    ]
+   },
+   "legs_screwed_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 560.0,
+      "log_step": 520,
+      "text_zh": "观察：视频 560 s 与 850 s 帧中只有左下角一处疑似坐实的短块，左缘长条腿仍平放/斜靠，右侧另有腿斜靠板外。推断：第2根是否坐实无法由画面判定；agent 自述（log step 520、974）称两根已装，仅是其叙述，无状态日志或评分分项可补，故记未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 430-560 s 的夹持细节看不清，接触未知。"
+     }
+    ]
+   },
+   "legs_screwed_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 840.0,
+      "log_step": 974,
+      "text_zh": "观察：视频 560-852 s 桌板右缘仍有一根腿斜靠于板外/板边未坐入螺柱，另一根腿在右下角斜放，末帧(852 s)只有两根腿立于左侧。agent 在 log step 949-974 自述卡在螺柱顶端无法旋进、最终两根未装。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：约视频 600-850 s 右臂夹爪持第3根腿对准右前螺柱并旋拧，左臂辅助托持；腿未旋入。"
+     }
+    ]
+   },
+   "legs_screwed_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 840.0,
+      "log_step": 974,
+      "text_zh": "观察：视频 560-852 s 桌板右缘仍有一根腿斜靠于板外/板边未坐入螺柱，另一根腿在右下角斜放，末帧(852 s)只有两根腿立于左侧。agent 在 log step 949-974 自述卡在螺柱顶端无法旋进、最终两根未装。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "report.depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better"
+  },
+  {
+   "name": "report.lateral_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "report.axis_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_screwed_3",
+   "t": 600.0,
+   "log_step": 949,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 560-852 s 机械臂反复转移、对准并旋拧第3根腿，末帧仍只有两根腿立于螺柱。agent 自述（log step 949-950）螺柱顶端下降被阻、旋转无下旋进展，最终报告两根未装（log step 974）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 700.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 700 s 与 850 s 帧中第3根腿仍斜靠板右侧、未坐入螺柱；右臂持腿在右前螺柱附近。推断：腿未对准入柱（仅记位姿偏差，咬合力细节视频看不清，agent 自述“螺柱顶端受阻”（log step 949）不单独定接触类现象）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述同一方法已装好前两根腿，第3根对准/咬合反复失败（log step 806-833, 949-950）；对准误差来自深度拟合还是抓持姿态无证据，故只记到控制。 本条仅有 agent 自述支持，置信偏低。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；斜俯视角难以精确判定各腿坐实时刻，节点时间为估计；图像中安装数量主要靠 agent 自述与视频一致性交叉判定；native_metrics 在评分字段中未报告。 第1、2根腿的坐实时间与数量无法由视频确定（长条腿平放，直立腿为短块；第2根记未知）；接触力类现象无视频/状态日志支持，故改记位姿不准。",
+  "unmet": {
+   "legs_screwed_1": true,
+   "legs_screwed_2": null,
+   "legs_screwed_3": false,
+   "legs_screwed_4": false
+  }
+ },
+ "summary_zh": "观察：视频 852.9 s（仿真时钟）内，画面中最早可见的疑似坐实腿约在视频 470 s（时间不确定），第2根是否坐实无法判定，第3、4根未装。推断：断点在第3根腿的旋拧（视频 600-850 s 反复对准旋拧，腿仍未坐入）；原因只能记为控制，缺状态日志，节点时间与数量为估计。",
+ "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 legs_screwed_1/2 的时间和判定依据站不住：视频 200–850 s 左缘那根长条腿始终平躺/斜靠，并不是“直立已拧入”，视频里看得出的坐实腿（左下角短块）约 380–470 s 才出现，看不出第二根；两节点的证据只靠 agent 自述（agent 自己在 log step 231 也承认早先三次“装好”其实腿躺在桌上）。断点（第3根）和 phenomenon 方向大体合理，但“接触力异常”只来自 agent 自述，且 contact_actual 为抄 DAG。",
+    "n_issues": 5,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第二轮：节点1/2/3/4 的判定与帧一致（左下角短块为唯一疑似坐实腿，第2根未知，第3、4根未装），断点在第3根旋拧，现象与根因标注克制且置信度诚实。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": "2026-11-08T08:48:09Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--dudjfw7/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--dudjfw7/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--dudjfw7/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-lack-i00-standard--dudjfw7/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8830049074a3b320cf102b5ed24b690b5fbc33381f71604a74eb0d917c1f3d7a",
+   "video_sha256": "191cd0089ac807446eee8259afa19c5a4059277b90efc3fbffeae6a9fb6d4df5",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-privileged--4j9v8lg.json b/phaseK/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-privileged--4j9v8lg.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76416007a32aa10d7b5a65fd9777cbcccac3a03
--- /dev/null
+++ b/phaseK/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-privileged--4j9v8lg.json
@@ -0,0 +1,380 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-privileged--4j9v8lg",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 1.383,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 46150,
+   "sim_steps": 184600,
+   "sim_time_s": 115.37499999990413,
+   "replays": 2,
+   "replay_wall_s": 113.6,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.14,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.644,
+   "peak_cpus": 4.0,
+   "peak_pids": 57,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-stegesund-i00-privileged--4j9v8lg.mp4",
+  "duration_s": 29.6,
+  "fps": 25.0,
+  "frames": 740,
+  "sha256": "855c92959a7c7f65627ef0051a5c2bd231da474b96e77411d5457c0af0f1d5a9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "half_b_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     },
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 8-22 s 左臂夹着半架B斜举在半架A上方，两者未压合，始终没有看到平放到位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左臂二指夹爪夹住半架B的横杆并提起移到半架A上方（视频约 8-22 s）；右臂另试图托住A，但未见双臂压合。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 25.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20-29 s 右臂夹爪靠近半架上方，但扳手始终躺在桌面左侧（视频 10-29 s 位置不变），未见被拿起；推断：未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 723,
+      "text_zh": "观察：视频 29.0 s 末帧零件散乱堆叠在桌面，半架B未与半架A压合，搁板、螺栓、顶杆均未装配，扳手仍躺在桌面左侧；本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "half_b_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "shelf_position_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "shelf_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "top_rod_position_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": 1.383,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "half_b_assembled",
+   "t": 14.0,
+   "log_step": 723,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 8-22 s 左臂夹持半架B斜举在半架A上方，未压合到两个腿部交叉点；视频 29 s 零件散乱，success=0，goal_at_end=0。agent 最后一步（log step 723）自述两次抓取落空（'two empty grasps'）并改为只用左臂持B、右臂托A。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 14.0,
+    "log_step": 723,
+    "evidence_zh": "观察：视频约 10-22 s 半架B被夹持在半架A上方呈倾斜姿态，没有放到装配位姿。推断：B的位姿离 0.6 mm/1° 的公差很远。"
+   }
+  ],
+  "root_causes": [],
+  "unmet": {
+   "half_b_assembled": false,
+   "shelf_assembled": false,
+   "bolts_seated_1": false,
+   "bolts_seated_2": false,
+   "bolts_seated_3": false,
+   "bolts_seated_4": false,
+   "frame_upright": false,
+   "top_rod_placed": false
+  },
+  "gap_zh": "无状态日志，仅有视频与日志；根因证据不足（只有 agent 自述两次空抓，未见几何证据），故根因留空；半架A与末态零件姿态细节在该视角下无法精确判断。"
+ },
+ "summary_zh": "观察：视频 29.6 s 内左臂把半架B夹起并斜举在半架A上方，始终没有压合，其余各节点（搁板、扳手、螺栓、竖立、顶杆）均未达成，0/9。断在拼合两半架，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": "九个节点均未达成与视频及 success=0、goal_at_end=0 一致；断点 half_B_assembled（操作中）、现象位姿不准、根因留空并附 gap_zh 均可接受，未发现需改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:41:35Z",
+  "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-ikea-stegesund-i00-privileged--4j9v8lg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-privileged--4j9v8lg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b0ec7904e52d73d4cb1add258af09225c5aa0ec9e00713797dcbb66e9dfc283b",
+   "video_sha256": "855c92959a7c7f65627ef0051a5c2bd231da474b96e77411d5457c0af0f1d5a9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--3hbmlrq.json b/phaseK/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--3hbmlrq.json
new file mode 100644
index 0000000000000000000000000000000000000000..b792e8cd957cf922057fcf6ba797da01fc01a921
--- /dev/null
+++ b/phaseK/roboarc/ikea_stegesund/trajectories/roboarc-ikea-stegesund-i00-standard--3hbmlrq.json
@@ -0,0 +1,424 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-stegesund-i00-standard--3hbmlrq",
+ "taskKey": "roboarc/ikea_stegesund",
+ "dag_sha256": "656c0569e355e439cb282a42fb9657ffccf7c2ef372b5f148b5847054d6d406a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 442889,
+   "sim_steps": 1771556,
+   "control_steps": 442889,
+   "sim_time_s": 1107.2225000061287,
+   "elapsed_s": 10744.0,
+   "service_time_s": 1107.8,
+   "calls": 2966,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.508,
+   "peak_processes": 8,
+   "peak_disk_gb": 5.135,
+   "peak_cpus": 1.0,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-stegesund-i00-standard--3hbmlrq.mp4",
+  "duration_s": 1107.3,
+  "fps": 10.0,
+  "frames": 11073,
+  "sha256": "fbd5fc3b4323610888d6b844610f51ee51244efc23a0d5d0bbd6e3bcbd2b5f91"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 9,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "half_b_assembled": {
+    "method": "visual",
+    "intervals": [
+     [
+      628.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 628,
+      "log_step": 74,
+      "text_zh": "观察：视频 625 s 两半架交叠分立，630 s 起只剩一个叠合框架并保持到 1107 s；推断：约视频 628 s 达成，毫米级公差无法从俯视画面核实。agent 自述压合到位（log step 74）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频约 590-630 s 双臂夹爪各握半架A/B，将B压合到A上。"
+     }
+    ]
+   },
+   "shelf_assembled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 224,
+      "text_zh": "观察：视频 800-1107 s 搁板始终平放在桌面、框架旁边，被夹爪移动但未进入框架脚端；1107 s 仍在框架外。注意 log step 224-225 自述搁板已插入框架，与视频不符，以视频为准。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 800-1107 s 夹爪尝试夹持并移动搁板，但未将其送入框架。"
+     }
+    ]
+   },
+   "hex_key_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      770.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 770,
+      "log_step": 243,
+      "text_zh": "观察：视频 765 s 六角扳手平放桌面，775 s 起画面左侧机械臂的夹爪下垂着L形扳手，790-800 s 仍在夹爪处，1090 s 夹爪处仍有细长物；推断约 765-775 s 拿起，之后曾多次滑脱再抓（agent 自述 log step 749）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 765-775 s 画面左侧机械臂夹爪夹住L形扳手短臂并提起。"
+     }
+    ]
+   },
+   "bolts_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 749,
+      "text_zh": "观察：视频末帧 1107 s 四颗螺栓仍立在桌面一侧未装入框架；未见螺栓被旋入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：夹爪持扳手靠近螺栓，视频未见旋入。"
+     }
+    ]
+   },
+   "bolts_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 749,
+      "text_zh": "观察：视频末帧 1107 s 四颗螺栓仍立在桌面一侧未装入框架；未见螺栓被旋入。"
+     }
+    ]
+   },
+   "bolts_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 749,
+      "text_zh": "观察：视频末帧 1107 s 四颗螺栓仍立在桌面一侧未装入框架；未见螺栓被旋入。"
+     }
+    ]
+   },
+   "bolts_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 749,
+      "text_zh": "观察：视频末帧 1107 s 四颗螺栓仍立在桌面一侧未装入框架；未见螺栓被旋入。"
+     }
+    ]
+   },
+   "frame_upright": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 749,
+      "text_zh": "观察：视频 1107 s 框架仍平躺在桌面，未被立起。"
+     }
+    ]
+   },
+   "top_rod_placed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1107,
+      "log_step": 749,
+      "text_zh": "观察：视频 1000-1107 s 顶杆（长木棍）仍躺在桌面右侧，未放到框架顶部。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "half_b_position_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "half_b_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "shelf_position_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "shelf_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bolt_axial_error_each",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bolt_transverse_error_each",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bolt_axis_error_each",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "top_rod_position_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "top_rod_symmetry_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "half_a_world_z_angle",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shelf_assembled",
+   "t": 1100,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 800-1107 s 夹爪反复抓取、搬动搁板，1107 s 视频结束时搁板仍在框架外的桌面上，未装入；这是视频中最后被处理且未完成的步骤。推断：agent 自述在 log step 95-127 搁板多次从指尖滑脱。"
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断（仅 agent 自述，视频不能证实）：搁板窄条间距小，手指落在相邻板条上、被挤出指尖（log step 98、100、124、126）；视频只能看到搁板始终未被稳定带入框架。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "现象层留空：视频分辨率不足以确认搁板具体如何滑脱。日志与视频不一致：视频仅 1107 s（仿真时间），日志中 agent 称后期搁板已插入、开始用扳手拧第一颗螺栓（log step 224-749），但视频末帧搁板仍在框架外，已按视频标注；无状态日志、无评分器分项字段。 根因“抓取和接触设计”仅来自 agent 自述，视频未显示搁板如何失败，置信度低。",
+  "unmet": {
+   "half_b_assembled": true,
+   "shelf_assembled": false,
+   "bolts_seated_1": false,
+   "bolts_seated_2": false,
+   "bolts_seated_3": false,
+   "bolts_seated_4": false,
+   "frame_upright": false,
+   "top_rod_placed": false
+  }
+ },
+ "summary_zh": "观察：视频 1107 s 内完成了拼合两半架（约视频 628 s）和拿起六角扳手（约 770 s），搁板始终未装入框架，螺栓、立起框架、顶杆均未做。断点在装入搁板（操作中），推断（仅 agent 自述）根因是夹爪抓搁板窄条不稳。证据缺口：视频与 agent 日志后半段不一致（日志称搁板已插入），无状态日志；任务设计上视频只含 1107 s 仿真时间。",
+ "conf": 3,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "half_b_assembled 的时间与证据有误：视频 625 s 仍是两半架交叠，630 s 起只剩一个叠合框架并保持到末尾，应约 628 s 达成，而非 740 s；“700-735 s 两半架分立”与帧不符。搁板未装入、扳手约 765-775 s 被拿起、断点在 shelf_assembled 与帧一致。根因只靠 agent 自述，证据偏弱。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮问题已修正：half_b 约628 s、扳手约770 s、搁板未入框架、螺栓/立架/顶杆未做，与帧一致；断点 shelf_assembled 合理，根因明示为仅 agent 自述的推断且 conf=3，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": "2026-11-08T08:48:11Z",
+  "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-ikea-stegesund-i00-standard--3hbmlrq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--3hbmlrq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--3hbmlrq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-stegesund-i00-standard--3hbmlrq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4a5be5fc0fd0b7883d0dba231b31540ec8d56a94c99de10a8f15a438f865b4d0",
+   "video_sha256": "fbd5fc3b4323610888d6b844610f51ee51244efc23a0d5d0bbd6e3bcbd2b5f91",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--cor3eqd.json b/phaseK/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--cor3eqd.json
new file mode 100644
index 0000000000000000000000000000000000000000..456e7bafae4a0e3da8270e54c9b36368d48956ef
--- /dev/null
+++ b/phaseK/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-privileged--cor3eqd.json
@@ -0,0 +1,274 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-privileged--cor3eqd",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 0,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 0,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 0.336,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 62047,
+   "sim_steps": 248188,
+   "sim_time_s": 155.11750000048457,
+   "replays": 2,
+   "replay_wall_s": 32.3,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.714,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.87,
+   "peak_cpus": 4.0,
+   "peak_pids": 51,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-svallet-i00-privileged--cor3eqd.mp4",
+  "duration_s": 29.8,
+  "fps": 25.0,
+  "frames": 745,
+  "sha256": "6e25f36b7eeb4822ff27777135586e22676d6931b68b7e048750e2684ef42ccc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": 2,
+  "nodes": {
+   "stand_on_bench": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 起黑色灯座直立于台面，至视频 29.7 s 末帧仍直立未倒。推断：无状态日志，仅凭外观判断倾角未超 3°；终态联合验收（夹爪接触零件）未通过是 shade/bulb 与夹爪接触所致，本节点自身条件视为成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "无接触",
+      "how": "不适用",
+      "note_zh": "观察：灯座全程由台面支撑，未见夹爪抓握灯座；末段夹爪靠近立柱。"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": null,
+      "text_zh": "观察：视频 4.5 s 右侧夹爪还夹着灯罩悬于柱顶，5.5 s 起灯罩套在立柱顶端，之后到 29.7 s 一直留在柱顶（夹爪撤开）。推断：卡接成立时刻约 5.5 s，无状态日志，卡接的 0.6 mm 公差只能由持续停留间接支持。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 0-5.5 s 右臂夹爪夹住灯罩顶部承口，移到柱顶并压入后松开。"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.7,
+      "log_step": null,
+      "text_zh": "观察：视频约13 s 图像右侧臂抓起灯泡，约18-20 s 举起，约22 s 起交接给灯罩侧臂，约24-26 s 送到灯罩下方，之后灯泡无转动、未入灯口；29.7 s 末帧夹爪仍在灯罩下方柱旁。评分器 goal_at_end=0、goal_after_settle=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：约13-22 s 右侧臂夹灯泡，约22 s 起换到灯罩侧臂（交接处看不清），24-29.7 s 夹持灯泡于灯罩下方，未见旋拧，未锁定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "stand_floor_normal",
+   "value": null,
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "stand_orientation_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_contact_depth",
+   "value": 0.336,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bulb_in_shade",
+   "where": "操作中",
+   "t": 26.0,
+   "log_step": null,
+   "evidence_zh": "观察：视频约26-29.7 s 灯泡被举到灯罩下方后保持，未见旋入灯口；评分器 goal_at_end=0。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，节点时间由视频目视判断。交付轨迹中只见灯泡举到灯罩下方后保持、未见旋拧动作，不把它当作瞄准后偏差的“位姿不准”（参 FAIL-23）；agent 会话内 step 655-660 的 ratchet/支撑测试不是被评分轨迹的画面，故不立根因，待核实。",
+  "unmet": {
+   "stand_on_bench": true,
+   "shade_on_stand": true,
+   "bulb_in_shade": false
+  }
+ },
+ "summary_zh": "观察：灯座全程直立，灯罩约视频 5.5 s 卡到柱顶并保持；灯泡约 13 s 被右侧臂抓起，约 22-26 s 交给灯罩侧臂送到灯罩下方，之后未见旋拧，直到 29.7 s 未入灯罩，评分器 success=0。断点为灯泡入灯罩；现象与根因证据不足，留空（见 gap_zh）。无状态日志，节点时间为目视估计。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（灯座直立、灯罩约5.5 s卡上、灯泡未入灯罩）与帧一致，断点 bulb_in_shade 合理；但灯泡抓取/转移的时间与持臂描述与帧不符，且根因与现象建立在 agent 会话测试（step 655-660 的 ratchet/支撑测试）而非交付轨迹的视频上。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第2轮修订后节点值（灯座直立、灯罩约5.5 s卡上、灯泡未入灯罩）、断点 bulb_in_shade 与帧一致；现象/根因留空并以 gap_zh 说明交付轨迹无旋拧动作、会话测试不当作被评分画面，符合 FAIL-23，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": "2026-11-08T08:47:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-privileged--cor3eqd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-privileged--cor3eqd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-privileged--cor3eqd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-privileged--cor3eqd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "65f67c7e2b2fe2fad97ab2c1dc2f3a6f922f187a7129d36e2fd7fd46c94ec294",
+   "video_sha256": "6e25f36b7eeb4822ff27777135586e22676d6931b68b7e048750e2684ef42ccc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--rssfrdh.json b/phaseK/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--rssfrdh.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe543e105148b6892bcfdee9838bd2c55ba387f
--- /dev/null
+++ b/phaseK/roboarc/ikea_svallet/trajectories/roboarc-ikea-svallet-i00-standard--rssfrdh.json
@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-svallet-i00-standard--rssfrdh",
+ "taskKey": "roboarc/ikea_svallet",
+ "dag_sha256": "cdbc1b2a2182ecb04ed1a19cf896466d649b590d61910712142013fc50cb7918",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 248739,
+   "sim_steps": 994956,
+   "control_steps": 248739,
+   "sim_time_s": 621.8475000106722,
+   "elapsed_s": 10800.3,
+   "service_time_s": 1172.2,
+   "calls": 1794,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.387,
+   "peak_processes": 8,
+   "peak_disk_gb": 1.09,
+   "peak_cpus": 3.64,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-svallet-i00-standard--rssfrdh.mp4",
+  "duration_s": 621.9,
+  "fps": 10.0,
+  "frames": 6219,
+  "sha256": "2497404f7aad9177e76b87acdd2fa231034065755c612142f2fc8fea450badf3"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "stand_on_bench": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": 778,
+      "text_zh": "观察：视频 0 s 起黑色灯座直立在台面，621.5 s 仍立在台面但圆盘位置/形状与 0 s 不同，视频无法核对倾角。log step 778 的 SETTLED 读数（agent 感知拟合）column tilt_deg=3.59°，step 779 自述倾角增大，step 772 自述灯座被拖偏约 98 mm；这些读数略超 ≤3° 判据但属噪声较大的感知估计，与视频无法互证。终态倾角未决（未知）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪抓住灯座立柱多次拉动、调整灯座位置（log step 633-730，agent 自述，视频未逐次核对）"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右夹爪/右臂在修正阶段附带接触并拖动灯座（log step 772、783 自述），非抓握"
+     }
+    ]
+   },
+   "shade_on_stand": {
+    "method": "visual",
+    "intervals": [
+     [
+      85,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 85,
+      "log_step": 175,
+      "text_zh": "观察：视频 40-85 s 右夹爪夹着白色灯罩停在黑色灯座柱顶上方，100 s 起灯罩落在灯座上，随后右臂移开，视频 300-621 s 灯罩一直在灯座上；推断：卡接约在 85 s 前后完成（时间不确定，无状态日志）；agent 自述灯罩已就位（log step 175）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "一只夹爪夹住灯罩并压到柱顶"
+     }
+    ]
+   },
+   "bulb_in_shade": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 610,
+      "log_step": 750,
+      "text_zh": "观察：视频 500-621.5 s 灯泡始终被夹爪夹在灯罩下方、灯座旁，未进入灯罩灯口；agent 自述灯泡碰到灯罩边缘而未对准（log step 750），并把灯座拖偏（log step 772）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪夹持灯泡并举向灯罩灯口，左臂参与交接/辅助"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bulb_in_shade",
+   "t": 500,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 500-621.5 s 夹爪持灯泡在灯罩下方反复对准，未插入；log step 750 自述灯泡碰灯罩边缘。",
+   "log_step": 750
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 600,
+    "log_step": 750,
+    "evidence_zh": "观察：视频 600-621.5 s 灯泡停在灯罩下方未进入灯口；log step 750 自述灯泡碰灯罩边缘、未对准插入，log step 772 自述灯座被拖偏约 98 mm。"
+   },
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 600,
+    "log_step": 772,
+    "evidence_zh": "观察：视频 0 s 灯座圆盘在台面中央偏左，250 s、450 s、560 s 位置逐次变化，621 s 在右臂/灯泡旁。该位移一部分是左夹爪有意抓拉立柱造成（log step 633-730，自述）；另一段是 step 772 自述右臂阻挡下灯座被拖偏约 98 mm（自述），与前者分属两段。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "evidence_zh": "agent 自述右臂在接触约束下不跟踪指令（log step 786），多次小步对准仍碰边缘；亚类不明。 是否因先搬动灯座的跨阶段策略（规划）或从下方垂直插入的抓法（抓取和接触设计）所致：证据不足，是否存在可行替代：未知；故停在“控制”。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，节点时间由视频目测；现象的 cat/item 取值未对照 taxonomy_v2.json 核对；灯座终态姿态未精确核实。 根因仅凭 agent 自述，规划/接触设计未能区分（可行替代未知）；带动本体现象来自自述。",
+  "unmet": {
+   "stand_on_bench": null,
+   "shade_on_stand": true,
+   "bulb_in_shade": false
+  }
+ },
+ "summary_zh": "观察：灯座直立、灯罩约视频 85 s 起卡在灯座上（时间不确定），灯泡直至视频 621.9 s 未拧入灯罩。推断：卡在灯泡对准插入这一步，右臂接触受限、碰灯罩边缘并拖动灯座。缺口：无状态日志。 灯座终态倾角是否≤3° 未决（log step 778 读数 3.59°，视频无法核对），stand_on_bench 记未知。",
+ "conf": 2,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "节点值（灯座、灯罩已成立，灯泡未成立）和断点 bulb_in_shade 与视频一致；但 stand_on_bench 的 contact_actual 漏了左夹爪抓握立柱拖动灯座，现象漏了灯座被带动，根因只凭 agent 自述且未区分规划/接触设计。",
+    "n_issues": 3,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "灯泡未入灯罩、断点 bulb_in_shade 与视频一致；但 stand_on_bench final=true 与 agent 自己读数（log step 778 柱倾角 3.59°、step 779“increased tilt”）冲突，文件却未提及；带动本体的证据把视频可见的灯座位移写成“仅自述”。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两条 round-2 问题的接受均已在 prev/trajectory.json 中正确落实。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两条 round-2 问题的接受均已在 prev/trajectory.json 中正确落实。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--rssfrdh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--rssfrdh/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--rssfrdh/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--rssfrdh/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--rssfrdh/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-svallet-i00-standard--rssfrdh/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": "809caffa7036789a29d8cacfa405d8cf6eec34949c88b5c7962739a4b4be6fb4",
+   "video_sha256": "2497404f7aad9177e76b87acdd2fa231034065755c612142f2fc8fea450badf3",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-privileged--whlcayz.json b/phaseK/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-privileged--whlcayz.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a92a11089dbf88ca7546becbf4ff3b9386c5fe0
--- /dev/null
+++ b/phaseK/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-privileged--whlcayz.json
@@ -0,0 +1,314 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-privileged--whlcayz",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 2.392,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 134319,
+   "sim_steps": 537276,
+   "sim_time_s": 335.7975000044284,
+   "replays": 2,
+   "replay_wall_s": 827.5,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.867,
+   "peak_processes": 15,
+   "peak_disk_gb": 1.766,
+   "peak_cpus": 4.0,
+   "peak_pids": 53,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-variera-i00-privileged--whlcayz.mp4",
+  "duration_s": 30.0,
+  "fps": 25.0,
+  "frames": 750,
+  "sha256": "97829cb3c261e8483224959bee419213715ec59b9b8c7ec1bfee0674a7f0bd3e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "frame_1_positioned": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 4.4 s 起两个侧架均直立在工作台上，层板正被搬来；推断：侧架就位，具体阈值无状态日志，时间约 ±1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹住侧架横杆搬运就位（据视频与agent日志，视频中被遮挡处推断）"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.4,
+      "log_step": null,
+      "text_zh": "观察：视频 4.4 s 两个侧架均已直立于工作台（与第一帧倒放在台面不同）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "夹爪夹住侧架横杆搬运就位（据视频与agent日志，视频中被遮挡处推断）"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.2,
+      "log_step": null,
+      "text_zh": "观察：视频 5.2 s 白色层板已落在两侧架顶上，之后到 30 s 一直在位。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "双臂夹爪侧向夹住层板放到侧架上"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "推断：视频 8 s 托盘中约 4 颗螺钉，20 s 减为 2 颗，30 s 末帧夹爪在层板螺孔处；agent 日志 step 718 自述保留了“两颗螺钉”的成果。分辨率低，就座无法逐颗直接核实，时间约估。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪捏住螺钉，左臂用螺丝刀/腕转旋入（据日志 step 40）"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "推断：视频 20 s 后托盘剩 2 颗，说明第二颗已被取走；同第1颗，就座靠推断，时间约估。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "同第1颗"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 20-30 s 托盘中仍有 2 颗螺钉未取走，末帧夹爪仍在处理旧螺钉区；日志 step 718 自述剩余搬运仍卡住。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "尝试夹取第3颗螺钉搬运，被手臂关节限位卡住（日志 step 678-713）"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.0,
+      "log_step": null,
+      "text_zh": "观察：视频 30 s 前未见第4颗螺钉被取走（托盘仍有螺钉）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "screws_seated_3",
+   "t": 22.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 22-30 s 机械臂停在层板旁，托盘仍剩 2 颗螺钉；日志 step 678-713 反复因左肩/肘关节限位无法完成第三颗螺钉搬运。",
+   "log_step": 703
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "轨迹或逆解",
+    "alt_feasible": "未知",
+    "t": null,
+    "log_step": 703,
+    "evidence_zh": "观察：agent 日志 step 678-713 反复记录第三颗螺钉搬运时手臂无法跟踪 IK 目标，左肩 joint-2 处于上限，右腕/肘过伸（step 695、703）；这是会话内诊断，不是评分视频的直接观察。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": "视频仅 30 s、分辨率 512×288，无状态日志，螺钉是否真正就座无法逐颗核实（1、2 号为推断）；评分局末段机械臂可见动作不足以定出具体失败现象，故现象层留空，根因仅来自会话日志。",
+  "unmet": {
+   "frame_1_positioned": true,
+   "frame_2_positioned": true,
+   "shelf_on_frames": true,
+   "screws_seated_1": true,
+   "screws_seated_2": true,
+   "screws_seated_3": false,
+   "screws_seated_4": false
+  }
+ },
+ "summary_zh": "观察：评分视频中两个侧架约视频 4.4 s 直立，层板约 5.2 s 落座；托盘螺钉由 4 颗减到 2 颗（推断前两颗螺钉已处理）。第3颗螺钉搬运卡住，终态未达成（success 0，goal_at_end 0）。推断：前两颗螺钉就座靠推断、时间约估；失败根因来自日志中的关节限位/IK 跟踪问题。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "侧架约4.4 s、层板约5.2 s与视频一致（侧架可能略早，1–4 s内逐步立起，在±1–2 s估计内）；托盘螺钉4→3（约8 s）→2（约19–20 s）与标注的推断相符，螺钉就座本身视频无法核实，已标为推断；断点screws_seated_3与终态未达成一致，现象层留空并有gap_zh，根因仅来自会话日志且已如实标注，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:40:42Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-privileged--whlcayz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-privileged--whlcayz/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4b934cd436c0c733d9659b2ac8b18c9e191539c0d135a1956bbe952b61db3460",
+   "video_sha256": "97829cb3c261e8483224959bee419213715ec59b9b8c7ec1bfee0674a7f0bd3e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--cmby9j5.json b/phaseK/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--cmby9j5.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bca27456fd1d32ceced64e41aa2bb851cb94573
--- /dev/null
+++ b/phaseK/roboarc/ikea_variera/trajectories/roboarc-ikea-variera-i00-standard--cmby9j5.json
@@ -0,0 +1,394 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-variera-i00-standard--cmby9j5",
+ "taskKey": "roboarc/ikea_variera",
+ "dag_sha256": "30b51edf72278fdd5721b50e8506245186c04ec0b7f230583281c7870c308ff3",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 522824,
+   "sim_steps": 2091296,
+   "control_steps": 522824,
+   "sim_time_s": 1307.0599999741405,
+   "elapsed_s": 10728.3,
+   "service_time_s": 2307.0,
+   "calls": 1215,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.352,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.972,
+   "peak_cpus": 1.22,
+   "peak_pids": 177,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-variera-i00-standard--cmby9j5.mp4",
+  "duration_s": 1307.1,
+  "fps": 10.0,
+  "frames": 13071,
+  "sha256": "643da8db433d4600c78853c5527a758fd336586024eb92becb5d4cbcb0e963ac"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 2,
+  "final": 0,
+  "nodes": {
+   "frame_1_positioned": {
+    "method": "visual",
+    "intervals": [
+     [
+      55.0,
+      128.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 54,
+      "text_zh": "观察：视频 60/90/110/120 s 前侧侧架直立于层板前方装配线上（俯视为细长杆）；约 126 s 仍直立，130 s 起倾斜平躺，之后直到 1306 s 末帧倾斜平躺在层板旁。区间起止为抽帧估计（视频钟，±5 s）。旁证：agent 自述 log step 54 “Both frames are now standing”（agent 自述，非观察）；agent 自述（log 291）此后又多次重新扶起并再倒，这些时刻未逐帧核实，未计入区间。无评分器数值，合格阈值（位置/角度）无法由画面确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：机械臂夹爪夹住侧架横杆搬运并放到装配线；放下后侧架直立约 70 s，后又倒下。"
+     }
+    ]
+   },
+   "frame_2_positioned": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.0,
+      128.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 90.0,
+      "log_step": 46,
+      "text_zh": "观察：视频 10-15 s 夹爪夹着后侧侧架放到后装配线，20-126 s 抽帧后侧侧架直立；132 s 起平躺（倾斜矩形框）；1306 s 末帧仍倒。区间起止为抽帧估计（视频钟，±5 s）。旁证：agent 自述 log step 46 “first frame is standing at the rear assembly line”（agent 自述）。后续重扶时刻未逐帧核实。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹住侧架搬运并放下，释放后侧架直立一段时间后倒下。"
+     }
+    ]
+   },
+   "shelf_on_frames": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1306.0,
+      "log_step": 816,
+      "text_zh": "观察：视频 125-135 s、约 325 s、550 s、1150 s 等多次双臂夹板边缘抬起层板并在侧架处作落座尝试，随后放回工作台；1250-1306 s 层板平放在工作台上、两侧架未在其下方。agent 最终报告自述层板未落座（log step 816）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两臂夹住层板两侧边缘共同抬起、移向侧架，多次尝试后放回工作台，未落在侧架上。"
+     }
+    ]
+   },
+   "screws_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1306.0,
+      "log_step": 816,
+      "text_zh": "观察：全程未见螺钉被拿起或旋入孔位；视频 1306 s 螺钉仍在右下角螺钉盒中。agent 最终报告自述未拧任何螺钉（log step 816）。"
+     }
+    ]
+   },
+   "screws_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1306.0,
+      "log_step": 816,
+      "text_zh": "观察：前序步骤（层板落座）未达成，视频 1306 s 螺钉仍在螺钉盒中，未见任何螺钉被旋入孔位；agent 最终报告自述未拧螺钉（log step 816）。"
+     }
+    ]
+   },
+   "screws_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1306.0,
+      "log_step": 816,
+      "text_zh": "观察：前序步骤（层板落座）未达成，视频 1306 s 螺钉仍在螺钉盒中，未见任何螺钉被旋入孔位；agent 最终报告自述未拧螺钉（log step 816）。"
+     }
+    ]
+   },
+   "screws_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1306.0,
+      "log_step": 816,
+      "text_zh": "观察：前序步骤（层板落座）未达成，视频 1306 s 螺钉仍在螺钉盒中，未见任何螺钉被旋入孔位；agent 最终报告自述未拧螺钉（log step 816）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_screw_turns",
+   "value": null,
+   "unit": "turn",
+   "threshold": 0.4,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_screw_head_axial_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_screw_head_lateral_error",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0.6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_screw_axis_error",
+   "value": null,
+   "unit": "deg",
+   "threshold": 1.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_scene_part_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_goal_hold",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_terminal_part_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_terminal_part_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_contact_depth",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "shelf_on_frames",
+   "t": 128.0,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 125 s 双臂举层板进入两侧架之间，130-135 s 起两侧架倒平；之后 325/550/1150 s 再次举板尝试，层板始终未落座（log step 816 agent 自述未落座）。agent 自述（log 291、531）侧架在释放/撤手时倒下，仅作旁证。",
+   "log_step": 150
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 128.0,
+    "log_step": 150,
+    "evidence_zh": "观察：侧架直立约 70 s，层板被双臂送入侧架区域的 126-130 s 间两侧架倒下；推断：层板/手臂碰倒侧架（俯视帧无法确认接触，agent 自述 log 291/531 称倒在释放撤手时，二者不一致）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因证据不足：侧架倒下是被层板/手臂碰倒（被挡/碰撞）还是自身放后不稳（agent 自述为释放撤手时倾倒）无法由俯视抽帧区分；后续重新扶起又倒的时刻（agent log 291/445/503/531）未逐帧核实。无状态日志，仅抽帧检视；native_metrics 评分器字段未报告，值为 null；侧架合格阈值无法由画面确认。",
+  "unmet": {
+   "frame_1_positioned": false,
+   "frame_2_positioned": false,
+   "shelf_on_frames": false,
+   "screws_seated_1": false,
+   "screws_seated_2": false,
+   "screws_seated_3": false,
+   "screws_seated_4": false
+  }
+ },
+ "summary_zh": "观察：graded 为实时单次 episode，未成功。视频约 20 s 起后侧侧架、约 55 s 起前侧侧架直立于装配线，直到约 126-130 s 双臂把层板举入侧架区域时两侧架倒平；此后多次重扶/举板均未让层板落座，螺钉全程未拧，终态 0/7，峰值 2/7。断点在层板落座步骤（操作中），倒下原因（碰撞 vs 放后不稳）未能区分。无状态日志，仅抽帧检视。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "标注把“两个侧架从未直立于装配位”当作观察，但视频 约50-125 s 两个侧架都直立在层板两侧装配线上（agent log step 54 亦自述“both frames standing at planned spacing”），约130-135 s 层板被双臂抬来时侧架倒下；之后多次重新扶起又倒（log 291/445/503/531）。因此 frame_1/2 的 final=false、全 0 峰值、断点 frame_1_positioned 及“位姿不准”均缺乏支持，应改为先到达后失去，断点移到层板落座步骤，并重新评估现象/根因。",
+    "n_issues": 6,
+    "n_major": 4
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "侧架 frame_1/2 的到达区间、失去时间（约126-130 s 倒平）、断点 shelf_on_frames、终态 0/7 与视频一致。唯一需改：shelf_on_frames 的 contact_actual 把两臂各自夹住板边的动作标为 托/舀，与自身 note 及规则（双臂协作 + 各手包夹即 抓握）不符。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按 accept 落实：shelf_on_frames.contact_actual[0] 现为 双臂协作 + 抓握，与分类规则（双臂协作里各手包夹即抓握）及 DAG plan1 一致，未引入其他改动。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按 accept 落实：shelf_on_frames.contact_actual[0] 现为 双臂协作 + 抓握，与分类规则（双臂协作里各手包夹即抓握）及 DAG plan1 一致，未引入其他改动。",
+   "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": "2026-11-08T08:49:56Z",
+  "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-ikea-variera-i00-standard--cmby9j5/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--cmby9j5/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--cmby9j5/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--cmby9j5/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--cmby9j5/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-variera-i00-standard--cmby9j5/06_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": "7e578012f01b340d7ac752356071c596c3587cf8411602c315d462d84561358e",
+   "video_sha256": "643da8db433d4600c78853c5527a758fd336586024eb92becb5d4cbcb0e963ac",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--dcqsrjc.json b/phaseK/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--dcqsrjc.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e6a6977078460cc81a31689c264e6de16c54df
--- /dev/null
+++ b/phaseK/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-privileged--dcqsrjc.json
@@ -0,0 +1,701 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-privileged--dcqsrjc",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "all_success": 0,
+   "deterministic": 1,
+   "goal_at_end": 0,
+   "released_at_end": 1,
+   "at_rest_at_end": 1,
+   "goal_after_settle": 0,
+   "released_after_settle": 1,
+   "at_rest_after_settle": 1,
+   "sim_breakdown": 0,
+   "max_part_depth_mm": 2.623,
+   "settle_s": 1.0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "runtime_binding_ok": 1,
+   "n_actions": 302166,
+   "sim_steps": 1208664,
+   "sim_time_s": 755.4150000135877,
+   "replays": 2,
+   "replay_wall_s": 514.4,
+   "video_rendered": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.052,
+   "peak_processes": 21,
+   "peak_disk_gb": 2.512,
+   "peak_cpus": 4.01,
+   "peak_pids": 58,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-vesken-i00-privileged--dcqsrjc.mp4",
+  "duration_s": 30.0,
+  "fps": 25.0,
+  "frames": 750,
+  "sha256": "10e3bcd57aa8283bac8040a700c1953b83278128dc85f8212cccb39f5f2ed09d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": null,
+  "peak": null,
+  "final": 11,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      17,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17,
+      "log_step": null,
+      "text_zh": "推断：视频 17.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "推断：视频 25.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "推断：视频 25.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "推断：视频 25.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      25,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25,
+      "log_step": null,
+      "text_zh": "推断：视频 25.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [
+     [
+      27,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 27,
+      "log_step": null,
+      "text_zh": "推断：视频 27.0 s 前后画面显示该步零件已就位（脚/立柱/第二层托盘成为一体架体），帧分辨率低、卡扣间隙无法核对，时间为估计；评分器 goal_at_end=0 只说明整体验收未通过，不否定前序步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：两条机械臂的夹爪夹持托盘/零件并插入（视频 12-27 s）。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.8,
+      "log_step": 2158,
+      "text_zh": "推断：视频约 28.7–29.0 s 右后角立柱被压入第二层托盘后夹爪离开仍直立（时间为估计，帧分辨率低）；交付轨迹日志 step 2158 记录 connected 11（4脚+4底柱+托盘+2中层柱），故第1根在 29.6 s 前已焊接。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：单臂夹爪夹持立柱并压入托盘角（约 28.4–28.7 s）。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.6,
+      "log_step": 2158,
+      "text_zh": "推断：log step 2158 “genuine tier-1 column 1 welded and released rows 298062 … connected 11”，按 rows/302166×30 s 折算约 29.6 s；视频 29.5–29.96 s 可见左侧夹爪将立柱压在托盘左角（观察）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：29.5–29.96 s 左侧夹爪夹持立柱压入托盘左角。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.9,
+      "log_step": null,
+      "text_zh": "观察：视频 29.9 s 结束时第二层托盘上仅见夹爪悬持一根立柱，未见中层立柱扣入；视频至此结束。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "value": null,
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better"
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better"
+  },
+  {
+   "name": "connector_lateral_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "connector_axis_tilt",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "floor_contact_N",
+   "value": null,
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "orientation_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": 2.623,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "middle_columns_seated_3",
+   "t": 29.96,
+   "log_step": 2199,
+   "where": "首步前",
+   "evidence_zh": "推断：交付轨迹在 11 个焊点（log step 2158，约 29.6 s）处结束，视频至 29.96 s 结束，第3根中层立柱尚未开始；agent 日志 step 2199 称后端第3根 column_1_2 转移仍在重试，但根因画面不可见；评分器 goal_at_end=0。"
+  },
+  "unmet": {
+   "feet_seated_1": true,
+   "feet_seated_2": true,
+   "feet_seated_3": true,
+   "feet_seated_4": true,
+   "bottom_columns_seated_1": true,
+   "bottom_columns_seated_2": true,
+   "bottom_columns_seated_3": true,
+   "bottom_columns_seated_4": true,
+   "second_tray_seated": true,
+   "middle_columns_seated_1": true,
+   "middle_columns_seated_2": true,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 29.96,
+    "log_step": null,
+    "evidence_zh": "观察：视频 17–29.96 s 无第3根中层立柱的任何动作；推断：交付轨迹（302166 行）在 11 焊点处结束，评分器 goal_at_end=0，该步在评分尝试内未启动。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "视频仅 30 s（对应仿真约 755 s，被加速），分辨率 512x288，无状态日志；根因画面不可见，无法判定（不从没尝试反推根因）；卡扣间隙与最终静置验收看不到；第3根中层立柱转移重试仅见于 agent 日志（step 2199），不作为画面证据。"
+ },
+ "summary_zh": "观察：视频 17-27 s 脚、底层立柱和第二层托盘依次成形，28.7–29.96 s 两根中层立柱被压入；推断（log step 2158 connected 11，rows 298062≈29.6 s）达成 11/23。断点为中层立柱第3根，首步前，视频在此结束。证据缺口：低分辨率、无状态日志，节点时间为估计，现象与根因留空。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "前9个节点基本可信，但视频末尾（28.7–29.96 s）中层立柱已被依次压入第二层托盘：第1根在约28.7 s扣入并离手后仍直立，第2根在29.5–29.96 s被夹爪压入；agent 日志显示交付轨迹第 298062 行（约29.6 s）时已连接11个焊点（4脚+4底柱+托盘+2中层柱）。文件把 middle_columns_seated_1/2 判为 false、final=9、断点放在 middle_columns_seated_1，均与此不符；断点应后移到第3根中层立柱。",
+    "n_issues": 3,
+    "n_major": 3
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点进度（11/23）、时间与断点（middle_columns_seated_3）与视频和交付轨迹一致。但断点 where=首步前 时 phenomena 为空：交付轨迹里第3根中层立柱的工作从未开始，按规则应标 没尝试。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的修改已完整落实：phenomena 现含 没尝试（t=29.96），root_causes 为空，gap_zh 只说明根因不可见，未把超时或 agent 停止写成现象。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的修改已完整落实：phenomena 现含 没尝试（t=29.96），root_causes 为空，gap_zh 只说明根因不可见，未把超时或 agent 停止写成现象。",
+   "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": "2026-11-08T08:49:45Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--dcqsrjc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--dcqsrjc/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--dcqsrjc/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--dcqsrjc/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--dcqsrjc/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-privileged--dcqsrjc/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": "1bca4aefb80fddcd65227d6f66e1ccc44703bf7e749c77de260cb5332820a5e6",
+   "video_sha256": "10e3bcd57aa8283bac8040a700c1953b83278128dc85f8212cccb39f5f2ed09d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--hd4f4ww.json b/phaseK/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--hd4f4ww.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d12d51c20da7cf7e77b771627279428a6ac8d1
--- /dev/null
+++ b/phaseK/roboarc/ikea_vesken/trajectories/roboarc-ikea-vesken-i00-standard--hd4f4ww.json
@@ -0,0 +1,547 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-ikea-vesken-i00-standard--hd4f4ww",
+ "taskKey": "roboarc/ikea_vesken",
+ "dag_sha256": "c4a6182f1333463eca5c67020b0db91857b07e30abce24be4da5b6aa81ff3996",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "finalized": 1,
+   "missing_log": 0,
+   "live_rows": 346842,
+   "sim_steps": 1387368,
+   "control_steps": 346842,
+   "sim_time_s": 867.1050000160257,
+   "elapsed_s": 10339.2,
+   "service_time_s": 2166.0,
+   "calls": 828,
+   "settle_failed": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "instance_mismatch": 0,
+   "video_rendered": 1,
+   "video_segments": 1,
+   "sim_error": 0,
+   "dump_lost": 0,
+   "infra_error": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.046,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.773,
+   "peak_cpus": 2.91,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-ikea-vesken-i00-standard--hd4f4ww.mp4",
+  "duration_s": 867.2,
+  "fps": 10.0,
+  "frames": 8672,
+  "sha256": "0597a83beac94a9b0f4c2f0707f42ba40dac7f5ae2974e794b196e72970c774d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 23,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "feet_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频约 150-450 s 可见双臂搬动并翻转底托盘；是否夹住脚、是否插入底孔视频看不到（零件盒内小脚在视频 260/400/500/700/866 s 仍可见）。log step 364/469 的抓脚、插孔、放下后未保持均为 agent 自述，未采信。"
+     }
+    ]
+   },
+   "feet_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "未知",
+      "note_zh": "观察：视频约 150-450 s 可见双臂搬动并翻转底托盘；是否夹住脚、是否插入底孔视频看不到（零件盒内小脚在视频 260/400/500/700/866 s 仍可见）。log step 364/469 的抓脚、插孔、放下后未保持均为 agent 自述，未采信。"
+     }
+    ]
+   },
+   "feet_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "feet_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "bottom_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "bottom_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "bottom_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "bottom_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "second_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "middle_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "middle_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "middle_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "middle_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "third_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "upper_columns_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "upper_columns_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "upper_columns_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "upper_columns_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "top_tray_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "caps_seated_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "caps_seated_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "caps_seated_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   },
+   "caps_seated_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 867.0,
+      "log_step": 790,
+      "text_zh": "观察：视频最后一帧（视频 867 s）底托盘仍翻放在台面上，未见任何脚扣入并正立的整架；评分器 success=0，agent 末条自述“未完成，未确认任何卡扣连接”（log step 790）。推断：本节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "operations_passed",
+   "value": 0,
+   "unit": "count",
+   "threshold": 23,
+   "direction": "higher_better"
+  },
+  {
+   "name": "connector_abs_axial_gap",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better"
+  },
+  {
+   "name": "connector_lateral_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0008,
+   "direction": "lower_better"
+  },
+  {
+   "name": "connector_axis_tilt",
+   "value": null,
+   "unit": "deg",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "floor_contact_N",
+   "value": null,
+   "unit": "N",
+   "threshold": 0.1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "orientation_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_angular_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_part_depth_mm",
+   "value": null,
+   "unit": "mm",
+   "threshold": 10,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "feet_seated_1",
+   "where": "操作中",
+   "log_step": 475,
+   "t": 450,
+   "evidence_zh": "观察：视频 150-800 s 双臂反复搬动翻转底托盘，最终帧仍无任何脚扣入的整架。推断：第一步装脚未完成；t=450 s 只是视频中可见操作托盘的导航锚点，log_step 475 只是 schema 必填的日志参照，两个时钟不互相换算。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "脚很小且被夹爪遮挡，无状态日志；视频看不到脚被插入或脱落，agent 自述（log step 364/400/475）不能作为现象，故现象与根因均留空。节点按评分器 success=0 与末帧判 false。",
+  "unmet": {
+   "feet_seated_1": false,
+   "feet_seated_2": false,
+   "feet_seated_3": false,
+   "feet_seated_4": false,
+   "bottom_columns_seated_1": false,
+   "bottom_columns_seated_2": false,
+   "bottom_columns_seated_3": false,
+   "bottom_columns_seated_4": false,
+   "second_tray_seated": false,
+   "middle_columns_seated_1": false,
+   "middle_columns_seated_2": false,
+   "middle_columns_seated_3": false,
+   "middle_columns_seated_4": false,
+   "third_tray_seated": false,
+   "upper_columns_seated_1": false,
+   "upper_columns_seated_2": false,
+   "upper_columns_seated_3": false,
+   "upper_columns_seated_4": false,
+   "top_tray_seated": false,
+   "caps_seated_1": false,
+   "caps_seated_2": false,
+   "caps_seated_3": false,
+   "caps_seated_4": false
+  }
+ },
+ "summary_zh": "观察：视频 867 s 内两臂反复搬动翻转底托盘，23 个卡扣节点均未达成（评分器 success=0，末帧无整架）。断点在装脚（第1只脚）；视频无法证实脚是否被抓取/插入，故现象与接触细节为低置信，现象与根因留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "23 个节点均 false 与评分器 success=0 一致，无异议。但 contact_actual 和现象证据把“夹爪抓脚并向底孔插入”写成视频观察，视频只见托盘被翻动，四个小脚在零件盒中始终可见（260/400/500/700/866 s），看不到脚被抓取或插入；断点 t=330 与 log_step 475 的对应也不一致。",
+    "n_issues": 4,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "23 个节点均为 false，与评分器 success=0 及视频末帧（867 s 无任何整架）一致；断点 feet_seated_1 的 t 仅为导航锚点；contact_actual 已改为 how=未知；现象与根因留空并有 gap_zh（脚被遮挡、无状态日志，agent 自述不采信）。上一轮意见均已落实，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:48:08Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--hd4f4ww/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--hd4f4ww/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--hd4f4ww/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-ikea-vesken-i00-standard--hd4f4ww/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "57412fb08da79d2ddd8c5c02f9bc465c6a0e03b34336cbb992871c4d25035b6f",
+   "video_sha256": "0597a83beac94a9b0f4c2f0707f42ba40dac7f5ae2974e794b196e72970c774d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_05/trajectories/roboarc-interlocked-claws-05-i01-privileged--n9vn9nw.json b/phaseK/roboarc/interlocked_claws_05/trajectories/roboarc-interlocked-claws-05-i01-privileged--n9vn9nw.json
new file mode 100644
index 0000000000000000000000000000000000000000..3679e9afd566845e34b37f0820b7682e7fcc0670
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_05/trajectories/roboarc-interlocked-claws-05-i01-privileged--n9vn9nw.json
@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-05-i01-privileged--n9vn9nw",
+ "taskKey": "roboarc/interlocked_claws_05",
+ "dag_sha256": "c54d7fdaad7dfbca705cc13032f8f38ff562fa72bfacb91f5f215cfc2363315f",
+ "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": 2,
+   "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": 981,
+   "submitted_actions": 981,
+   "sim_steps": 981,
+   "physics_steps": 9807,
+   "sim_time_s": 24.517499999999675,
+   "final_reward": 1.0,
+   "replay_wall_s": 367.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 981,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 10,
+   "agent_resets": 4,
+   "agent_sim_steps": 7295,
+   "agent_records": 6,
+   "agent_replays": 4,
+   "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-interlocked-claws-05-i01-privileged--n9vn9nw.mp4",
+  "duration_s": 24.6,
+  "fps": 15.0,
+  "frames": 369,
+  "sha256": "ae3a39f078ab8f34a416294d719f72d9885b9c3bc5f9a2b536a2acd804e99f64"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "claws_separated": {
+    "method": "visual",
+    "intervals": [
+     [
+      24.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24.4,
+      "log_step": 88,
+      "text_zh": "观察：视频 0-20.5 s 橙色与青色爪齿仍交错；约 22.5-23 s 主视角中两件已分开、橙件被左夹爪持住，青件被右夹爪持住；视频 23-24.4 s 保持分离且基本静止。推断：评分器要求分离后静止 0.5 s，strict_goal_row 981 即最后一个控制步（视频末尾），故到达时间取视频约 24.4 s。评分器 success=1 支持该结论。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": {
+   "claws_separated": [
+    {
+     "who": "双臂协作",
+     "how": "抓握",
+     "note_zh": "观察：全程左夹爪夹持橙色爪件、右夹爪夹持青色爪件，两臂协同按规划路径旋转并拉开（视频 0-23 s）。"
+    }
+   ]
+  }
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：拆开互锁爪（唯一节点）约视频 24.4 s 达成：两件在约 22.5-23 s 分离，随后静止保持，评分器 success=1。agent 用约 2.5 小时（log step 2-88）离线规划路径后回放。无状态日志，时间来自视频；reward.forcing_events=2 但 review_events=0。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点 claws_separated 视频约 24.4 s 达成：22 s 仍交错，23 s 起分离，24.4 s 帧中两件完全分开；strict_goal_row=981 即末步，与 24.4 s 一致。contact_actual 双臂协作+抓握与帧相符，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:41:57Z",
+  "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-interlocked-claws-05-i01-privileged--n9vn9nw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-05-i01-privileged--n9vn9nw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "235138fab087e712c3d918a431368234d106584cbbf38ce5f3f6384201fde09b",
+   "video_sha256": "ae3a39f078ab8f34a416294d719f72d9885b9c3bc5f9a2b536a2acd804e99f64",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_05/trajectories/roboarc-interlocked-claws-05-i01-standard--q7sgxnb.json b/phaseK/roboarc/interlocked_claws_05/trajectories/roboarc-interlocked-claws-05-i01-standard--q7sgxnb.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f3268b1dbce1672eeed5777359b2dbb3e03ae93
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_05/trajectories/roboarc-interlocked-claws-05-i01-standard--q7sgxnb.json
@@ -0,0 +1,183 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-05-i01-standard--q7sgxnb",
+ "taskKey": "roboarc/interlocked_claws_05",
+ "dag_sha256": "c54d7fdaad7dfbca705cc13032f8f38ff562fa72bfacb91f5f215cfc2363315f",
+ "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": 18947,
+   "live_rows": 18947,
+   "sim_steps": 18947,
+   "physics_steps": 189470,
+   "steps": 8305,
+   "elapsed_s": 10888.6,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.591,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.928,
+   "peak_cpus": 4.04,
+   "peak_pids": 402,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-interlocked-claws-05-i01-standard--q7sgxnb.mp4",
+  "duration_s": 473.734,
+  "fps": 15.0,
+  "frames": 7106,
+  "sha256": "65bf9c5e70d90edc74e752cb84e01619733e0015087645f79ca056a6528e1fb8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "claws_separated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 473.5,
+      "log_step": 536,
+      "text_zh": "观察：视频最后一帧（视频 473.5 s）橙色与青色爪件的爪齿仍交错缠绕，两腕部视角都显示两件重叠，无整件间隙；视频 150 s 与 300 s 左右同样互锁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：双臂夹爪夹持两件爪件的杆/块，反复做拉开、抬升动作，但青色件总被带着一起动；agent 自述多次空夹或滑脱（log step 121、487、500）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "claws_separated",
+   "t": null,
+   "where": "操作中",
+   "evidence_zh": "观察：整段视频（0-473.7 s）里两件始终互锁，最后一帧仍交错。agent 在 log step 536 仍在做最后的相向拉开。",
+   "log_step": 536
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 473.5,
+    "log_step": 536,
+    "evidence_zh": "观察：两夹爪各持一件拉开，但青色件随橙色件一起移动，相对位姿始终没拆开（agent 自述 log step 534“cyan followed it”）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频视角被机械臂遮挡，具体错因（抓取几何或路径）无法确证，故根因为空。评分原始字段 forcing_events=1，但视频中未能定位该事件，未据此打标。视频 473.7 s 对应仿真 18947 步×0.025 s，与 agent 会话 10800 s 是不同时钟。",
+  "unmet": {
+   "claws_separated": false
+  }
+ },
+ "summary_zh": "观察：整段视频中橙、青爪件始终互锁，节点 拆开互锁爪 未达成（final false）。断点在拆开步骤的操作中，表现为两件始终没有相对分离；无状态日志且视角遮挡，根因证据不足，留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 claws_separated 未达成（final false）与视频一致：视频 300 s 与 473.5 s 帧两件爪齿仍交错；断点、接触标注、位姿不准现象有证据支持；根因留空并附 gap_zh，合理。时钟标注正确（视频 473.7 s = 18947 步 ×0.025 s，与 agent 10800 s 会话时钟区分）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:40:57Z",
+  "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-interlocked-claws-05-i01-standard--q7sgxnb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-05-i01-standard--q7sgxnb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "13664ff354eb7a24b9699d113ac92ca246282999ace1c768abb85a9aaabaa3c0",
+   "video_sha256": "65bf9c5e70d90edc74e752cb84e01619733e0015087645f79ca056a6528e1fb8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--irugxia.json b/phaseK/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--irugxia.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a1654b480f80cbefc3355700525882a70e6b5c
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-privileged--irugxia.json
@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-09-i01-privileged--irugxia",
+ "taskKey": "roboarc/interlocked_claws_09",
+ "dag_sha256": "36965d32a00a273d06470628acd546edc7376e2acc9833cb956e3ba70e6df2dd",
+ "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": 9,
+   "agent_sim_steps": 0,
+   "agent_records": 7,
+   "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": {
+   "key_in_goal": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 559,
+      "text_zh": "观察：agent 未交付轨迹（log step 559，missing_trajectory=1），success=0；推断：目标节点 goal 未达成，故 final=false（评分器总判定失败）；无视频，intervals 不给。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，被评分的尝试中机器人未执行任何接触（log step 559）。"
+     }
+    ]
+   },
+   "lock_on_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 559,
+      "text_zh": "观察：无视频、无状态日志（video.kind none，state null），奖励记录 missing_trajectory=1：agent 未交付任何轨迹（log step 559 自述 /app/output/trajectory.npz 未创建、未做完整执行或重放）。无法从帧判断节点；成功标志 success=0，评分器未给出节点级字段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，被评分的尝试中机器人未执行任何接触（log step 559）。"
+     }
+    ]
+   }
+  },
+  "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": "key_in_goal",
+   "t": null,
+   "log_step": 559,
+   "where": "首步前",
+   "evidence_zh": "观察：agent 在 agent 工作约 10317 s（log step 559）自述未完成：没有找到完整的无碰撞拆解路线，/app/output/trajectory.npz 未创建，无任何执行；评分器 missing_trajectory=1、success=0。被评分的尝试里机器人从未开始分离钥匙。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": null,
+    "log_step": 559,
+    "evidence_zh": "观察：未交付轨迹（log step 559；missing_trajectory=1），被评分的尝试中机器人没有动作，钥匙分离这一步从未开始。"
+   }
+  ],
+  "root_causes": [],
+  "unmet": {
+   "key_in_goal": false,
+   "lock_on_system_side": null
+  },
+  "gap_zh": "无视频、无状态日志，节点区间无法给出；青锁留系统侧（初态即成立）的最终值因未交付轨迹无法判断，记 null。根因：agent 的会话规划（OMPL 找不到无碰撞拆解路线）属会话证据，且不能由没尝试或缺交付反推根因，故根因为空；agent 是否因规划不可行而停止、其规划是否正确缺乏证据。"
+ },
+ "summary_zh": "观察：agent 在约 10317 s 的会话里只做几何规划（OMPL 等），始终没找到它认可的完整无碰撞拆解路线，最终未创建轨迹文件、未交付（log step 559）。两个节点均无视频可判：钥匙入区 final=false，青锁留系统侧未知；断点为钥匙入区（首步前，没尝试）。证据缺口：无视频与状态日志，根因无证据故留空。",
+ "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、未交付轨迹（log step 559，missing_trajectory=1，agent_sim_steps 0）；key_in_goal final=false、锁节点 unknown、首步前/没尝试、根因留空并有 gap_zh，均与证据及 FAIL-22 一致；时间均标明 agent 时钟。",
+    "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": "2026-11-08T08:42:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-privileged--irugxia/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-privileged--irugxia/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2bc2b6c9f9a49f8c6e64fd73d3b830aaaa3aa2eaf3e341bf34bf31fafe8cdbeb",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-standard--gvzqxba.json b/phaseK/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-standard--gvzqxba.json
new file mode 100644
index 0000000000000000000000000000000000000000..516d399c8e2f71af0cd0e7999dc1ecc86fae191d
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_09/trajectories/roboarc-interlocked-claws-09-i01-standard--gvzqxba.json
@@ -0,0 +1,261 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-09-i01-standard--gvzqxba",
+ "taskKey": "roboarc/interlocked_claws_09",
+ "dag_sha256": "36965d32a00a273d06470628acd546edc7376e2acc9833cb956e3ba70e6df2dd",
+ "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": 47310,
+   "live_rows": 47310,
+   "sim_steps": 47310,
+   "physics_steps": 473100,
+   "steps": 20811,
+   "elapsed_s": 10893.6,
+   "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": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.698,
+   "peak_processes": 8,
+   "peak_disk_gb": 3.191,
+   "peak_cpus": 1.86,
+   "peak_pids": 146,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-interlocked-claws-09-i01-standard--gvzqxba.mp4",
+  "duration_s": 1182.8,
+  "fps": 15.0,
+  "frames": 17742,
+  "sha256": "141fa13e707330aad708114616ba1af1fd2b3dcf895a62278d3ad7025aac7b62"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "key_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 1180.0,
+      "log_step": 639,
+      "text_zh": "观察：视频最后一帧（约 1180 s）棕色钥匙长杆仍穿在青色框锁内，位于目标虚线框之外很远的右侧；全程 60 s 间隔的缩略图里钥匙从未脱离锁、也没进入绿框。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 300–700 s 左夹爪握青锁手柄、右夹爪夹钥匙杆（log step 61/146/316）；约 1130 s 后（log 632）锁滑出左手，由桌面承托，仅右夹爪夹钥匙。"
+     }
+    ]
+   },
+   "lock_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1180.0,
+      "log_step": 639,
+      "text_zh": "观察：初态（视频 5 s）青锁在桌面中央偏左、在绿色目标虚线框近边之外；末帧（约 1180 s）被拖到桌面右侧，仍离虚线框很远，未越过分隔面。推断：全程保持在系统侧。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "key_in_goal",
+   "t": 300,
+   "log_step": 500,
+   "where": "操作中",
+   "evidence_zh": "观察：视频全程（约 0-1183 s）钥匙一直卡在青锁里，从未脱锁；agent 日志 step 300/500/634 反复记录抽出时轴向被卡住、锁在桌面上随之滑动。"
+  },
+  "unmet": {
+   "key_in_goal": false,
+   "lock_on_system_side": true
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 1180.0,
+    "log_step": 634,
+    "evidence_zh": "观察：夹爪夹着钥匙往外抽时，钥匙被锁卡住，带动本应稳定的整只青锁在桌面上滑动：视频 5 s 锁在中央偏左，600 s 在中央偏下，1180 s 已被拖到右侧（agent 自述 log step 634 同）；所需的钥匙脱锁相对运动未达成。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：agent 通过多轮小角度滚转和轴向抽出尝试（log step 300-634）始终卡住，说明脱锁运动没有找到可行路径；但没有足够证据区分规划错误与轨迹执行问题。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，卡住的具体几何（钥匙钩端与锁的哪个部位干涉）无法从俯视画面确认，根因子类型不明。"
+ },
+ "summary_zh": "任务设计无异常。agent 约 1183 s 内始终未能让钥匙脱离青锁（钥匙入区节点未达成），青锁留系统侧节点从初态到末帧一直成立。断在钥匙脱锁的操作中，钥匙被锁卡住并带动锁滑动；无状态日志，具体干涉几何和根因子类型不确定。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（钥匙未入区、青锁留系统侧）与末帧一致，断点 key_in_goal 合理；但 lock_on_system_side 的证据把初态位置写错，且「锁被钥匙带着滑动」更贴合“带动本体”而非“接触力异常”。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值、断点与带动本体现象与视频一致；但 key_in_goal 的 contact_actual 写成仅单侧夹爪、称“未见另一手持锁”，与视频和日志相矛盾：左夹爪在大部分时间握着青锁手柄，应为双臂协作·抓握。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的修改已完整应用：key_in_goal.contact_actual 现为双臂协作·抓握，并写明约 1130 s 后锁滑出左手，与视频和日志一致。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的修改已完整应用：key_in_goal.contact_actual 现为双臂协作·抓握，并写明约 1130 s 后锁滑出左手，与视频和日志一致。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:49:38Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-standard--gvzqxba/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-standard--gvzqxba/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-standard--gvzqxba/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-standard--gvzqxba/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-standard--gvzqxba/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-09-i01-standard--gvzqxba/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": "705ff8cbb4a20d18a89313a69986386a28f03529feee22983295808d397a2473",
+   "video_sha256": "141fa13e707330aad708114616ba1af1fd2b3dcf895a62278d3ad7025aac7b62",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--snrvrjr.json b/phaseK/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--snrvrjr.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d7decffec18b84382acf826490ac2f097da0c28
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-privileged--snrvrjr.json
@@ -0,0 +1,175 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-11-i01-privileged--snrvrjr",
+ "taskKey": "roboarc/interlocked_claws_11",
+ "dag_sha256": "bc162c49544ac4b5300a01bc75957a2a28650c18ef52e774b3d3dcccd78f8423",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 20,
+   "agent_resets": 28,
+   "agent_sim_steps": 8700,
+   "agent_records": 8,
+   "agent_replays": 8,
+   "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": {
+   "pieces_separated": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 547,
+      "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），agent 在 log step 547（agent 时间 10817 s，预算 10800 s）仍在做几何路径搜索，未见交付。推断：拆开未达成，final=false（由评分失败与无交付决定）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，无图像证据，无法确认实际接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "separating_plane_gap_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pieces_separated",
+   "t": null,
+   "log_step": 547,
+   "where": "首步前",
+   "evidence_zh": "观察：评分字段 missing_trajectory=1，没有交付可回放轨迹；agent 在 log step 6-547 一直在用网格做 OMPL/RRT 路径搜索，最后一步（log step 547，agent 时间 10817 s，预算 10800 s）搜索仍未连通，从未交付动作。"
+  },
+  "unmet": {
+   "pieces_separated": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且未交付轨迹（agent 侧原因）；按规则不给现象与根因（会话证据不作现象）。耗尽预算本身不是根因；仅知 agent 的穷举式路径搜索未找到可行解，未证明规划错误。"
+ },
+ "summary_zh": "观察：agent 全程用精确网格做互锁环板的解扣路径搜索，至 log step 547（agent 时间 10817 s）仍未找到连通路径，评分记录 missing_trajectory=1，未交付轨迹，唯一目标节点“分离互锁件”未达成。断点为该步骤、首步前（无动作交付）。无视频与状态日志，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、missing_trajectory=1：唯一目标节点 final=false、contact_actual 为不适用、现象与根因留空并写明 gap_zh，均符合规则；未发现需改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:42:07Z",
+  "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-interlocked-claws-11-i01-privileged--snrvrjr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-privileged--snrvrjr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1c85a41300eda54f126a2ab20bf19792279dd75f96dc9fb2525f2df98bdad82c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-standard--kuglpus.json b/phaseK/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-standard--kuglpus.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea087ad709826490581507d77935ec047942d82
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_11/trajectories/roboarc-interlocked-claws-11-i01-standard--kuglpus.json
@@ -0,0 +1,175 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-11-i01-standard--kuglpus",
+ "taskKey": "roboarc/interlocked_claws_11",
+ "dag_sha256": "bc162c49544ac4b5300a01bc75957a2a28650c18ef52e774b3d3dcccd78f8423",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 21664,
+   "live_rows": 21664,
+   "sim_steps": 21664,
+   "physics_steps": 216640,
+   "steps": 4555,
+   "elapsed_s": 10892.5,
+   "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": 3.137,
+   "peak_processes": 11,
+   "peak_disk_gb": 1.121,
+   "peak_cpus": 4.05,
+   "peak_pids": 497,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-interlocked-claws-11-i01-standard--kuglpus.mp4",
+  "duration_s": 541.667,
+  "fps": 15.0,
+  "frames": 8125,
+  "sha256": "1016ba37b00abf9ffef3f5c605087a779c658f22fe57631b78aa2ea1526418e2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pieces_separated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 541.5,
+      "log_step": 664,
+      "text_zh": "观察：视频末帧（541.5 s）C 环仍穿套在 AB 板上，两件静置在桌面，无可见间隙；全程抽样帧（0-541 s）均未见两件分离。agent 末条自述“两件仍互锁”（log step 664）；评分 success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：开局两夹爪各夹一件，约 420-480 s 仍夹着互锁的两件抬起；约 520 s 起松开放在桌面（末段 agent 还尝试用闭合手指推环，log step 659-660）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "pieces_separated",
+   "where": "操作中",
+   "t": null,
+   "evidence_zh": "观察：整段 541.7 s 视频里 C 环始终穿套在 AB 板上，末帧两件松放在桌面仍互锁；唯一步骤从未完成。",
+   "log_step": 664
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "现象与根因留空：视频只显示两件始终互锁，没有足够证据区分是接触失败、位姿不准还是规划问题；agent 自述精密夹取落空（log step 659），仅为会话叙述。时限用尽不作为原因。无状态日志，节点时间来自视频抽样。",
+  "unmet": {
+   "pieces_separated": false
+  }
+ },
+ "summary_zh": "观察：唯一节点“分离互锁件”未达成，视频 541.7 s 内两件始终互锁，末帧仍穿套静置在桌面。断点在拆开步骤的操作中；因证据不足，未给现象与根因。无状态日志，仅抽样帧判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "单节点未达成、末帧 C 环仍穿套在 AB 板上，与视频一致；断点、contact_actual 与留空的现象/根因（附 gap_zh）均可接受，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:40:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-standard--kuglpus/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-11-i01-standard--kuglpus/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7925f382f850394e3859f3d8910daca2682a3c875fa587cbcc17b20446d5a208",
+   "video_sha256": "1016ba37b00abf9ffef3f5c605087a779c658f22fe57631b78aa2ea1526418e2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--gdtntrm.json b/phaseK/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--gdtntrm.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb8c702d78599e45acfc5d86cd58ede9056cffd8
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-privileged--gdtntrm.json
@@ -0,0 +1,194 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-privileged--gdtntrm",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "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": 890,
+   "submitted_actions": 890,
+   "sim_steps": 890,
+   "physics_steps": 8894,
+   "sim_time_s": 22.234999999999808,
+   "final_reward": 1.0,
+   "replay_wall_s": 470.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 890,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 7,
+   "agent_sim_steps": 5332,
+   "agent_records": 3,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-interlocked-claws-12-i01-privileged--gdtntrm.mp4",
+  "duration_s": 22.334,
+  "fps": 15.0,
+  "frames": 335,
+  "sha256": "3f1653da42ab1d12a4222d88c90c001a82a3bf16d9e2b97fb49f7bd00036e317"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pieces_separated": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.7,
+      "log_step": null,
+      "text_zh": "观察：视频 5–8 s 两件仍互锁，约 11–13 s 棕色件被夹爪提出、12 s 起两件已分开但仍在移动；16 s 与 20 s 帧中棕色件位置和夹爪姿态不同，说明此时仍未静止。推断：评分器 strict_goal_row=890=n_actions（最后一步）、sim_time 22.235 s，0.5 s 保持确认在录像末尾才完成，故到达时间约 21.7 s（由 strict_goal_row 推断，±0.5 s）；success=1、strict_goal_reached=1 支持终态为真。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右臂夹爪夹住棕色件并向上/向外提起，另一臂夹爪在青色件旁（视频 6–12 s 可见）；两件约 12 s 起分开，此后棕色件仍被持住并缓慢调整，直至录像末尾达到静止。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：唯一节点“完全拆开两件”约 12 s 起已物理分开，但静止及 0.5 s 保持确认到录像末尾才完成（strict_goal_row=890=n_actions，sim_time 22.2 s），到达时间约 21.7 s（由评分器行号推断，±0.5 s）；评分器 success=1。无状态日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点到达时间14 s 与评分器读数冲突：strict_goal_row=890 等于 n_actions=890（最后一行），sim_time 22.23 s，说明严格目标直到录像末尾才确认；帧上 16 s 与 20 s 棕色件及夹爪位置仍有变化，并非“15 s 起静止”。应把到达时间改到约 22 s（末尾）。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "唯一节点 pieces_separated 到达约 21.7 s（视频时钟，由 strict_goal_row=890=n_actions 与 0.5 s 保持推断）与评分器读数和帧一致；success=1 终态为真，无失败层，接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:47:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--gdtntrm/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--gdtntrm/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--gdtntrm/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-privileged--gdtntrm/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6daa6093c9e3c4986b3ce50daebd34d9af436aff68e255bcc357452e406d2aac",
+   "video_sha256": "3f1653da42ab1d12a4222d88c90c001a82a3bf16d9e2b97fb49f7bd00036e317",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-standard--fzcaq8t.json b/phaseK/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-standard--fzcaq8t.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fa5927477f466b9862448f7b7bb4953b4bc82a2
--- /dev/null
+++ b/phaseK/roboarc/interlocked_claws_12/trajectories/roboarc-interlocked-claws-12-i01-standard--fzcaq8t.json
@@ -0,0 +1,235 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-interlocked-claws-12-i01-standard--fzcaq8t",
+ "taskKey": "roboarc/interlocked_claws_12",
+ "dag_sha256": "af14f5c1b0564d10e4673fd97ca6f56e837c744669a0870c60a18be316795d51",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 19287,
+   "live_rows": 19287,
+   "sim_steps": 19287,
+   "physics_steps": 192870,
+   "steps": 5090,
+   "elapsed_s": 10814.5,
+   "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": 1.213,
+   "peak_processes": 8,
+   "peak_disk_gb": 7.183,
+   "peak_cpus": 1.9,
+   "peak_pids": 241,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-interlocked-claws-12-i01-standard--fzcaq8t.mp4",
+  "duration_s": 482.267,
+  "fps": 15.0,
+  "frames": 7234,
+  "sha256": "6f49a0d2a9983f680d0baabfa18b63fcbfdf4d77fec8ca825ed8708a824708b0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pieces_separated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 478.0,
+      "log_step": null,
+      "text_zh": "观察：视频 478 s 末段主视角与右侧两视角中棕色件与青色件爪部仍互相扣合，未分离；全程各采样帧均未见完全脱开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 30 s、120 s 帧中左爪夹持青件，右爪张开、棕件靠互锁挂在青件上被带动；视频 478 s 帧两件仍互锁。未在抽样帧中见到右爪夹住棕件，右臂部分未知。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "pieces_separated",
+   "t": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0–482 s 两件始终互锁，末帧（视频 478 s）仍扣合；agent 自述未完成分离、仍互锁（最后一步 say）。",
+   "log_step": null
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": null,
+    "log_step": 444,
+    "evidence_zh": "观察：log step 444 右臂俯抓的工具输出显示夹爪到棕件最近点约 2.4–2.5 cm，agent 自述合在棕件旁空隙；视频 30 s、120 s 帧右爪张开未夹棕件。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因未给：日志与帧只支持可见现象，未能确认是抓取位姿设计还是感知/重建误差（log 444 称棕件观测与模型点数不符，agent 自述）；无状态日志。不把用尽预算当原因。 左爪“最后抬升中丢失夹持”仅见 agent 自述（log 466/474），帧未见，不作现象。",
+  "unmet": {
+   "pieces_separated": false
+  }
+ },
+ "summary_zh": "观察：唯一节点“完全拆开两件”未达成，视频 0–482 s 两件始终互锁，末帧仍扣合。断点在拆开步骤的操作中；可见现象为右爪未建立对棕件的夹持；根因证据不足，留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成与断点方向正确，但 contact_actual 把全程写成双臂各夹一件，与帧不符；且现象/根因整层留空，而日志与帧足以给出可见现象（没保持住、没建立接触）。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、断点与 contact_actual 方向正确；但“没保持住”现象仅靠 agent 自述（log 474/466），帧中末段两件始终平放在桌面、看不到被抬起后又丢失，却标成“观察”。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 接受的修改已完整落实：没保持住现象已删除，summary 不再断言最后抬升中丢失，gap_zh 注明仅自述。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 接受的修改已完整落实：没保持住现象已删除，summary 不再断言最后抬升中丢失，gap_zh 注明仅自述。",
+   "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": "2026-11-08T08:49:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--fzcaq8t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--fzcaq8t/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--fzcaq8t/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--fzcaq8t/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--fzcaq8t/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-interlocked-claws-12-i01-standard--fzcaq8t/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": "5dee9521f948d1f5abbf5940fc6cfd541b7815408fd75cf224e609e8b3a90dc5",
+   "video_sha256": "6f49a0d2a9983f680d0baabfa18b63fcbfdf4d77fec8ca825ed8708a824708b0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--syi7xr8.json b/phaseK/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--syi7xr8.json
new file mode 100644
index 0000000000000000000000000000000000000000..77cef8b9d06d7750cf07b30aeac2d975fb0e4986
--- /dev/null
+++ b/phaseK/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-privileged--syi7xr8.json
@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-privileged--syi7xr8",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 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": 888,
+   "submitted_actions": 888,
+   "sim_steps": 968,
+   "physics_steps": 4840,
+   "sim_time_s": 24.199999999999694,
+   "final_reward": 0.0,
+   "replay_wall_s": 1626.4,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 16,
+   "agent_sim_steps": 0,
+   "agent_records": 13,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-knot-untying-06-i01-privileged--syi7xr8.mp4",
+  "duration_s": 24.267,
+  "fps": 15.0,
+  "frames": 364,
+  "sha256": "89ee864c352ce5db06034cfa1748356c826258e2bc636a9c0f6aa4c519012fc4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.2,
+      "log_step": null,
+      "text_zh": "观察：视频 24.2 s（末帧附近）俯视图中绳子中央仍有交叉的结，自由端拉向桌右缘；视频 0 s 起始是同一个中央线圈，8–16 s 双爪拉扯，结未解开。条件从未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 8–20 s 右臂夹爪夹住绳段/自由端牵拉；未见左臂参与"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_drift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "movable_robot_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "rope_height_above_table_max_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.011,
+   "direction": "lower_better"
+  },
+  {
+   "name": "rope_height_above_table_min_m",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 20.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 20–24.2 s 绳中央仍是结，自由端被拉到桌缘附近；全程未解结。"
+  },
+  "unmet": {
+   "rope_untangled_flat": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 24.2,
+    "log_step": 112,
+    "evidence_zh": "观察：视频 24.2 s 绳仍有交叉结，自由端被拉到桌右缘。agent 自述“四处交叉仍在，自由端悬在桌下”（log step 111-112，仅作旁证）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述 3D 路线只去掉尾部交叉，核心四处交叉仍在，最后一次拉动把自由端带出桌缘（log step 109、111）；子类证据不足。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，绳的毫米级指标视频无法判断；根因子类证据不足，native_metrics 评分器未给值。"
+ },
+ "summary_zh": "观察：视频 0–24.2 s 机器人用夹爪牵拉绳子，但中央结始终未解开，末帧仍有交叉且自由端被拉到桌缘，目标节点未达成（0/1）。断在解结/铺平步骤；根因只能记到控制，agent 自述未解决（log step 115）。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点和接触标注与视频一致：中央结（8字交叉）从 0 s 到 24 s 一直在，只有右臂夹爪操作，末帧自由端被拉到桌右缘。位姿不准加控制（子类未知）的写法有证据支持，没有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": "2026-11-08T08:41:49Z",
+  "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-knot-untying-06-i01-privileged--syi7xr8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-privileged--syi7xr8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7a2c942feb3ac1238393538f2d83ffda440118efbe3a447dbd19317dbc5eb768",
+   "video_sha256": "89ee864c352ce5db06034cfa1748356c826258e2bc636a9c0f6aa4c519012fc4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--vosgztj.json b/phaseK/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--vosgztj.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c852b3505fa8251ff89d625593d6220a93d631
--- /dev/null
+++ b/phaseK/roboarc/knot_untying_06/trajectories/roboarc-knot-untying-06-i01-standard--vosgztj.json
@@ -0,0 +1,183 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-06-i01-standard--vosgztj",
+ "taskKey": "roboarc/knot_untying_06",
+ "dag_sha256": "b967d7af84eb48dbceb9b1b5a9df2d73b0a1af2affda252e27c601eb59c2027a",
+ "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": 3767,
+   "live_rows": 3767,
+   "sim_steps": 3767,
+   "physics_steps": 18835,
+   "steps": 3500,
+   "elapsed_s": 10827.7,
+   "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": 0.425,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.56,
+   "peak_cpus": 1.21,
+   "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,
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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-knot-untying-06-i01-standard--vosgztj.mp4",
+  "duration_s": 94.267,
+  "fps": 15.0,
+  "frames": 1414,
+  "sha256": "e5e6c128cf055f8ddf68d9d7e2d90a95cbb74d106670e767521f8fdd4e8eaea9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled_flat": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 94.0,
+      "log_step": 348,
+      "text_zh": "观察：视频 94 s（末帧）俯视图中绳子仍有一个小的自交环和交叉，未铺平；视频 60-90 s 同样可见残余小环。推断：未达成，从未出现无交叉状态。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：视频 10-90 s 左右二指夹爪分别夹住绳段/自由端，牵拉、抬环、换握；底座固定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled_flat",
+   "t": 94.0,
+   "where": "操作中",
+   "log_step": 348,
+   "evidence_zh": "观察：视频 94 s 绳子仍剩一个小环交叉；agent 在 log step 346 自述释放后露出残余小环，step 347-348 再次抓取未成功，随后撤手结束。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 94.0,
+    "log_step": 346,
+    "evidence_zh": "观察：视频 60-94 s 绳子主体已拉开，但中央仍残留小环/交叉，放手后落回交叉状态，最终形状不满足无交叉。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，无法确定残余环未解开的具体原因（拉紧时环被收小而未穿过）；根因证据不足故留空。",
+  "unmet": {
+   "rope_untangled_flat": false
+  }
+ },
+ "summary_zh": "观察：视频 94 s 内机器人用双爪抓握牵拉，把大部分绳圈拉开，但末帧仍残留一个小的交叉环，唯一节点未达成（final false）。断点在“绳子解开铺平”的操作中，现象为最终形状位姿不准；无状态日志，根因证据不足。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "唯一节点末帧仍有残余小环/交叉，final false 正确；断点与现象大体有帧支持，根因留空并附 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": "2026-11-08T08:40:33Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
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+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--vosgztj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-06-i01-standard--vosgztj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7eac3f265026bdb810512b5972b38849f1902970ca06ad51a9a804b8eba9b482",
+   "video_sha256": "e5e6c128cf055f8ddf68d9d7e2d90a95cbb74d106670e767521f8fdd4e8eaea9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--s2gbq7m.json b/phaseK/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--s2gbq7m.json
new file mode 100644
index 0000000000000000000000000000000000000000..49548063f3c7b325365320e16e5b85187ce36e22
--- /dev/null
+++ b/phaseK/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-privileged--s2gbq7m.json
@@ -0,0 +1,246 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-09-i01-privileged--s2gbq7m",
+ "taskKey": "roboarc/knot_untying_09",
+ "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
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+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
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+   "deterministic": 1,
+   "gpu_backend": 1,
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+   "instance_ok": 1,
+   "instance_exact": 1,
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+   "n_actions": 321,
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+   "sim_steps": 401,
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+   "sim_time_s": 10.025000000000075,
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+   "replays": 2,
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+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 2,
+   "agent_resets": 21,
+   "agent_sim_steps": 0,
+   "agent_records": 26,
+   "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,
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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-knot-untying-09-i01-privileged--s2gbq7m.mp4",
+  "duration_s": 10.134,
+  "fps": 15.0,
+  "frames": 152,
+  "sha256": "dde5d87a73a490c30369cfceab301083a3f511a8564b2ff8a935d3fcc6db36a7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.9,
+      "log_step": 585,
+      "text_zh": "观察：视频 9.9 s（最后一帧）绳结仍在短柱旁，多圈重叠交叉未解开，自由端与初始帧位置基本相同；对照 oracle 成功视频展开为分离的弯曲绳段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：左臂夹爪视频约 4.4–6 s 张开罩在柱/绳圈上，未见夹紧；仅靠近/触碰，未见推动或擦动绳的位移，故接触方式记未知。"
+     }
+    ]
+   },
+   "rope_in_goal_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.9,
+      "log_step": 585,
+      "text_zh": "观察：视频 9.9 s 绳仍在初始位置附近，未被拖入目标区；agent 自述（log step 585）轨迹不成功。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "minimum_nonlocal_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.008,
+   "direction": "higher_better"
+  },
+  {
+   "name": "outside_fraction",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled",
+   "t": 4.0,
+   "log_step": 585,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 3–10 s 左臂夹爪在绳结处操作，最后一帧（视频 9.9 s）绳结仍未解开，绳结未被解开。"
+  },
+  "unmet": {
+   "rope_untangled": false,
+   "rope_in_goal_region": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 6.0,
+    "log_step": 585,
+    "evidence_zh": "观察：视频 4.4–6 s 夹爪张开罩在柱/绳圈上，未见夹紧；约 6.4–7.3 s 夹爪抬离后又回到柱旁；9.9 s 结仍未解开，看不到被抓起牵引的绳段。推断：有效抓取未建立（agent 自述 log step 585 未能重新抓住 body 38，仅作旁证）。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "视频只有 10 s、无状态日志，抓取是否曾短暂夹住无法逐帧确认；根因无独立证据（agent 自述只提到纠正动作松手、续接未能重新抓取），故留空。奖励字段未给出三项原生指标数值。"
+ },
+ "summary_zh": "观察：10.1 s 视频中左臂在绳结旁操作，结束时绳结仍未解开、绳未入目标区，两个节点均未达到。断点在解开理顺绳的操作中，现象为没建立有效抓取；agent 自述（log step 585）称纠正动作丢绳、续接未能重新抓取。无状态日志，根因证据不足。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "两个节点未达成、断点 rope_untangled 与现象「没建立接触」基本与视频一致；但证据文字把 4–10 s 描述为夹爪一直停在绳圈、绳形不变，与帧不符（约 6.4–7.3 s 夹爪抬离并离开绳结，绳圈形状有变化，之后又回到柱旁），且 压/擦 接触无帧支撑。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两个节点未达成、断点 rope_untangled/操作中、现象「没建立接触」与视频及 log step 585-586 一致；第1轮的证据与 contact_actual 问题已修正。根因留空并有 gap_zh，可接受（无独立证据区分规划/抓取设计/控制）。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
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+  "engine": "claude",
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+  "effort": "high",
+  "created": "2026-11-08T08:47:44Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
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+  "calls": [
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+   },
+   {
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+   },
+   {
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+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-09-i01-privileged--s2gbq7m/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e4a4521df47ab321c44c4911a97c7d81ef8ea3fb2ca0f2e071a5120fa11d012f",
+   "video_sha256": "dde5d87a73a490c30369cfceab301083a3f511a8564b2ff8a935d3fcc6db36a7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--vjoi6y6.json b/phaseK/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--vjoi6y6.json
new file mode 100644
index 0000000000000000000000000000000000000000..232702ea9d7213d84ebb9b985ebcea4f8856e6ed
--- /dev/null
+++ b/phaseK/roboarc/knot_untying_09/trajectories/roboarc-knot-untying-09-i01-standard--vjoi6y6.json
@@ -0,0 +1,210 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-knot-untying-09-i01-standard--vjoi6y6",
+ "taskKey": "roboarc/knot_untying_09",
+ "dag_sha256": "30171dd99a582adbb12601ec79eb567ce534749edeca22e7864758f27b17f40f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 10911,
+   "live_rows": 10911,
+   "sim_steps": 10911,
+   "physics_steps": 54555,
+   "steps": 2483,
+   "elapsed_s": 10710.3,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-knot-untying-09-i01-standard--vjoi6y6.mp4",
+  "duration_s": 272.867,
+  "fps": 15.0,
+  "frames": 4093,
+  "sha256": "f3f2df8173dfee9918d8bf0ed0dc96a63ae9ca2d1b775c612acad834cf9315fe"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_untangled": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 绳在短柱旁有环绕交叉。"
+     },
+     {
+      "t": 271,
+      "log_step": 252,
+      "text_zh": "观察：视频 271 s 绳仍缠绕在中心柱上，近端仍有环/交叉；agent 自述“A loop remains caught around the centre post”（log step 252）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 60-255 s 左右夹爪反复夹住柱旁绳段并牵引、换抓，结未解开。"
+     }
+    ]
+   },
+   "rope_in_goal_region": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 271,
+      "log_step": 252,
+      "text_zh": "观察：视频 271 s 绳的一部分在目标区外，且夹爪仍在绳旁、结未解，该节点未成立。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频末段夹爪夹住绳尖端向目标区拉，未完成铺放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_untangled",
+   "where": "操作中",
+   "t": 255,
+   "evidence_zh": "观察：视频 60-271 s 机器人反复夹绳牵引，末帧 271 s 绳仍缠在中心柱上；未解开。",
+   "log_step": 252
+  },
+  "phenomena": [
+   {
+    "name": "其他",
+    "cat": "其他",
+    "item": "其他",
+    "t": 255,
+    "log_step": 252,
+    "evidence_zh": "观察：视频 230-271 s 绳环始终挂在柱底，拉拽时绳被卡住（agent 自述 log step 239 “central loop is still snagged”）；候选“绳被柱卡住/解结未完成”。",
+    "note_zh": "没有对应的 taxonomy 现象能准确描述绳环被柱卡住而解不开；候选名“绳被柱卡住”。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "现象与根因证据不足：未找到与 taxonomy 现象精确对应的可见失败，且无状态日志；根因未能从视频确认，留空。",
+  "unmet": {
+   "rope_untangled": false,
+   "rope_in_goal_region": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 272.9 s，机器人多次夹绳牵引，但结始终未解，终帧绳仍绕在柱上，两节点均未达成。断点为解结步骤操作中；缺状态日志，现象与根因证据不足。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点未达成与视频一致：0 s 与 271 s 帧绳仍绕柱有交叉，目标区内未铺放完毕。断点 rope_untangled/操作中合理。现象留“其他”、根因留空并附 gap_zh，因为证据只有 agent 自述，保守可接受。",
+    "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": "2026-11-08T08:41:00Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-09-i01-standard--vjoi6y6/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-knot-untying-09-i01-standard--vjoi6y6/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "47d605c2124eb8b4a9cdeeaa9c0ff9f02ff7d0ce74ee311be7bd95bbe52b24b6",
+   "video_sha256": "f3f2df8173dfee9918d8bf0ed0dc96a63ae9ca2d1b775c612acad834cf9315fe",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--hk9zcwv.json b/phaseK/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--hk9zcwv.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b35a84079b900ede834e8b29e882383bd63c6b
--- /dev/null
+++ b/phaseK/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-privileged--hk9zcwv.json
@@ -0,0 +1,174 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-04-i01-privileged--hk9zcwv",
+ "taskKey": "roboarc/lock_picking_04",
+ "dag_sha256": "d4e49ab65a201d93b24b5a78fce11e4b29d89296ffc4b5887819e083c1316e8d",
+ "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": 5850,
+   "submitted_actions": 5900,
+   "sim_steps": 5850,
+   "physics_steps": 58497,
+   "sim_time_s": 146.24250000001612,
+   "final_reward": 1.0,
+   "replay_wall_s": 1158.6,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 5850,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 22,
+   "agent_resets": 21,
+   "agent_sim_steps": 24265,
+   "agent_records": 9,
+   "agent_replays": 3,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.646,
+   "peak_memory_gb": 1.474,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.784,
+   "peak_cpus": 3.02,
+   "peak_pids": 207,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-lock-picking-04-i01-privileged--hk9zcwv.mp4",
+  "duration_s": 146.334,
+  "fps": 15.0,
+  "frames": 2195,
+  "sha256": "9807d03a37b70eb54c617680fc85345a94d09d75703976420148697bddf2ddeb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "key_through_lock": {
+    "method": "visual",
+    "intervals": [
+     [
+      146.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 146.2,
+      "log_step": 296,
+      "text_zh": "观察：视频 136–141 s 钥匙轴逐步穿过三块转子板，绿色终板外侧仍无钥匙；视频 143 s 起轴尖从绿色终板外面伸出，145–146.2 s 长凸耳与手柄出现在终板外侧（与 oracle 终板外凸耳画面一致）。评分器字段 strict_goal_row=5850，sim_time_s=146.24，与视频末帧 146.2 s 对应，success=1。推断：目标在视频末尾约 146.2 s 达成并保持 0.5 s 确认，final 为 true。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 夹爪全程夹住钥匙柄，推进并转动钥匙穿过四块板（视频 100–146 s 夹爪始终在钥匙尾端）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：钥匙贯穿三块转子板并使长凸耳伸出绿色终板，视频约 146.2 s（末帧）达成，评分器 strict_goal_row=5850 与之吻合。无失败。证据缺口：精确的 1 mm 余量与 0.5 s 确认以评分器结果为准，视频无法直接核实。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行；视频末帧（146.2 s）钥匙轴尖和长凸耳已伸出绿色终板外侧，初帧无钥匙，与评分器 strict_goal_row=5850 吻合；节点、接触、无失败层均合理。",
+    "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": "2026-11-08T08:41:03Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-privileged--hk9zcwv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-privileged--hk9zcwv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "336f58552203f9bc759725210e98e1ab2b3e2bdcac13581349eeaadc167284bd",
+   "video_sha256": "9807d03a37b70eb54c617680fc85345a94d09d75703976420148697bddf2ddeb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-standard--lsmh8an.json b/phaseK/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-standard--lsmh8an.json
new file mode 100644
index 0000000000000000000000000000000000000000..f868ee0fa839727d6d1061908318724b7d169f15
--- /dev/null
+++ b/phaseK/roboarc/lock_picking_04/trajectories/roboarc-lock-picking-04-i01-standard--lsmh8an.json
@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-04-i01-standard--lsmh8an",
+ "taskKey": "roboarc/lock_picking_04",
+ "dag_sha256": "d4e49ab65a201d93b24b5a78fce11e4b29d89296ffc4b5887819e083c1316e8d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 7,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 17192,
+   "live_rows": 17192,
+   "sim_steps": 17192,
+   "physics_steps": 171920,
+   "steps": 4374,
+   "elapsed_s": 10547.9,
+   "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": 0.285,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.752,
+   "peak_cpus": 4.02,
+   "peak_pids": 174,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-lock-picking-04-i01-standard--lsmh8an.mp4",
+  "duration_s": 429.867,
+  "fps": 15.0,
+  "frames": 6448,
+  "sha256": "fbdf1277c221e301e15353cd8c0519595dd95e31a8f899ea41eed2389d8a7bad"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "key_through_lock": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 429.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 起绿色终板朝外一面无凸耳；视频 120–429 s 各帧中钥匙细长银轴要么竖直靠在支架/转子板旁（200、300、380 s），要么不在板内，终板外侧始终看不到长凸耳伸出，与 oracle 成功视频（318–322 s 终板外凸耳）的样子不同。末帧 429 s 夹爪抓空。推断：节点从未达成。"
+     },
+     {
+      "t": null,
+      "log_step": 476,
+      "text_zh": "观察：agent 末条自述“未完成插入”，称钥匙在重定向时滑落、最后抓握检查为空（仅作 agent 自述）；评分器 success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Franka 的 Robotiq 夹爪多次尝试夹持钥匙柄/轴上段（视频 120–380 s 可见夹爪在钥匙旁），但未能带钥匙穿过转子板；末段夹爪抓空。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "key_through_lock",
+   "t": 120.0,
+   "log_step": 229,
+   "where": "操作中",
+   "evidence_zh": "观察：视频全程钥匙从未穿入转子板；log step 229 agent 称柄后缘贴近底座、无后指空间，改抓轴上段（agent 自述），之后多次尝试夹取/抽出，视频 200–380 s 钥匙仍竖靠在支架旁，末帧夹爪抓空。 log step 229 与视频 120 s 只是粗略锚点，agent 时钟不转换为视频时间。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 380.0,
+    "log_step": 476,
+    "evidence_zh": "观察：视频 80 s 起钥匙已离开初始支架、竖立在底座支架旁，此后 100–429 s 一直如此（说明首次失手早于或约在 80 s，之后为恢复抓取尝试）；t=380 s 为最后一次滑脱，429 s 夹爪闭合时视野中无钥匙；agent 自述抓取抽出后在重定向时滑落（log step 476，自述，与视频末段一致）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：钥匙柄贴近底座，夹爪只能抓轴上段，该抓握在重定向时滑脱（log step 229、476 agent 自述）；视频只见结果，无力/接触数据。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；钥匙抓放的精确时刻仅据抽帧（0/60/120/200/300/380/429 s）判断，断点时间为粗略锚点。",
+  "unmet": {
+   "key_through_lock": false
+  }
+ },
+ "summary_zh": "观察：唯一目标节点“钥匙贯穿锁组”在视频 429.9 s 内从未达成，终板外侧始终无凸耳。推断：钥匙柄贴近底座，agent 改抓轴上段，抓握在重定向时滑脱，最终夹爪抓空；缺口：无状态日志，仅稀疏抽帧。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、final=false、断点 ref 正确；主要标签与视频一致。只有一处证据不完整：钥匙在视频约 80 s 就已离开初始支架竖立在底座上，phenomenon 的证据只引 300–429 s，遗漏了更早的失手。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点 key_through_lock 未达成、final=false、断点 ref 正确；抓握滑脱的现象与视频（80 s 起钥匙离架竖立，429 s 无钥匙）一致，根因标为推断并标注来源，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": "2026-11-08T08:48:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-standard--lsmh8an/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-standard--lsmh8an/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-standard--lsmh8an/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-04-i01-standard--lsmh8an/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "63dcb966b83b0362159ad4caf8e13ef9aaf8cc32c02e632e3803e7def41a3dae",
+   "video_sha256": "fbdf1277c221e301e15353cd8c0519595dd95e31a8f899ea41eed2389d8a7bad",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--z2wnqtt.json b/phaseK/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--z2wnqtt.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cbc52c944eea800c90e1b22ebc8c4872560262a
--- /dev/null
+++ b/phaseK/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-privileged--z2wnqtt.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-05-i01-privileged--z2wnqtt",
+ "taskKey": "roboarc/lock_picking_05",
+ "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 0,
+   "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": 19341,
+   "submitted_actions": 19341,
+   "sim_steps": 19341,
+   "physics_steps": 193404,
+   "sim_time_s": 483.5099999998341,
+   "final_reward": 1.0,
+   "replay_wall_s": 2308.0,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 0,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 1,
+   "strict_goal_row": 19341,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 3,
+   "agent_resets": 10,
+   "agent_sim_steps": 38682,
+   "agent_records": 2,
+   "agent_replays": 2,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-lock-picking-05-i01-privileged--z2wnqtt.mp4",
+  "duration_s": 483.6,
+  "fps": 15.0,
+  "frames": 7254,
+  "sha256": "9c747585b68ff10b9cc84830aef4630137b84d6c0057681a26d1133e3f906075"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "key_through_rotor_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      24,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 24,
+      "log_step": null,
+      "text_zh": "推断：该板在视频约 24 s 之前已被钥匙穿过（先于第3板的尖端出现 40 s）；该板被机械臂遮挡，时间为估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 夹爪全程抓握钥匙柄并推进、转动钥匙；底座不动。"
+     }
+    ]
+   },
+   "key_through_rotor_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      32,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 32,
+      "log_step": null,
+      "text_zh": "推断：该板在视频约 32 s 之前已被钥匙穿过（先于第3板的尖端出现 40 s）；该板被机械臂遮挡，时间为估计，不确定。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 夹爪全程抓握钥匙柄并推进、转动钥匙；底座不动。"
+     }
+    ]
+   },
+   "key_through_rotor_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      40,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 40,
+      "log_step": null,
+      "text_zh": "观察：视频约 40 s 钥匙尖端出现在第3块（橙色）板中心。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 夹爪全程抓握钥匙柄并推进、转动钥匙；底座不动。"
+     }
+    ]
+   },
+   "key_through_rotor_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      55,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 55,
+      "log_step": null,
+      "text_zh": "观察：视频约 55 s 钥匙尖端出现在第4块（栗色）板中心孔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 夹爪全程抓握钥匙柄并推进、转动钥匙；底座不动。"
+     }
+    ]
+   },
+   "key_through_end": {
+    "method": "visual",
+    "intervals": [
+     [
+      483.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 483.5,
+      "log_step": null,
+      "text_zh": "观察：视频末帧附近钥匙贯穿全部板；评分器 strict_goal_row=19341 即最后一步（sim 483.5 s ≈ 视频结尾）才达成成功，success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：Robotiq 夹爪全程抓握钥匙柄并推进、转动钥匙；底座不动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：夹爪抓握钥匙分多轮穿过4块转子板并最终贯穿 END（评分器 success=1，strict_goal_row 为最后一步）。前两块板的穿过时间被遮挡，为估计值；END 时间取评分器最后一步（视频 483.5 s 附近），中间多轮转子往复未逐一核对。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功运行，5 个节点全部到达、final=5 与评分器 success=1 一致；节点 3/4 的视频时间（约 40 s、约 55–58 s）与帧基本吻合（相差在几秒内、不改变结论），节点 1/2 已标为估计，END 约 480 s 帧上钥匙贯穿第4板与 END 一侧，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:41:51Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--z2wnqtt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-privileged--z2wnqtt/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fca80ff650ca7177e68c780bfdf8fa462ade7835db326852f023127a97c57e24",
+   "video_sha256": "9c747585b68ff10b9cc84830aef4630137b84d6c0057681a26d1133e3f906075",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--ktkazao.json b/phaseK/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--ktkazao.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1484c05f2a89d63c63574ba24d5f090e7e4393e
--- /dev/null
+++ b/phaseK/roboarc/lock_picking_05/trajectories/roboarc-lock-picking-05-i01-standard--ktkazao.json
@@ -0,0 +1,265 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-lock-picking-05-i01-standard--ktkazao",
+ "taskKey": "roboarc/lock_picking_05",
+ "dag_sha256": "55643ece1e375baad8149ffcb563bf3aecae328578395fb3e6f99a778494ff30",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 19799,
+   "live_rows": 19799,
+   "sim_steps": 19799,
+   "physics_steps": 197990,
+   "steps": 6422,
+   "elapsed_s": 10854.9,
+   "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": 0.45,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.889,
+   "peak_cpus": 3.1,
+   "peak_pids": 275,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-lock-picking-05-i01-standard--ktkazao.mp4",
+  "duration_s": 495.067,
+  "fps": 15.0,
+  "frames": 7426,
+  "sha256": "469d34586c97fbe185b78b752a2838dfd668454c4526d2b80493120f395d4812"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "key_through_rotor_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 494.0,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（视频 494 s）和 25 s 间隔的全程拼图中，四块转子板和 END 上都没有钥匙轴穿过，钥匙不在夹爪中也看不到；该节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频中 Robotiq 夹爪多次夹持钥匙轴并抬起、靠近转子板（视频约 300-480 s 拼图）；日志 step 500 称夹爪开度 12.9 mm 稳定夹住，step 575 报 80 N 接触，钥匙从未穿过第1板。"
+     }
+    ]
+   },
+   "key_through_rotor_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 494.0,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（视频 494 s）和 25 s 间隔的全程拼图中，四块转子板和 END 上都没有钥匙轴穿过，钥匙不在夹爪中也看不到；该节点未达成。"
+     }
+    ]
+   },
+   "key_through_rotor_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 494.0,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（视频 494 s）和 25 s 间隔的全程拼图中，四块转子板和 END 上都没有钥匙轴穿过，钥匙不在夹爪中也看不到；该节点未达成。"
+     }
+    ]
+   },
+   "key_through_rotor_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 494.0,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（视频 494 s）和 25 s 间隔的全程拼图中，四块转子板和 END 上都没有钥匙轴穿过，钥匙不在夹爪中也看不到；该节点未达成。"
+     }
+    ]
+   },
+   "key_through_end": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 494.0,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（视频 494 s）和 25 s 间隔的全程拼图中，四块转子板和 END 上都没有钥匙轴穿过，钥匙不在夹爪中也看不到；该节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "shaft_bore_excess_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 1e-05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "key_depth",
+   "value": null,
+   "unit": "plate_pitch",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "key_tilt_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": null,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "key_through_rotor_1",
+   "t": null,
+   "log_step": 636,
+   "where": "操作中",
+   "evidence_zh": "观察：视频全程未见钥匙插入第1转子板；视频 494 s 末帧夹爪空着悬在板侧。agent 自述最后“钥匙不可见、未被握持”（log step 636），此前多次抓取后手上钥匙滑脱（log step 125、400）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": null,
+    "log_step": 400,
+    "evidence_zh": "观察：末帧夹爪空着、钥匙不在夹爪内。agent 自述抬起时手指还没闭合到轴径、保持失败（log step 400），并自述一次握持被侧向动作破坏（log step 125）；这是日志证据，视频未逐次核对。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：agent 自述抬升抢在夹爪闭合前（log step 400）、一次修正路径出现 80 N 接触（log step 575），反复抓取失败，子类不明，待核实。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；钥匙多次滑脱的具体视频时刻未逐一核对，故 t 为空；视频 494 s 末帧钥匙位置不可见；原生指标评分器未给出。",
+  "unmet": {
+   "key_through_rotor_1": false,
+   "key_through_rotor_2": false,
+   "key_through_rotor_3": false,
+   "key_through_rotor_4": false,
+   "key_through_end": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 495 s 内钥匙一次也未穿过第1转子板，5 个节点全部未达成（0/5）。推断：断在第1板穿插前的抓持/对准，钥匙反复从夹爪滑脱，末尾钥匙已不在手中；依据主要是 agent 自述，缺状态日志，根因仅到“控制”。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "5 个节点均未达成与视频一致（全程拼图及 300–494 s 帧中钥匙始终未穿过第1板）；断点、控制根因（停在“控制”）、时钟与 conf=4 均诚实，未见需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:41:11Z",
+  "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-lock-picking-05-i01-standard--ktkazao/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-lock-picking-05-i01-standard--ktkazao/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1c9262db24a3b203487480ebf7fa2bb5aa77743a9fc4201bccacc1ff1cf13bee",
+   "video_sha256": "469d34586c97fbe185b78b752a2838dfd668454c4526d2b80493120f395d4812",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--ku4k5h2.json b/phaseK/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--ku4k5h2.json
new file mode 100644
index 0000000000000000000000000000000000000000..15aa06b8df0d3525312e10a4937a95083e88578c
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-privileged--ku4k5h2.json
@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-privileged--ku4k5h2",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 50,
+   "agent_resets": 8,
+   "agent_sim_steps": 15152,
+   "agent_records": 1,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "r1_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 402,
+      "text_zh": "观察：无视频、无状态日志；grader 字段 missing_trajectory=1，success=0，未交付轨迹（agent 墙钟 10802 s，超过 10800 s 限制）。推断：本节点无法判断；agent 自述的会话内进展（log step 397：R1→R2 干净穿越）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 402,
+      "text_zh": "观察：无视频、无状态日志；grader 字段 missing_trajectory=1，success=0，未交付轨迹（agent 墙钟 10802 s，超过 10800 s 限制）。推断：本节点无法判断；agent 自述的会话内进展（log step 397：R1→R2 干净穿越）只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 402,
+      "text_zh": "观察：无视频、无状态日志；grader 字段 missing_trajectory=1，success=0，未交付轨迹（agent 墙钟 10802 s，超过 10800 s 限制）。推断：本节点无法判断；agent 自述的会话内进展（log step 397：R1→R2 干净穿越）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_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：reward.missing_trajectory=1，agent_records=1、agent_replays=1，但无可评分的交付轨迹；wall_s 10802 s 超出 10800 s 限制，最后一步（log step 407）agent 仍在 /app/dev 脚本中试验左手从 R2 到 R3 的动作。推断：无法确定评分轨迹在哪一步失败。"
+  },
+  "unmet": {
+   "r1_threaded": null,
+   "r2_threaded": null,
+   "r3_threaded": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且未交付可评分轨迹（missing_trajectory=1）：没有被评分的执行过程可观察，现象和根因按规则留空（agent 为自身原因未交付，D23；时间用尽不是现象/根因）。三个节点的值均无法由 grader 字段决定。"
+ },
+ "summary_zh": "观察：本次运行无视频、无状态日志，grader 报告 missing_trajectory=1、success=0，agent 在 10802 s 时被时限停止（限制 10800 s）。agent 在会话中只自述做到 R1→R2 的穿越并在试 R3（log step 397-407），这是会话证据，三个节点均记为未知。无法定位断点步骤，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": 8,
+    "summary_zh": "本次运行无视频、无状态日志，grader 字段 missing_trajectory=1、success=0，未交付可评分轨迹；标注把三个节点记为 unknown、断点 ref=unknown/首步前、现象与根因留空并写 gap_zh，符合 D23 与外因/无交付规则。会话自述未当作节点值，log step 397/402/407 均存在，validator 通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:41:53Z",
+  "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-rope-threading-03-i01-privileged--ku4k5h2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-privileged--ku4k5h2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "168a96e4ec5c2ba802783caea8a3127143bc3c6e45f9f1bd2196a3f2933474bd",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--fbboqfa.json b/phaseK/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--fbboqfa.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a2e79b21ed20b17c7738cdec1a1bc4841bf451a
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_03/trajectories/roboarc-rope-threading-03-i01-standard--fbboqfa.json
@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-03-i01-standard--fbboqfa",
+ "taskKey": "roboarc/rope_threading_03",
+ "dag_sha256": "c4f915365f9100d20ad30191949cc004dc0fd376cefd030cb2780cfe5f521a65",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 14,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 21877,
+   "live_rows": 21877,
+   "sim_steps": 21877,
+   "physics_steps": 21877,
+   "steps": 12866,
+   "elapsed_s": 10814.5,
+   "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": 0.56,
+   "peak_processes": 9,
+   "peak_disk_gb": 1.521,
+   "peak_cpus": 1.78,
+   "peak_pids": 275,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-rope-threading-03-i01-standard--fbboqfa.mp4",
+  "duration_s": 875.134,
+  "fps": 15.0,
+  "frames": 13127,
+  "sha256": "7e7086b9450fc5912955e4b01e5cd14d0ac0e669b27fa749930b9c62468a97c7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "r1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      500,
+      650
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 575,
+      "text_zh": "观察：视频 500 s 与 575 s 帧（含右下腕部视角）绳穿在青环内，左右夹爪在环旁交接绳段；600 s、640 s 帧绳仍在青环附近，是否仍穿环难以逐帧判定。区间 500–650 s 起止各约 ±30 s，不确定。"
+     },
+     {
+      "t": 732,
+      "text_zh": "观察：视频 700 s 帧绳已位于青环左侧、732 s 帧绳明显绕过青环外侧而不穿环，此后至 874 s 均未恢复；推断：R1 在搬运绳段去穿 R2/R3（约 660–732 s）时丢失。"
+     },
+     {
+      "t": 874,
+      "log_step": 937,
+      "text_zh": "观察：视频 874 s 末帧绳在青环旁绕过，未穿入环孔。agent 自述 R1 未完成（log step 937，自述）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：约 500–640 s 双臂交接绳段、夹爪夹绳把绳送过青环 R1（时间约，不确定）；780–874 s 右夹爪再次夹绳尝试送入 R1，未成功。"
+     }
+    ]
+   },
+   "r2_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      660,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 660,
+      "log_step": 590,
+      "text_zh": "观察：视频 660 s 起绿环中可见黄绳贯穿，左夹爪在环旁持绳；至末帧 874 s 仍穿过绿环。时间约 ±15 s；agent 称 R2 已穿（log step 771，其为自述）。推断：未统计材料顺序/共同终验。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左/右夹爪夹住绳段送入并拉过环（视频 660 s 左夹爪在绿环处持绳）"
+     }
+    ]
+   },
+   "r3_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      700,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 732,
+      "log_step": 771,
+      "text_zh": "观察：视频 732 s 起绳向上越过绿环继续到画面顶部紫环处，末帧仍如此；到达时间约 700–732 s，不确定。agent 自述 R3 已穿（log step 771）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断：夹爪持绳送过 R2 后再送入 R3，视频 660–730 s 左夹爪在绿/紫环处"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "r1_threaded",
+   "where": "操作中",
+   "t": 700,
+   "log_step": 815,
+   "evidence_zh": "观察：视频 500–640 s 绳曾穿过青环 R1，700 s 起绳在青环左侧、732 s 绕过青环外侧，R1 丢失（推断：搬运绳段穿 R2/R3 时被拉出）；780–874 s 右夹爪补救均未恢复。log step 815 为自述。"
+  },
+  "phenomena": [
+   {
+    "t": 700,
+    "log_step": 767,
+    "evidence_zh": "观察：视频 640 s 前后 R1 仍有绳穿过，700 s 绳已移出青环；R2/R3 穿过后 R1 未保持。推断：搬运绳段时 R1 的穿越被拉回。agent 自述发现 R1 不在（log step 767/771，自述）。",
+    "cat": "接触",
+    "item": "没保持住"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因证据不足：agent 自述右臂/环碰撞与可达性受限（log step 815、937），无视频或状态日志独立证实；无状态日志。R2/R3 的到达时间由粗略抽帧估计，仅误差约十几秒。预算用尽不作为原因。 R1 先达成后丢失的起止时间由抽帧估计，约 ±30 s；补救阶段（780–874 s）的位姿不准未单独标注。",
+  "unmet": {
+   "r1_threaded": false,
+   "r2_threaded": true,
+   "r3_threaded": true
+  }
+ },
+ "summary_zh": "观察：视频约 500–640 s 绳曾穿过青环 R1，约 660 s 绿环 R2、约 700–732 s 紫环 R3 被穿过并保持到 874 s；R1 在约 650–700 s 搬运绳段时丢失并此后未恢复，终验未满足。断点在 R1（操作中，没保持住），根因证据不足。无状态日志，各时间约估。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "R1 并非从未穿过：视频约 500–640 s 多帧（主画面与左腕视角）显示绳穿过青环，之后在约 640–700 s 搬运绳段穿 R2/R3 时 R1 丢失，之后一直未恢复。标注把 R1 写成 intervals=[]、'始终未穿'，并把现象写成'位姿不准（送不进环）'，会误导读者；应为先达成后丢失（没保持住），断点仍在 R1 但原因不同。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 5,
+    "summary_zh": "R1 先穿后丢（约500–650 s 达成，700–732 s 起绳在青环外）、R2/R3 在 660–732 s 后保持至末帧，final=2、断点 r1_threaded/操作中/没保持住、根因留空并写 gap 均有帧证据支持；未发现需要改动的内容错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:48:46Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--fbboqfa/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--fbboqfa/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--fbboqfa/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-03-i01-standard--fbboqfa/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8b87389b3d2260d879df7314bc7d448d9a51d7cdcc37bf2d73cba0d57e35bc2b",
+   "video_sha256": "7e7086b9450fc5912955e4b01e5cd14d0ac0e669b27fa749930b9c62468a97c7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-privileged--bmoewez.json b/phaseK/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-privileged--bmoewez.json
new file mode 100644
index 0000000000000000000000000000000000000000..23dd469a7bae657438000bab5c64eebde6354c9c
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-privileged--bmoewez.json
@@ -0,0 +1,193 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-04-i01-privileged--bmoewez",
+ "taskKey": "roboarc/rope_threading_04",
+ "dag_sha256": "8b3850fa1c4bded1ee72d91f210918cde6a7ecb944e8b7638d56a47bd7705a89",
+ "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": 7,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器记录 missing_trajectory=1、success=0（run.json reward），没有交付轨迹，也没有逐节点字段。agent 在 session 中自述前几个孔已穿过（如 log step 268 的 metrics 显示 crossing_sequence 含 G1、A），那是 session 证据，不是图评轨迹的节点值。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器记录 missing_trajectory=1、success=0（run.json reward），没有交付轨迹，也没有逐节点字段。agent 在 session 中自述前几个孔已穿过（如 log step 268 的 metrics 显示 crossing_sequence 含 G1、A），那是 session 证据，不是图评轨迹的节点值。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器记录 missing_trajectory=1、success=0（run.json reward），没有交付轨迹，也没有逐节点字段。agent 在 session 中自述前几个孔已穿过（如 log step 268 的 metrics 显示 crossing_sequence 含 G1、A），那是 session 证据，不是图评轨迹的节点值。"
+     }
+    ]
+   },
+   "rope_through_b": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志；评分器记录 missing_trajectory=1、success=0（run.json reward），没有交付轨迹，也没有逐节点字段。agent 在 session 中自述前几个孔已穿过（如 log step 268 的 metrics 显示 crossing_sequence 含 G1、A），那是 session 证据，不是图评轨迹的节点值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1、agent_records=0、agent_replays=0（run.json reward）；log 最后一步 273（agent 工作约 10680 s，限额 10800 s）仍在 session 内调试 G2 之后的右手抓取，没有保存/交付轨迹。因此没有可回放的图评尝试。"
+  },
+  "unmet": {
+   "rope_through_g1": null,
+   "rope_through_a": null,
+   "rope_through_g2": null,
+   "rope_through_b": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频（video.kind none）、无状态日志，且没有交付轨迹（missing_trajectory=1），故四个节点无法判断，现象与根因留空；session 中的失败（左臂被柱 P2 挡住、右腕 IK 失败，log step 230、270）只是 session 证据，不能当作现象。agent 因预算耗尽未交付，原因需看其 session 策略，但无图评证据。"
+ },
+ "summary_zh": "本次图评没有交付任何轨迹（评分器 missing_trajectory=1，success=0），无视频与状态日志，四个穿孔节点均无法判断。agent 在 10800 s 限额内反复在 session 中重置、调试，到 log step 273 仍在尝试第四孔之前的抓取，未保存轨迹。主要证据缺口：没有图评尝试可检查。",
+ "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、未交付轨迹（missing_trajectory=1）；标注按 03 规则：ref unknown、首步前、两层为空并写 gap_zh，节点均 unknown，未把 session 证据当现象，也未标没尝试。时间均标明 agent 时钟。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": "2026-11-08T08:42:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-privileged--bmoewez/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-privileged--bmoewez/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "be737e862121bdbb29a40a65f68ddd689a9438c0637252c36f72bdcf85e25c34",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-standard--fm7h2ep.json b/phaseK/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-standard--fm7h2ep.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dcd79e18e71e0c81747b75e40598fb507dbeb26
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_04/trajectories/roboarc-rope-threading-04-i01-standard--fm7h2ep.json
@@ -0,0 +1,310 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-04-i01-standard--fm7h2ep",
+ "taskKey": "roboarc/rope_threading_04",
+ "dag_sha256": "8b3850fa1c4bded1ee72d91f210918cde6a7ecb944e8b7638d56a47bd7705a89",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 20,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11895,
+   "live_rows": 11895,
+   "sim_steps": 11895,
+   "physics_steps": 11895,
+   "steps": 10173,
+   "elapsed_s": 10757.1,
+   "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-rope-threading-04-i01-standard--fm7h2ep.mp4",
+  "duration_s": 475.867,
+  "fps": 15.0,
+  "frames": 7138,
+  "sha256": "31591b63d029141096ee74b9137936db996f7fd298d4df9ffa82e57b1a7a68b6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": null,
+  "peak": null,
+  "final": 2,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "visual",
+    "intervals": [
+     [
+      88,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 88,
+      "log_step": 205,
+      "text_zh": "观察：视频 88 s 左臂夹爪已在隔墙左侧持绳，绳从隔墙下部孔延伸到左侧，474 s 主视图绳仍穿墙未退出；推断：G1 穿越约在视频 88 s 前已完成（精确起点不确定，隔墙半透明；log step 200-205 agent 自述 G1 已穿过，仅作参考）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：夹爪夹住绳端/绳段把绳送过 G1 所在隔墙；agent 先后使用两臂交接（推断）。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "visual",
+    "intervals": [
+     [
+      228,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 228,
+      "log_step": 391,
+      "text_zh": "观察：视频 228 s 左腕部视图可见黄绳穿过绿环 A 内部，474 s 末帧绳仍穿过绿环；推断：A 约在视频 228 s 达成并保持（agent 自述 log step 266 曾脱出、log step 385-391 重新穿过；脱出时段未逐帧核对，区间可能含短暂中断）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左臂夹爪夹住绳端靠近并穿过绿环 A，视频 150-400 s 多次调整。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "visual",
+    "intervals": [
+     [
+      324,
+      338
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 330,
+      "log_step": 473,
+      "text_zh": "观察：视频 324-336 s 左、右腕部视图可见黄绳端穿过紫色孔环 G2，视频 330 s 右夹爪张开在孔后接绳；视频 340 s 孔内无绳，绳已落回左侧桌面，474 s 末帧 G2 仍无绳；推断：log step 470-488 的 control_steps/25 与该时段一致（META control_steps 11895/25=475.8 s≈视频时长 475.9 s），G2 穿过后未保持，final=false。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪持绳端送过 G2，右夹爪在孔另一侧接绳，约视频 336 s 起右夹爪未夹住，绳随左手撤出退回。"
+     }
+    ]
+   },
+   "rope_through_b": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 474,
+      "log_step": 575,
+      "text_zh": "观察：视频末帧琥珀环 B 周围无绳，绳盘在隔墙右侧桌面；B 未穿。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "视频末段未见夹爪对 B 作业。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_through_g2",
+   "t": 338,
+   "log_step": 488,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 324-336 s 绳端穿过 G2，右夹爪接绳未夹住，视频 340 s 绳已退出落回左侧桌面；之后 360-475 s 未再穿过（log step 575 最终报告未完成）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 338,
+    "log_step": 488,
+    "evidence_zh": "观察：视频 324-336 s 绳端穿过 G2，右夹爪接绳未夹住，左手撤出后绳在视频 340 s 已退回左侧桌面。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "隔墙半透明，G1、A 起点时间不确定；右夹爪接绳失败的根因（对位、开合时机）帧证据不足，故根因留空。",
+  "unmet": {
+   "rope_through_g1": true,
+   "rope_through_a": true,
+   "rope_through_g2": false,
+   "rope_through_b": false
+  }
+ },
+ "summary_zh": "观察：视频 475.9 s 末帧黄绳穿过隔墙下部孔并穿过绿环 A，G2 与 B 未穿，整体 2/4。观察：G2 在视频 324-338 s 曾被穿过，右夹爪接绳未夹住，绳退回（断点在 G2，没保持住）。G1 约视频 88 s、A 约 228 s 起，均不确定。根因证据不足留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "G2 节点被误判为全程未达成：视频 326-337 s 左右腕部视图清楚显示黄绳穿过紫色孔 G2，约 340 s 绳已退出（落回左侧桌面）。因此 G2 应有区间 [~326, ~338]、final 仍为 false，断点应为 G2 穿过后接绳失败（没保持住），现象不应留空。G1/A 时间也偏晚。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "整体与帧一致：G1/A 末帧保持、G2 324-338 s 穿过后退出、B 未穿，断点 G2 与“没保持住”成立。仅 G2 的 contact_actual 与自述证据不符：左夹爪送绳、右夹爪在孔另一侧接绳，是双臂协作，却标成单手夹爪。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 已按提议落实：G2 的 contact_actual 现为 双臂协作×抓握，note 与 evidence 一致，符合 docs/03_trajectory.md:201。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 已按提议落实：G2 的 contact_actual 现为 双臂协作×抓握，note 与 evidence 一致，符合 docs/03_trajectory.md:201。",
+   "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": "2026-11-08T08:49:49Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-standard--fm7h2ep/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-standard--fm7h2ep/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-standard--fm7h2ep/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-standard--fm7h2ep/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-standard--fm7h2ep/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-04-i01-standard--fm7h2ep/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": "09ff853bd9d76fbaa724142544f127df24830cb910cc7bdd8bab3e2a3a6e848a",
+   "video_sha256": "31591b63d029141096ee74b9137936db996f7fd298d4df9ffa82e57b1a7a68b6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-privileged--jzk7jyq.json b/phaseK/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-privileged--jzk7jyq.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7607cf91f751253ebc28dc9c9f4008b41158d08
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-privileged--jzk7jyq.json
@@ -0,0 +1,224 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-05-i01-privileged--jzk7jyq",
+ "taskKey": "roboarc/rope_threading_05",
+ "dag_sha256": "28a255a86b5f6b2d7fe5380ac2da36d476396319370f0867564cba1178f62a54",
+ "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": 17,
+   "agent_sim_steps": 8723,
+   "agent_records": 3,
+   "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": 4,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，评分器字段（missing_trajectory=1）未报告该节点；agent 会话中的自测输出仅为会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，评分器字段（missing_trajectory=1）未报告该节点；agent 会话中的自测输出仅为会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，评分器字段（missing_trajectory=1）未报告该节点；agent 会话中的自测输出仅为会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "rope_through_v": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：无视频、无状态日志，评分器字段（missing_trajectory=1）未报告该节点；agent 会话中的自测输出仅为会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 missing_trajectory=1、agent_records=3、agent_replays=0，说明没有交付可回放的轨迹；agent 在 log step 205（agent 工作约 10600 s，预算 10802 s）仍在等待一次水平接绳测试，未保存任何通过的轨迹。"
+  },
+  "unmet": {
+   "rope_through_g1": null,
+   "rope_through_a": null,
+   "rope_through_g2": null,
+   "rope_through_v": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且没有交付轨迹（missing_trajectory=1），无法判定受评轨迹上的现象与根因；会话中的自述（如 log step 139 称仅青孔 G1 有穿越、A/G2/V 未成，换手抓取多次失败）只是会话证据，不转为现象或根因。"
+ },
+ "summary_zh": "观察：agent 在 17 个会话中反复调试（青孔穿越、换手、绿环 A 路径、紫孔 G2 接绳），直到预算（约 10802 s）用尽仍未保存通过的轨迹，评分器记 missing_trajectory=1、success=0。因无视频与状态日志，四个节点均无法判定（unknown），断点步骤无法确定；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": 7,
+    "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1）；四节点 unknown、空现象/根因加 gap_zh，符合 D23(a)；未把 agent 会话自述当作事实，也未把预算用尽当作现象。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:41:54Z",
+  "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-rope-threading-05-i01-privileged--jzk7jyq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-05-i01-privileged--jzk7jyq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bfd40fbe21d90a3697b68fb2ae5f8808500d38595af854bd0cf92814eb7c1b97",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--zdt9vrf.json b/phaseK/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--zdt9vrf.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ac55d08a6577b9553b9aad9350310f4f164c6ad
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_05/trajectories/roboarc-rope-threading-05-i01-standard--zdt9vrf.json
@@ -0,0 +1,264 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-05-i01-standard--zdt9vrf",
+ "taskKey": "roboarc/rope_threading_05",
+ "dag_sha256": "28a255a86b5f6b2d7fe5380ac2da36d476396319370f0867564cba1178f62a54",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 1,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11946,
+   "live_rows": 11946,
+   "sim_steps": 11946,
+   "physics_steps": 11946,
+   "steps": 2618,
+   "elapsed_s": 10722.9,
+   "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": 0.33,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.63,
+   "peak_cpus": 1.0,
+   "peak_pids": 116,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-rope-threading-05-i01-standard--zdt9vrf.mp4",
+  "duration_s": 477.934,
+  "fps": 15.0,
+  "frames": 7169,
+  "sha256": "8458e43a1a651d87047576e20934d94fb7fca123493772a68c02ab32b9c11dfd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "visual",
+    "intervals": [
+     [
+      294,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 296,
+      "log_step": 237,
+      "text_zh": "观察：视频约 292 s 左腕视角绳端到青孔下缘，296 s 起绳穿过孔，直至视频 477 s 仍穿孔（262–288 s 孔内无绳）；推断：到达时间约视频 294 s（±4 s）；log step 235 control_steps 7270/25≈视频 291 s 与此一致。agent 自述 G1 已穿过（log step 237）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "右夹爪捏绳前端送入 G1，左夹爪在对侧接绳并拉出（视频约 250-300 s）"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 477,
+      "log_step": 307,
+      "text_zh": "观察：绿环始终空，绳未穿过绿环（末帧绿环处无绳）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪夹住已穿 G1 的绳段，右夹爪夹绳段送料，向绿环推进时多次受力停止（log step 268）"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 477,
+      "log_step": 307,
+      "text_zh": "观察：无绳靠近紫色墙孔 G2，未尝试。"
+     }
+    ]
+   },
+   "rope_through_v": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 477,
+      "log_step": 307,
+      "text_zh": "观察：琥珀环处始终无绳，未尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_through_a",
+   "t": 388,
+   "where": "操作中",
+   "evidence_zh": "观察：G1 穿过后，agent 带绳向绿环移动，服务报告 forcing（121.5 N，log step 268），之后多次重试仍 forcing，终态绿环无绳（视频 477 s）。 推断：log step 268 control_steps 9701/25≈视频 388 s（以 G1 穿越处 7270→≈291 s 核对）。",
+   "log_step": 268
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "接触力异常",
+    "t": 388,
+    "log_step": 268,
+    "evidence_zh": "观察：服务报告 121.5 N forcing 并停止动作（log step 268），后续居中重试仍立刻 forcing（log step 305）；绳压在环缘/孔缘附近（log step 270）。"
+   }
+  ],
+  "gap_zh": "无状态日志，G1 到达时间由视频估计；根因主要来自 agent 自述。",
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述抓握偏心并旋转，重复插入使缘部接触加重（log step 303）；视频不能直接核实具体几何。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "unmet": {
+   "rope_through_g1": true,
+   "rope_through_a": false,
+   "rope_through_g2": false,
+   "rope_through_v": false
+  }
+ },
+ "summary_zh": "观察：视频 478 s 内仅 G1 穿过（约视频 294 s，视频估计），绿环插入时反复触发 forcing，G2、V 未尝试。断点在绿环步骤，现象为接触力异常，根因倾向抓取/接触设计（agent 自述）。无状态日志，时间与根因证据有限。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "G1 到达时间错：视频 255 s 时青孔内无绳，绳首次穿过青孔在约视频 294 s（左腕视角），label 的 255 s 及其 evidence 时间（255-275 s）早了约 40 s。断点 t=330 s 与 forcing 的 log step 268（control_steps 9701，按 25 步/s≈视频 388 s）不符。其余（G1 终态仍穿孔、A/G2/V 未达、接触力异常、断点节点）与视频一致。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第二轮：G1 约视频 294 s 到达、A/G2/V 未达、断点在绿环步骤（forcing，control_steps 9701/25≈视频 388 s）与视频和 log 一致，接触力异常有服务读数支持，根因已标明来自 agent 自述。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": "2026-11-08T08:48:53Z",
+  "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-rope-threading-05-i01-standard--zdt9vrf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-05-i01-standard--zdt9vrf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-05-i01-standard--zdt9vrf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-05-i01-standard--zdt9vrf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5018d2689295d3cd0293f460292ae32c679dbab0c80718dace503f3e34de1c34",
+   "video_sha256": "8458e43a1a651d87047576e20934d94fb7fca123493772a68c02ab32b9c11dfd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--arc5rkv.json b/phaseK/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--arc5rkv.json
new file mode 100644
index 0000000000000000000000000000000000000000..3edb08eccfaf57d7e131c37c55485ccc827b2783
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-privileged--arc5rkv.json
@@ -0,0 +1,198 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-privileged--arc5rkv",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 5,
+   "agent_resets": 15,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "g1_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 400,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、success=0，agent 最终报告（log step 400）自述未产出 /app/output/trajectory.npz。没有被评分的轨迹，该节点无法判定。"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 400,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、success=0，agent 最终报告（log step 400）自述未产出 /app/output/trajectory.npz。没有被评分的轨迹，该节点无法判定。"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 400,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、success=0，agent 最终报告（log step 400）自述未产出 /app/output/trajectory.npz。没有被评分的轨迹，该节点无法判定。"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 400,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、success=0，agent 最终报告（log step 400）自述未产出 /app/output/trajectory.npz。没有被评分的轨迹，该节点无法判定。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 400,
+      "text_zh": "观察：无视频、无状态日志；评分记录 missing_trajectory=1、success=0，agent 最终报告（log step 400）自述未产出 /app/output/trajectory.npz。没有被评分的轨迹，该节点无法判定。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "g1_threaded",
+   "t": null,
+   "log_step": 400,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 missing_trajectory=1；agent 最终报告（log step 400）自述 trajectory.npz 未生成，仅有 gen.py 生成脚本；agent 自述之前的实时会话曾穿过 G1、A、G2，但会话被后台时限杀死而未保存（log step 390 自述录制仅在内存中）。没有任何轨迹交付给评分器，故被评分的尝试从未开始第一步。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1）；agent 侧原因未交付，按规则不从会话证据推出现象与根因。节点进度全部无法判定（method unknown）。",
+  "unmet": {
+   "g1_threaded": null,
+   "a_threaded": null,
+   "g2_threaded": null,
+   "b_threaded": null,
+   "g3_threaded": null
+  }
+ },
+ "summary_zh": "观察：agent 在约 10841 s 的会话（wall 限额 10800 s）内多次实时尝试，自述曾穿过 G1、A、G2，但录制只在内存中、进程被杀，最终未保存 trajectory.npz（log step 400），评分记录 missing_trajectory=1。没有被评分的轨迹，五个节点均无法判定，断点记为 G1 步（首步前）。缺口：无视频与状态日志；现象和根因因无交付而留空。",
+ "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、无交付轨迹（missing_trajectory=1）；五节点 unknown、断点 g1_threaded/首步前、现象与根因留空并写 gap_zh，符合 03 的规则（agent 侧未交付不从会话证据推现象）。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": "2026-11-08T08:42:22Z",
+  "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-rope-threading-06-i01-privileged--arc5rkv/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-privileged--arc5rkv/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ad3a8f6c4bf90e9ae94706130684637bd98de3ad04b562d32aede43c45b4eb88",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--r2wjdmt.json b/phaseK/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--r2wjdmt.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f7abb62b192169d81bed6ee0dc02b946537116
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_06/trajectories/roboarc-rope-threading-06-i01-standard--r2wjdmt.json
@@ -0,0 +1,297 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-06-i01-standard--r2wjdmt",
+ "taskKey": "roboarc/rope_threading_06",
+ "dag_sha256": "f3cc67e07e96a85d489c92cdc9656197c40308a50a11d24e85ceb864507df2ba",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 6,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 14009,
+   "live_rows": 14009,
+   "sim_steps": 14009,
+   "physics_steps": 14009,
+   "steps": 4649,
+   "elapsed_s": 10747.7,
+   "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-rope-threading-06-i01-standard--r2wjdmt.mp4",
+  "duration_s": 560.4,
+  "fps": 15.0,
+  "frames": 8406,
+  "sha256": "7660b3e3edad24d6f5c9d56b70e799e99406203d2381093b8bb8ff89d4c66b47"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "g1_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      255,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 260,
+      "log_step": null,
+      "text_zh": "观察：视频 250-260 s 左夹爪把绳端拉过隔墙，腕部相机 260 s 可见绳穿过青色环；此后至视频末绳仍贯穿隔墙。推断：到达时刻约 255 s（±10 s），未逐帧核对几何阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左/右二指夹爪捏持绳端并穿过青色壁孔，视频 200-260 s"
+     }
+    ]
+   },
+   "a_threaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      395,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 400,
+      "log_step": 176,
+      "text_zh": "观察：视频 400 s 腕部相机可见绳段在绿色立环内贯通；视频末帧（560 s）绳仍穿过绿环附近。推断：到达约 395 s（±15 s）；agent 自述绿色已穿（log step 176）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左夹爪抓绳段穿过绿色立环，视频约 330-400 s"
+     }
+    ]
+   },
+   "g2_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 560,
+      "log_step": 358,
+      "text_zh": "观察：视频末帧腕部相机可见绳在紫色壁孔环内，但右夹爪未夹住绳；agent 自述右夹爪合拢到 0.0 开度，没抓到绳（log step 358）。绳未被穿越确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右夹爪尝试在紫色壁孔处接过绳，合拢为空，未夹住"
+     }
+    ]
+   },
+   "b_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 560,
+      "log_step": 358,
+      "text_zh": "观察：视频全程琥珀色环无绳穿过，末帧仍空；agent 自述未执行（log step 358）。"
+     }
+    ]
+   },
+   "g3_threaded": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 560,
+      "log_step": 358,
+      "text_zh": "观察：红色壁孔无绳穿过；agent 自述未执行（log step 358）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "g2_threaded",
+   "t": 555,
+   "log_step": 357,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 540-560 s 双臂夹爪在隔墙中央紫色孔处对接，腕部相机显示绳在紫环内；agent 自述右夹爪合拢到 0.0 开度、未抓到绳（log step 358）。紫色孔绳未被接过穿越。观察：log step 355 的服务读数显示接绳臂水平逼近时右夹爪指/手指压到隔板条与门楣（safety forcing events 2，max_press_force_n 559.7，on bulkhead strip3 / lintel2）；agent 自述接收器撞到紫色隔板且左TCP偏离（step 356）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 555,
+    "log_step": 358,
+    "evidence_zh": "观察：agent 报告右夹爪合拢为 0.0 开度，说明夹爪间无绳（log step 358）；视频末帧右夹爪腕部相机中绳未在指间。推断：接绳所需的夹持接触没建立。观察：log step 355 服务读数记录接绳前右夹爪与隔板条/门楣的受力事件（events 2，max_press 559.7 N，非视频帧所见）。推断：碰撞后接绳位置偏移，夹爪闭合落空；未单独增加被挡/碰撞类现象，帧中未见隔板阻挡。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述紫色位置存在偏差并需重新校正（log step 301），接绳时仍落空（log step 358）；子类型无法分清，未见独立的感知误差证据。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；绿环节点到达时刻和保持情况为视觉估计；速度指标 maximum_speed 评分器未报告。",
+  "unmet": {
+   "g1_threaded": true,
+   "a_threaded": true,
+   "g2_threaded": false,
+   "b_threaded": false,
+   "g3_threaded": false
+  }
+ },
+ "summary_zh": "观察：视频 560.4 s 内右臂/左臂配合，青色壁孔约视频 255 s、绿环约 395 s 穿过并保持，2/5 节点。在紫色壁孔交接处右夹爪合拢落空（log step 358），琥珀环与红色孔未做；评分器 success=0。无状态日志，时间为视觉估计。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与时间（青色约255 s、绿环约395 s，终局2/5）经帧核对基本成立，断点g2_threaded合理；唯一需改处是接触证据：右夹爪水平接绳时撞到紫色隔板，服务评分读数有受力事件，标签未引用，且把接触现象仅建立在agent自述上。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点（青色约255 s、绿环约395 s，终局2/5）、断点g2_threaded及现象与帧一致；第1轮意见已采纳，未发现需要改动的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:48:30Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--r2wjdmt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--r2wjdmt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--r2wjdmt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-06-i01-standard--r2wjdmt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e24483c6d96f407997087d86565ef748344ed5390a886470d7bea0ddc0e3eeeb",
+   "video_sha256": "7660b3e3edad24d6f5c9d56b70e799e99406203d2381093b8bb8ff89d4c66b47",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-privileged--cjkdmti.json b/phaseK/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-privileged--cjkdmti.json
new file mode 100644
index 0000000000000000000000000000000000000000..02c53d12ecf3888a1799384686ebacd7ee90a5e0
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-privileged--cjkdmti.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-07-i01-privileged--cjkdmti",
+ "taskKey": "roboarc/rope_threading_07",
+ "dag_sha256": "d8fd620b0fb7ce9c7451f794c8021bc625b601720b669d609467ed82926c5b1d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 4,
+   "agent_resets": 11,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 1,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 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": 5,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 192,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器字段 missing_trajectory=1（未交付轨迹）。推断：没有可作为评分回合的内容；agent 会话内诊断（log step 192 称 G1、A 已穿过）只是会话证据，不是节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回合无接触可标。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 192,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器字段 missing_trajectory=1（未交付轨迹）。推断：没有可作为评分回合的内容；agent 会话内诊断（log step 192 称 G1、A 已穿过）只是会话证据，不是节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回合无接触可标。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 192,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器字段 missing_trajectory=1（未交付轨迹）。推断：没有可作为评分回合的内容；agent 会话内诊断（log step 192 称 G1、A 已穿过）只是会话证据，不是节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回合无接触可标。"
+     }
+    ]
+   },
+   "rope_through_t": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 192,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器字段 missing_trajectory=1（未交付轨迹）。推断：没有可作为评分回合的内容；agent 会话内诊断（log step 192 称 G1、A 已穿过）只是会话证据，不是节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回合无接触可标。"
+     }
+    ]
+   },
+   "rope_through_g3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 192,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器字段 missing_trajectory=1（未交付轨迹）。推断：没有可作为评分回合的内容；agent 会话内诊断（log step 192 称 G1、A 已穿过）只是会话证据，不是节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "未交付轨迹，评分回合无接触可标。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 192,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1、success=0；agent 在会话中（约 10800 s 预算，wall 10841 s）只做交互式逐段试验（log step 179-192，多次 rewind 与 IK 失败），日志中没有交付/保存最终轨迹的步骤。推断：评分回合没有任何已交付的动作，故停在首步之前。 未交付轨迹，评分回合无可观察内容，证据无法定位失败停在哪一步，故 ref 为 unknown。"
+  },
+  "unmet": {
+   "rope_through_g1": null,
+   "rope_through_a": null,
+   "rope_through_g2": null,
+   "rope_through_t": null,
+   "rope_through_g3": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；未交付轨迹（missing_trajectory=1），为 agent 一侧原因，会话证据（试验、IK 失败、rewind）不能作为现象或根因；因此现象与根因层留空，节点 final 均为未知（会话内自述 G1、A 已穿过但无评分回合佐证）。"
+ },
+ "summary_zh": "观察：本次运行无视频与状态日志，评分器报告 missing_trajectory=1，未交付轨迹，五个穿孔节点均无法在评分回合中判定（interval/final 为空）。agent 在 log step 2-192 的会话里用时约 10800 s 预算做逐段试验，自述 G1、A 已穿过但未走到后续孔，也未交付结果；现象与根因因证据不足留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "整体正确：无视频/状态日志，五节点 unknown、现象与根因留空并写 gap_zh，符合 D23。仅断点 ref 指向 rope_through_g1 缺乏依据：评分回合无任何内容，证据无法说明失败在哪一步，应为 unknown。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，missing_trajectory=1，未交付轨迹；五节点 unknown、断点 ref=unknown（上一轮已采纳）、现象与根因留空并写 gap_zh，符合 D23(a)，会话自述未被当作节点值或现象。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:48:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-privileged--cjkdmti/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-privileged--cjkdmti/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-privileged--cjkdmti/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-privileged--cjkdmti/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "49abe73cc01a8ff315132c6c0f4003ae4dfd9e2d041cf6618a5ed4a35b3b266a",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-standard--xsnyesg.json b/phaseK/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-standard--xsnyesg.json
new file mode 100644
index 0000000000000000000000000000000000000000..d67aec8a712240b03276b1bb34ac5088d333dad0
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_07/trajectories/roboarc-rope-threading-07-i01-standard--xsnyesg.json
@@ -0,0 +1,304 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-07-i01-standard--xsnyesg",
+ "taskKey": "roboarc/rope_threading_07",
+ "dag_sha256": "d8fd620b0fb7ce9c7451f794c8021bc625b601720b669d609467ed82926c5b1d",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 11095,
+   "live_rows": 11095,
+   "sim_steps": 11095,
+   "physics_steps": 11095,
+   "steps": 3510,
+   "elapsed_s": 10712.9,
+   "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-rope-threading-07-i01-standard--xsnyesg.mp4",
+  "duration_s": 443.867,
+  "fps": 15.0,
+  "frames": 6658,
+  "sha256": "f7de567a21f54a42a7784c873b11d801cf68d801e139a626c6e6c2b1e97321ce"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 2,
+  "final": 1,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "visual",
+    "intervals": [
+     [
+      378.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 380.0,
+      "log_step": 157,
+      "text_zh": "观察：视频 365 s 时右夹爪仍在桌面右侧抓绳，视频 380 s 起绳体从右侧穿过墙上孔口伸到左侧并被左臂接住（总览及腕部视角）；视频 410-443 s 绳仍横跨墙面。推断：G1 约视频 378 s 达成，时间不确定约 ±5 s；未逐帧核对 0.5 s 联合稳定窗口。agent 自述“G1 is crossed”（log step 157）仅作旁证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：右夹爪夹住绳端送入 G1，左夹爪在墙另一侧接住绳（视频约 365-385 s）。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "visual",
+    "intervals": [
+     [
+      437.0,
+      441.5
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 438.0,
+      "log_step": 185,
+      "text_zh": "观察：视频约 437-440 s 左腕视角见黄绳穿过绿环 A、夹爪在环旁；441.5 s 起绳离环，443.7 s 末帧 A 处无绳。时间约 ±2 s。agent 自述 A 曾穿过又被拉出（log step 185、192）仅作旁证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪夹住绳端靠近 A，视频约 400-443 s。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 443.0,
+      "log_step": 193,
+      "text_zh": "观察：视频 443 s 末帧 G2、T、G3 处均无绳穿过；该步未被尝试到（agent 自述未完成，log step 193）。"
+     }
+    ]
+   },
+   "rope_through_t": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 443.0,
+      "log_step": 193,
+      "text_zh": "观察：视频 443 s 末帧 G2、T、G3 处均无绳穿过；该步未被尝试到（agent 自述未完成，log step 193）。"
+     }
+    ]
+   },
+   "rope_through_g3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 443.0,
+      "log_step": 193,
+      "text_zh": "观察：视频 443 s 末帧 G2、T、G3 处均无绳穿过；该步未被尝试到（agent 自述未完成，log step 193）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_through_a",
+   "t": 441.0,
+   "log_step": 189,
+   "where": "操作中",
+   "evidence_zh": "观察：A 约视频 437-441 s 穿过后，左夹爪拉绳时绳退出 A，末帧 A 未穿，未修复。服务读数：log step 189 左夹爪开度 0.011→0.067 m。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 441.0,
+    "log_step": 189,
+    "evidence_zh": "观察：视频 441-443.7 s 左夹爪张开、绳离开 A。服务读数：log step 189 左夹爪开度 0.011→0.067 m，step 186/190 forcing event，拉绳时指被推开、A 处的绳退出。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "时钟：log step 192 meta sim_time_s=443.8 与视频总长 443.9 s 吻合，视频时间=sim 时间（agent 的 ~10700 s 是另一个钟，不换算）。A 约 437-441 s 穿过，随后拉绳时退出。根因留空：无法区分夹持设计（夹爪被绳力推开）与反馈控制（未监测开度/拉力）。",
+  "unmet": {
+   "rope_through_g1": true,
+   "rope_through_a": false,
+   "rope_through_g2": false,
+   "rope_through_t": false,
+   "rope_through_g3": false
+  }
+ },
+ "summary_zh": "观察：graded 视频（时间=sim 时间）中绳约 378 s 穿过 G1；约 437-441 s 绳短暂穿过绿环 A，随后左夹爪拉绳时被迫张开（开度 0.011→0.067 m，log step 189，forcing event），绳退出 A，末帧 A 未穿，G2/T/G3 未到达，最终 1/5（峰值 2/5）。断点为 A（操作中，约 441 s），现象没保持住；根因无法区分夹持设计与反馈控制，留空。G1 时间目测约 ±5 s。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "节点值（G1 约 378 s 达成，A/G2/T/G3 未达成）与断点 rope_through_a 与画面一致；但 gap_zh 称视频与日志时钟无法对应并据此留空现象/根因，该前提与证据不符：log step 187 的 sim 时间 441.16 s 与视频总长 443.9 s 对应，说明视频即被评分的 episode，且 service 读数（夹爪开度 0.011→0.067、forcing event）是图的可用观察。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "G1 约 378 s 达成与断点 rope_through_a 基本成立，时钟（log step 192 sim 443.8 s ≈ 视频 443.9 s）已修正；但视频约 437-440 s 腕部视角见绳穿过绿环 A，之后左夹爪拉绳时被迫张开、绳退出（service 开度读数 0.011→0.067 m，forcing event），标签称“视频未见 A 穿过”并把现象留空与证据不符。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "三条 accept 均已在 prev/trajectory.json 中正确落实，且与视频和 log 一致。",
+    "n_issues": 0,
+    "n_checks": 3
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "三条 accept 均已在 prev/trajectory.json 中正确落实，且与视频和 log 一致。",
+   "checks_ok": "3/3",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:50:05Z",
+  "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-rope-threading-07-i01-standard--xsnyesg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-standard--xsnyesg/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-standard--xsnyesg/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-standard--xsnyesg/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-standard--xsnyesg/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-07-i01-standard--xsnyesg/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": "4e6a582d88ca16471de72b88eb8dc71b289cb65184a61252645a5e7fe2e2fd28",
+   "video_sha256": "f7de567a21f54a42a7784c873b11d801cf68d801e139a626c6e6c2b1e97321ce",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--yssbtev.json b/phaseK/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--yssbtev.json
new file mode 100644
index 0000000000000000000000000000000000000000..afa93cef5eb194d5b15cf236a03fded144247846
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-privileged--yssbtev.json
@@ -0,0 +1,240 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-08-i01-privileged--yssbtev",
+ "taskKey": "roboarc/rope_threading_08",
+ "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 23,
+   "agent_resets": 45,
+   "agent_sim_steps": 0,
+   "agent_records": 0,
+   "agent_replays": 0,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行没有视频（video.kind=none）、没有状态日志，评分器 reward 只给 missing_trajectory=1、success=0，没有逐孔字段，该节点无法判定。agent 在会话内的穿孔检查只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话中右/左夹爪抓绳端尝试穿孔，但不属于被评分的回合。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行没有视频（video.kind=none）、没有状态日志，评分器 reward 只给 missing_trajectory=1、success=0，没有逐孔字段，该节点无法判定。agent 在会话内的穿孔检查只是会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话中右/左夹爪抓绳端尝试穿孔，但不属于被评分的回合。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行没有视频（video.kind=none）、没有状态日志，评分器 reward 只给 missing_trajectory=1、success=0，没有逐孔字段，该节点无法判定。agent 在会话内的穿孔检查只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "rope_through_t": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行没有视频（video.kind=none）、没有状态日志，评分器 reward 只给 missing_trajectory=1、success=0，没有逐孔字段，该节点无法判定。agent 在会话内的穿孔检查只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "rope_through_g3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行没有视频（video.kind=none）、没有状态日志，评分器 reward 只给 missing_trajectory=1、success=0，没有逐孔字段，该节点无法判定。agent 在会话内的穿孔检查只是会话证据，不作节点值。"
+     }
+    ]
+   },
+   "rope_through_c": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行没有视频（video.kind=none）、没有状态日志，评分器 reward 只给 missing_trajectory=1、success=0，没有逐孔字段，该节点无法判定。agent 在会话内的穿孔检查只是会话证据，不作节点值。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：reward 中 missing_trajectory=1、agent_replays=0、agent_records=0，即没有交付可回放的轨迹。agent 工作约 10852 s（限时 10800 s）；最后的 log step 460 仍在用多个脚本变体做 A→G2 交接实验（agent 自述，会话内），/app/output 下没有被评分的交付。无视频，无法判断被评分回合卡在哪一步。"
+  },
+  "unmet": {
+   "rope_through_g1": null,
+   "rope_through_a": null,
+   "rope_through_g2": null,
+   "rope_through_t": null,
+   "rope_through_g3": null,
+   "rope_through_c": null
+  },
+  "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），被评分回合不存在，故无失败现象；会话内实验只是会话证据，不能单独推出根因。超时本身不是现象或根因，未追溯出可证实的原因（agent 的 G1 到 A 之间多次交接失败见 log step 91、173、190，仅为会话证据）。"
+ },
+ "summary_zh": "任务设计无异常。本次运行没有交付轨迹（missing_trajectory=1，success=0），也没有视频或状态日志，六个穿孔节点均无法判定（final 全为 null）。agent 在会话中反复调试 G1 后的左右臂交接（log step 91、173、190），到限时仍在做 A→G2 实验（log step 460），无被评分证据，故不给失败现象和根因。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志、missing_trajectory=1 且未交付任何轨迹；文件按 D23(a) 把六个节点标为 unknown、断点 unknown/首步前、现象与根因为空并写了 gap_zh，符合规则。引用的 log step 91/173/190/460 均存在且内容与文中描述一致，并已标为会话证据。未发现需要修改的问题。",
+    "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": "2026-11-08T08:42:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-08-i01-privileged--yssbtev/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-08-i01-privileged--yssbtev/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "19426dacaddcd00339398570b5ceeb2016947d1f23fccc023b3b14f3ba9fe3a0",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--tdvq5xb.json b/phaseK/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--tdvq5xb.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3ae5373629fcd279ad32f24a2615d559d11232b
--- /dev/null
+++ b/phaseK/roboarc/rope_threading_08/trajectories/roboarc-rope-threading-08-i01-standard--tdvq5xb.json
@@ -0,0 +1,263 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-rope-threading-08-i01-standard--tdvq5xb",
+ "taskKey": "roboarc/rope_threading_08",
+ "dag_sha256": "cc2dfc2dca07aaac91db36d0a53ad9b0a2378e6367bc797a631461839ca8f622",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 13242,
+   "live_rows": 13242,
+   "sim_steps": 13242,
+   "physics_steps": 13242,
+   "steps": 13097,
+   "elapsed_s": 10805.5,
+   "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": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-rope-threading-08-i01-standard--tdvq5xb.mp4",
+  "duration_s": 529.734,
+  "fps": 15.0,
+  "frames": 7946,
+  "sha256": "997e9d820105f2486961d722a188c6feb30d7843f4d5c2e1c6767d8b3369ab2f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "rope_through_g1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 529.0,
+      "log_step": null,
+      "text_zh": "观察：视频 529 s（末帧）及 0-529 s 抽帧（每 30 s 与每 60 s）中，黄色绳全程只在隔墙右侧桌面成圈，绳端从未穿过隔墙青孔或任何一个环；侧视图里绳只伸到墙前。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 100-400 s 右臂夹爪夹住绳端、左臂夹爪伸到 G1 孔处接绳（腕部视角见青环），但绳未过孔；agent 自述左手指根部卡在孔缘（log step 62）。"
+     }
+    ]
+   },
+   "rope_through_a": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 529.0,
+      "log_step": null,
+      "text_zh": "观察：视频 529 s（末帧）及 0-529 s 抽帧（每 30 s 与每 60 s）中，黄色绳全程只在隔墙右侧桌面成圈，绳端从未穿过隔墙青孔或任何一个环；侧视图里绳只伸到墙前。"
+     }
+    ]
+   },
+   "rope_through_g2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 529.0,
+      "log_step": null,
+      "text_zh": "观察：视频 529 s（末帧）及 0-529 s 抽帧（每 30 s 与每 60 s）中，黄色绳全程只在隔墙右侧桌面成圈，绳端从未穿过隔墙青孔或任何一个环；侧视图里绳只伸到墙前。"
+     }
+    ]
+   },
+   "rope_through_t": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 529.0,
+      "log_step": null,
+      "text_zh": "观察：视频 529 s（末帧）及 0-529 s 抽帧（每 30 s 与每 60 s）中，黄色绳全程只在隔墙右侧桌面成圈，绳端从未穿过隔墙青孔或任何一个环；侧视图里绳只伸到墙前。"
+     }
+    ]
+   },
+   "rope_through_g3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 529.0,
+      "log_step": null,
+      "text_zh": "观察：视频 529 s（末帧）及 0-529 s 抽帧（每 30 s 与每 60 s）中，黄色绳全程只在隔墙右侧桌面成圈，绳端从未穿过隔墙青孔或任何一个环；侧视图里绳只伸到墙前。"
+     }
+    ]
+   },
+   "rope_through_c": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 529.0,
+      "log_step": null,
+      "text_zh": "观察：视频 529 s（末帧）及 0-529 s 抽帧（每 30 s 与每 60 s）中，黄色绳全程只在隔墙右侧桌面成圈，绳端从未穿过隔墙青孔或任何一个环；侧视图里绳只伸到墙前。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "maximum_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "stable_time_s",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "rope_through_g1",
+   "t": 200.0,
+   "log_step": 62,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0-529 s 绳始终未穿过 G1；右臂夹住绳端、左臂夹爪伸到 G1 孔边接绳，多次尝试后绳仍在墙右侧（视频 529 s 末帧）。agent 自述左手指根部在 G1 孔缘卡住（log step 62）、交接失败留下悬空绳圈（log step 123）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 200.0,
+    "log_step": 62,
+    "evidence_zh": "观察：夹住的绳端始终没有送到 G1 孔的另一侧；视频 529 s 绳仍全在墙右侧。推断：绳端与孔的相对位姿没有对准到可穿过。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "未找到可靠的根因证据：只有 agent 自述（手指根部卡孔缘、交接失败），视频未能单独证明夹爪几何不适；无状态日志；根因留空。",
+  "unmet": {
+   "rope_through_g1": false,
+   "rope_through_a": false,
+   "rope_through_g2": false,
+   "rope_through_t": false,
+   "rope_through_g3": false,
+   "rope_through_c": false
+  }
+ },
+ "summary_zh": "观察：视频 0-529 s 内绳从未穿过六孔中的任何一个，6 个节点 final 均为 false。断点在 G1：右臂夹住绳端、左臂伸到 G1 孔边接绳的交接始终没成功（agent 自述手指根部卡孔缘，log step 62）。无状态日志，agent 的任务预算在 log step 133 时已近耗尽；根因证据不足。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "六个节点均未达成与视频一致（末帧及 300 s 帧绳仅在隔墙右侧）；断点 G1、位姿不准（标为推断）、根因留空并附 gap_zh 均合理，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": "2026-11-08T08:42:43Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-08-i01-standard--tdvq5xb/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-rope-threading-08-i01-standard--tdvq5xb/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "1e2eb043b6a3052807379f22f805715ff431366c3dcbc16eddb5714ec3b377e0",
+   "video_sha256": "997e9d820105f2486961d722a188c6feb30d7843f4d5c2e1c6767d8b3369ab2f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp.json b/phaseK/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e93d9bd1aeca24b650778d5a253c04678d5e095
--- /dev/null
+++ b/phaseK/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp.json
@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp",
+ "taskKey": "roboarc/slotted_post_ring_03",
+ "dag_sha256": "9cd6608edfcbda0a11d1cb71a3b832dac36a2d6362af3bca9f3fc93416e5b3ce",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 4,
+   "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": 2895,
+   "submitted_actions": 2895,
+   "sim_steps": 2975,
+   "physics_steps": 29750,
+   "sim_time_s": 74.37499999999979,
+   "final_reward": 0.0,
+   "replay_wall_s": 1731.8,
+   "replays": 2,
+   "grader_error": 0,
+   "video_rendered": 1,
+   "replay_hold_steps": 80,
+   "replay_tolerance_needed": 0,
+   "strict_goal_reached": 0,
+   "strict_goal_row": 0,
+   "strict_replay_required": 1,
+   "success_in_hold_only": 0,
+   "agent_sessions": 82,
+   "agent_resets": 42,
+   "agent_sim_steps": 62997,
+   "agent_records": 55,
+   "agent_replays": 12,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 1.099,
+   "peak_memory_gb": 1.26,
+   "peak_processes": 13,
+   "peak_disk_gb": 1.12,
+   "peak_cpus": 3.26,
+   "peak_pids": 92,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "session_log_tampered": 0,
+   "session_log_from_monitor": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp.mp4",
+  "duration_s": 74.467,
+  "fps": 15.0,
+  "frames": 1117,
+  "sha256": "ebcde312cc90d406423a910f6d4da0cc5472f7f518d3d8a652122c2a57c81dc7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      36.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 起立柱、绳、珠和两个端盘均在目标方框的远侧（系统侧），初态成立。"
+     },
+     {
+      "t": 36.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 36-40 s 右侧端盘被拖向立柱和目标方框一侧，绳随之跨过分隔面；视频 55-74 s 绳沿立柱被拉向目标侧，端盘留在方框附近。推断：约 36 s 起余件越界（时间不确定，±3 s）。"
+     },
+     {
+      "t": 74.4,
+      "log_step": 651,
+      "text_zh": "观察：视频末帧绳与端盘仍在目标侧；agent 自述最终绳最大 y 0.3006 m，要求 ≤0.14 m（log step 649-651，会话数据，与视频一致）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 20-40 s 左夹爪腕部画面显示绳位于两指之间，夹着绳段靠近立柱底座，随臂运动拖动绳和右侧端盘；非有意整理。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 74.4,
+      "log_step": 650,
+      "text_zh": "观察：视频 60-74.4 s 右臂夹爪夹着金属环停在立柱上方靠近目标方框处并基本静止；但绳与端盘越过分隔面，节点要求与余件留系统侧共同连续 0.5 s，评分器 strict_goal_reached=0、success=0。推断：该节点未完成；环是否整体入框在高位视角下难以逐顶点确认。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右臂夹爪夹住金属环，从立柱槽中取出并送到目标方框附近（视频约 10-74 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.230257,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "remainder_on_system_side",
+   "t": 36.0,
+   "where": "操作中",
+   "evidence_zh": "观察：环被夹取并送往目标方框的过程中，视频约 36-40 s 端盘被拖向目标侧，绳跨过分隔面，至视频末 74.4 s 未恢复；agent 自述终态绳最大 y 0.3006 m（log step 651）。",
+   "log_step": 649
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 36.0,
+    "log_step": 649,
+    "evidence_zh": "观察：移动金属环时绳和端盘被一同拖过分隔面（视频 36-74 s）。推断：属于操作部件带动余件。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "推理/规划",
+    "evidence_zh": "观察：agent 在 log step 54-62 自述只规划金属环路径、把绳当固定或次要，其计划未保证绳不被带过分隔面；终态环到位但绳越界（log step 649）。推断：规划未处理绳的耦合。",
+    "source_zh": "agent 自述",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "无状态日志；环是否整体入框、越界时刻均凭高位画面估计。根因判断依据 agent 自述，较弱。",
+  "unmet": {
+   "remainder_on_system_side": false,
+   "ring_in_goal": false
+  }
+ },
+ "summary_zh": "观察：图示尝试中右臂夹环取出并送到目标方框附近，但绳与端盘约视频 36 s 起被拖过分隔面，直到 74.4 s 未恢复，故两节点均未完成（0/2，余件节点初期成立后丢失）。断点在余件留系统侧；原因推断为规划未处理绳的牵连，证据较弱。无状态日志，时间有不确定。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "节点值、断点和主要现象基本可接受；但余件节点的 contact_actual 把左臂写成“推/扫、非有意”，而视频 20-36 s 左夹爪腕部视角显示绳夹在指间（抓握），且左臂在越界前就已作用于绳。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、断点（余件留系统侧 ~36 s）、现象和根因（弱）均与视频一致；上一轮的 contact_actual 已按建议改为抓握。右端盘在 34 s 仍在原位，40 s 已被拖到立柱旁，36 s 的时间落在 ±3 s 内。",
+    "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": "2026-11-08T08:48:40Z",
+  "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-slotted-post-ring-03-i01-privileged--qyvmpkp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-03-i01-privileged--qyvmpkp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "285cdfb4ddc84394a4ad424602eba0bc2a339e7376a44ace89fbda41925a557a",
+   "video_sha256": "ebcde312cc90d406423a910f6d4da0cc5472f7f518d3d8a652122c2a57c81dc7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-standard--skmnrfl.json b/phaseK/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-standard--skmnrfl.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c88f1494c8ac33b3865b59a7e490a88f2d1c98
--- /dev/null
+++ b/phaseK/roboarc/slotted_post_ring_03/trajectories/roboarc-slotted-post-ring-03-i01-standard--skmnrfl.json
@@ -0,0 +1,291 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-03-i01-standard--skmnrfl",
+ "taskKey": "roboarc/slotted_post_ring_03",
+ "dag_sha256": "9cd6608edfcbda0a11d1cb71a3b832dac36a2d6362af3bca9f3fc93416e5b3ce",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 15594,
+   "live_rows": 15594,
+   "sim_steps": 15594,
+   "physics_steps": 155940,
+   "steps": 9921,
+   "elapsed_s": 10812.8,
+   "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-slotted-post-ring-03-i01-standard--skmnrfl.mp4",
+  "duration_s": 389.934,
+  "fps": 15.0,
+  "frames": 5849,
+  "sha256": "b5b9591974ff0f853e1980b0192f510df577b677688ab569da3ae775677b8b27"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 0,
+  "nodes": {
+   "remainder_on_system_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      282.0
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.2 s 立柱、绳、两颗珠和两个端盘都在原位，余件在系统侧（按初态成立）。"
+     },
+     {
+      "t": 283.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 282 s 起右臂夹爪带着珠/端盘移动，右侧端盘离开原位；至视频 389.5 s 绳、珠、端盘被拖到环附近的前方区域，未回到系统侧。推断：余件在约 282 s 失去且未恢复，时间精度约±3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：约视频 255-390 s 两只夹爪抓取/拖动珠、端盘和绳（智能体 log step 374-382 自述抓珠、抬端盘），把余件带离原位。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 389.5,
+      "log_step": 386,
+      "text_zh": "观察：视频 389.5 s 金属环已离开立柱、被夹爪夹持并仍与绳、端盘缠在一起，处于前方绿色圆盘附近，未静止；环未稳定在目标区内且余件不在系统侧，两者共同条件从未成立。agent 自述“环仍与绳和端盘缠绕”（log step 385）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 20-280 s 左臂多次夹环前弧（早期抓空），约 280 s 起夹住环并抬离立柱，之后双臂移动环到前方。"
+     },
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 245-280 s 右夹爪在立柱/环附近拨弄整理绳，285 s 后双臂都在环与绳附近（右臂整理绳、左臂夹环），245-390 s。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "target_horizontal_clearance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.230257,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "target_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 282.0,
+   "log_step": 385,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 280 s 环被抬离立柱后，绳和端盘随环一起被拖到前方；视频 389.5 s 环仍与绳/端盘缠绕、被夹持，未静置于目标区。agent 自述“环仍与绳和端盘缠绕，无法验证分离”（log step 385）。"
+  },
+  "unmet": {
+   "remainder_on_system_side": false,
+   "ring_in_goal": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 285.0,
+    "log_step": 385,
+    "evidence_zh": "观察：视频 285-389 s 环被夹持移向前方绿盘，始终与绳、珠、端盘缠绕，未进目标框，也未与余件分离；余件被拖离系统侧作为附带现象；无固定物阻挡的画面。agent 自述环仍缠绕（log step 385）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "log step 372-382：智能体反复设计“把珠穿过偏置环孔”的方案，多次 IK 失败（step 370/372/378/380），step 376 左珠抓取丢失、step 377 自述左腕碰撞饱和；最终策略是带着缠绕的绳搬环，而不是先让环从立柱和绳上解脱（step 385）。",
+    "source_zh": "状态日志 / agent 自述"
+   }
+  ],
+  "gap_zh": "根因置信度偏低：抓取与接触方案不适配与规划选择之间难以完全区分，是否存在可行替代未知；目标区边界在视频中不易辨认；原始评分器未给出各 native_metrics 数值。"
+ },
+ "summary_zh": "观察：graded 视频 390 s 内环在约 280 s 被抬离立柱，但与绳、珠、端盘缠绕并把它们拖离系统侧，结束时仍被夹持。两个节点终态均 false；余件节点在约 282 s 失去。断点在金属环入目标区（操作中），根因证据不足未标。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点位置与时间基本可信（视频 0.2 s 余件在位，约 282 s 起被拖离，389.5 s 环仍缠绕）。问题在现象与根因：被挡/碰撞缺少阻断接触的证据，根因整体留空但视频与 log 已支持一个因果。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、余件约282 s失去、环从未入区、断点 ring_in_goal 与位姿不准/抓取和接触设计根因均与视频一致；第1轮问题已处理，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:48:36Z",
+  "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-slotted-post-ring-03-i01-standard--skmnrfl/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-03-i01-standard--skmnrfl/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-03-i01-standard--skmnrfl/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-03-i01-standard--skmnrfl/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "91cd5bcbe29dc694158ae564b771cbacb7df64c818aa54a17d783f3f766c389b",
+   "video_sha256": "b5b9591974ff0f853e1980b0192f510df577b677688ab569da3ae775677b8b27",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--umwzsz8.json b/phaseK/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--umwzsz8.json
new file mode 100644
index 0000000000000000000000000000000000000000..53ef855205d3065aaba348ba2535e337b4be177e
--- /dev/null
+++ b/phaseK/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-privileged--umwzsz8.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-privileged--umwzsz8",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 32,
+   "agent_resets": 20,
+   "agent_sim_steps": 15098,
+   "agent_records": 17,
+   "agent_replays": 6,
+   "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": {
+   "system_on_original_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 235,
+      "text_zh": "观察：无视频、无状态日志，评分器只报告 missing_trajectory=1、success=0，未给出该节点取值；agent 自测输出（log step 232-235）属会话证据，不作节点值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 235,
+      "text_zh": "观察：评分器字段 success=0、missing_trajectory=1（未交付可回放轨迹）。推断：目标节点绑定成功判定，故最终未达成；agent 自测多次 separate/quiet 未同时满足（log step 232、235 自述绳未解开），均为会话内测试，非受评片段。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "目标水平边界最小内缩量",
+   "value": null,
+   "unit": "mm",
+   "threshold": 1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "目标最低点相对桌面高度",
+   "value": null,
+   "unit": "mm",
+   "threshold": -1,
+   "direction": "higher_better"
+  },
+  {
+   "name": "目标最高点相对桌面高度",
+   "value": null,
+   "unit": "mm",
+   "threshold": 226.034,
+   "direction": "lower_better"
+  },
+  {
+   "name": "目标刚体最大线速度",
+   "value": null,
+   "unit": "mm/s",
+   "threshold": 1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "目标刚体最大角速度",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "非目标组件向目标侧越过分隔面的最大距离",
+   "value": null,
+   "unit": "mm",
+   "threshold": 0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "最终条件联合连续确认时间",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器 missing_trajectory=1、success=0（agent_records 17、agent_replays 6）；log step 235（agent 工作约 10798 s，预算 10800 s）agent 仍在会话内调试绳钩解离，未交付可回放轨迹，受评片段不存在。",
+   "log_step": 235
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "unmet": {
+   "system_on_original_side": null,
+   "ring_in_goal": false
+  },
+  "gap_zh": "无视频、无状态日志；未交付受评轨迹（missing_trajectory=1），因 agent 方原因未交付，按规则现象与根因层留空（会话证据不作现象）。会话内 agent 自述绳链始终无法与立柱解离（log step 235），但未据此定因。"
+ },
+ "summary_zh": "观察：未交付可回放轨迹（missing_trajectory=1，success=0），无视频与状态日志，两节点无法由视频判定；金属环入目标区按评分器结果记为未达成。agent 用满约 10800 s 预算在会话内反复试验解绳，未固化成功轨迹。证据缺口：无受评片段，现象与根因留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志、未交付可回放轨迹（missing_trajectory=1，success=0）；ring_in_goal=false 由评分器结果界定，system_on_original_side 无证据判定记 unknown，现象与根因按 D23(a) 留空并写 gap_zh，断点首步前合理，时钟只引用 log step 与 agent 时间且已标明，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": "2026-11-08T08:42:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--umwzsz8/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-privileged--umwzsz8/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "b68fe63bcc6afaab9f9bebd76270594a2640b2ae4042b1e16aa4ae7c949a3a5b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--bjmhbkq.json b/phaseK/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--bjmhbkq.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ed20f91b842a386abbf676a7074b2b70eb593ff
--- /dev/null
+++ b/phaseK/roboarc/slotted_post_ring_04/trajectories/roboarc-slotted-post-ring-04-i01-standard--bjmhbkq.json
@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-04-i01-standard--bjmhbkq",
+ "taskKey": "roboarc/slotted_post_ring_04",
+ "dag_sha256": "368115d287de7a1899841a989f93da0b06a6dbeb08b2ff238d4de32567a93cc1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 3,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 13219,
+   "live_rows": 13219,
+   "sim_steps": 13219,
+   "physics_steps": 132190,
+   "steps": 5529,
+   "elapsed_s": 10816.9,
+   "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-slotted-post-ring-04-i01-standard--bjmhbkq.mp4",
+  "duration_s": 330.534,
+  "fps": 15.0,
+  "frames": 4958,
+  "sha256": "5e1a6103078734c5cad6d2f3454e969c532f8b553b7b6a630c8ba2b8f62f2720"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "system_on_original_side": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 330.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0–330 s 立柱、绳链、珠子和端盘始终在立柱底座一侧，最后一帧（视频 330 s）它们仍在原谜题侧；推断：未越过分隔面，精度有限（无状态日志）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：一只夹爪夹持绳/珠子，把系统部件留在原侧。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 330.0,
+      "log_step": 522,
+      "text_zh": "观察：视频约 225 s 起金属环被夹爪提到立柱上方，最后一帧（视频 330 s）环仍悬在立柱顶部附近、绳和珠子仍穿过环，不在绿色目标圈内；agent 自述珠子在验证抬升时滑落并留在端盘处（log step 518）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：一只夹爪夹持金属环并抬起，另一只夹爪夹持绳/珠子/端盘，配合尝试解套。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_in_goal",
+   "t": 300,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 225–330 s 金属环被抬起，但始终没有从绳/珠子上解套并移到绿色目标圈；最后一帧环仍套着绳和珠子，悬在立柱附近。",
+   "log_step": 518
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频视角有遮挡：视频只显示环被抬起后仍与绳/立柱套连，无法判定失败机制；agent 自述珠子滑落（log step 518）只是叙述，不作现象；根因证据不足故留空。",
+  "unmet": {
+   "system_on_original_side": true,
+   "ring_in_goal": false
+  }
+ },
+ "summary_zh": "观察：金属环在视频约 225 s 后被抬起，但直到视频 330 s 结束仍套着绳和珠子，未进入目标圈，ring_in_goal 未达成；系统部件留在原侧（目视）。断点为金属环解套入区，失败机制无法由视频判定（agent 自述珠子滑落仅作背景）。无状态日志，证据有限。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点 ref=ring_in_goal 与时间基本与视频一致（环 260–329 s 被夹爪举在立柱上方、仍穿着绳，未入绿圈）；但唯一的现象“接触·没保持住”只依据 agent 自述的珠子滑落，视频未能确认，不应作为现象。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第1轮问题已修正：现象置空并写明gap_zh；节点值（ring_in_goal未达成、系统留原侧）、断点ring_in_goal与视频一致，环直到330 s仍套着绳被举在立柱上方，未入绿圈。",
+    "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": "2026-11-08T08:48:07Z",
+  "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-slotted-post-ring-04-i01-standard--bjmhbkq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--bjmhbkq/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--bjmhbkq/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-04-i01-standard--bjmhbkq/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "42c7232300c12c7cc68d719a7eff407156dd99f9764f40e244b89adac41289b8",
+   "video_sha256": "5e1a6103078734c5cad6d2f3454e969c532f8b553b7b6a630c8ba2b8f62f2720",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--ektqhmw.json b/phaseK/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--ektqhmw.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2828a05354c98eba65754303878a5a169ab596c
--- /dev/null
+++ b/phaseK/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-privileged--ektqhmw.json
@@ -0,0 +1,221 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-05-i01-privileged--ektqhmw",
+ "taskKey": "roboarc/slotted_post_ring_05",
+ "dag_sha256": "00db80c211aa6c8a66f90bf782630145d1fd157343b42acf89b5ceea5a9f26cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "missing_trajectory": 1,
+   "infra_error": 0,
+   "grader_error": 0,
+   "agent_sessions": 44,
+   "agent_resets": 0,
+   "agent_sim_steps": 15936,
+   "agent_records": 29,
+   "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": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_freed": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器报告 missing_trajectory=1（agent 未交付轨迹）。节点无法按视频时钟判定，intervals 为 null；final 无评分器字段可据，保持 null。agent 在 log step 153-157 仍在试探性抓取，未见交付。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器报告 missing_trajectory=1（agent 未交付轨迹）。节点无法按视频时钟判定，intervals 为 null；final 无评分器字段可据，保持 null。agent 在 log step 153-157 仍在试探性抓取，未见交付。"
+     }
+    ]
+   },
+   "remainder_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分器报告 missing_trajectory=1（agent 未交付轨迹）。节点无法按视频时钟判定，intervals 为 null；final 无评分器字段可据，保持 null。agent 在 log step 153-157 仍在试探性抓取，未见交付。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "ring_min_horizontal_margin",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "ring_min_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.001,
+   "direction": "higher_better"
+  },
+  {
+   "name": "ring_max_height_above_table",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.221812,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ring_max_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ring_max_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "remainder_max_separator_crossing",
+   "value": null,
+   "unit": "m",
+   "threshold": 0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "joint_confirmation_duration",
+   "value": null,
+   "unit": "s",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_freed",
+   "t": null,
+   "log_step": 157,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1，agent_records=29、agent_replays=0；log step 153-157 仍在做探针脚本（左臂抓取试验、IK 分支警告 log step 155），最后一步未交付轨迹。推断：图评分的轨迹中没有任何解环动作，故断点为第一步“金属环解离”，尚未开始。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且未交付任何轨迹（missing_trajectory=1）：没有被评分的机器人动作可观察。按规则，因 agent 侧原因未交付时不由会话试验（探针脚本、IK 警告）推出现象或根因，故两层留空。",
+  "unmet": {
+   "ring_in_goal": null,
+   "remainder_system_side": null
+  }
+ },
+ "summary_zh": "观察：本次运行未交付轨迹（评分器 missing_trajectory=1），无视频和状态日志，三个节点均无法判定（intervals null，final null）。推断：断点在第一步“金属环解离”之前（首步前）；agent 在 log step 157 仍在试探抓取。证据缺口：无被评分的机器人动作，现象与根因留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1），节点 null、断点 ring_freed/首步前、两层留空并写 gap_zh，均符合 03 第5条（agent 侧未交付，D23）。wall_s 10802 超过 10800 s 限时，无外部因素。",
+    "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": "2026-11-08T08:42:14Z",
+  "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-slotted-post-ring-05-i01-privileged--ektqhmw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-privileged--ektqhmw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "25bb9effa2ae481d364e61b8640b137c8df260fc7c56c9fc31a1d56e238d9f8c",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}
diff --git a/phaseK/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-standard--lnttesu.json b/phaseK/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-standard--lnttesu.json
new file mode 100644
index 0000000000000000000000000000000000000000..797fcab2f0431d3a7ae3e63df7988fd2f28687b2
--- /dev/null
+++ b/phaseK/roboarc/slotted_post_ring_05/trajectories/roboarc-slotted-post-ring-05-i01-standard--lnttesu.json
@@ -0,0 +1,229 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "roboarc-slotted-post-ring-05-i01-standard--lnttesu",
+ "taskKey": "roboarc/slotted_post_ring_05",
+ "dag_sha256": "00db80c211aa6c8a66f90bf782630145d1fd157343b42acf89b5ceea5a9f26cd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "success_pending_review": 0,
+   "review_events": 0,
+   "review_max_depth_mm": 0.0,
+   "forcing_events": 2,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "runtime_binding_ok": 1,
+   "finalized": 1,
+   "missing_log": 0,
+   "n_actions": 9247,
+   "live_rows": 9247,
+   "sim_steps": 9247,
+   "physics_steps": 92470,
+   "steps": 1868,
+   "elapsed_s": 10814.0,
+   "video_rendered": 1,
+   "video_pending": 0,
+   "infra_error": 0,
+   "sim_error": 0,
+   "simulator_instability": 0,
+   "gave_up": 0,
+   "sim_startups": 1,
+   "resumes": 0,
+   "resume_state_mismatch": 0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "instance_mismatch": 0,
+   "initial_state_generated": 0,
+   "instance_realized": 0,
+   "grader_error": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:roboarc-slotted-post-ring-05-i01-standard--lnttesu.mp4",
+  "duration_s": 231.267,
+  "fps": 15.0,
+  "frames": 3469,
+  "sha256": "f49632ccdada92d339d754deef2fb4c810e70b20e981a3fb7188fc79e55e454e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "ring_freed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 230.9,
+      "log_step": 463,
+      "text_zh": "观察：视频 231 s 右侧腕部相机里黄黑绳横穿蓝环孔，高位相机里环与绳同挂在柱上方；160 s 腕部相机里绳与环相叠、环被抬在柱上方。准则点名的“尚有绳段穿套环孔即未完成”线索可见，故未解离（绳未必严格穿孔，视角有遮挡，故保守）。agent 自述“cord still close”仅作旁证。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪夹住金属环并抬升（视频 120–231 s）；右夹爪在视频 180–225 s 靠近柱与绳。"
+     }
+    ]
+   },
+   "ring_in_goal": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 230.9,
+      "log_step": 463,
+      "text_zh": "观察：视频 231 s 最后一帧环仍在柱顶上方，远离绿色目标圈；整个视频未见环进入目标区，agent 最后一句只是“正要移向目标”（log step 463）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：左夹爪夹环，尚未送到目标区。"
+     }
+    ]
+   },
+   "remainder_system_side": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": 230.9,
+      "log_step": null,
+      "text_zh": "观察：视频中柱和绳链仍在原位附近，但分隔面位置在画面中不可见，无法核对该节点；也未见整套谜题被拖向目标区。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "ring_freed",
+   "where": "操作中",
+   "t": 225,
+   "log_step": 463,
+   "evidence_zh": "观察：视频 120–231 s 左夹爪夹住金属环并抬起，231 s 腕部相机见绳仍横穿环孔、环与绳一同悬在柱上方，环未进入目标区。推断：卡在解离一步，环未与绳/柱解开；agent 自述左腕关节限位（log step 460）仅为自述。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "环为何没能与绳解开（根因）画面与日志均不足以区分，现象和根因留空。",
+  "unmet": {
+   "ring_in_goal": false,
+   "remainder_system_side": null
+  }
+ },
+ "summary_zh": "观察：视频 231 s 内左夹爪夹环抬到柱顶上方，腕部相机见绳仍穿过环孔，环未解离，也未进入绿色目标区，成功=0。断点 ring_freed（视觉判 false）；余件系统侧因分隔面不可见为未知。agent 自述受腕关节限位（log step 460）。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "ring_freed 标为 unknown 不妥：视频 231 s 腕部相机和高位相机都显示绳仍穿过环孔、环与绳同挂在柱上方，准则里的“尚有绳段穿套环孔即未完成”可直接判 false。断点 ring_freed 因此有视频支撑；phenomena/根因留空可保留，因为现有证据不足以区分原因。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "ring_freed false、ring_in_goal false、断点 ring_freed 均有 200/231 s 帧支撑（绳仍穿环、环悬在柱上方、未到目标圈）；现象/根因留空并附 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": "2026-11-08T08:48:22Z",
+  "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-slotted-post-ring-05-i01-standard--lnttesu/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-standard--lnttesu/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-standard--lnttesu/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/roboarc-slotted-post-ring-05-i01-standard--lnttesu/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7cc0db14e6cb7efd4a43a521d54b1b29ff07bd89869b03ef2161e29f5e05654a",
+   "video_sha256": "f49632ccdada92d339d754deef2fb4c810e70b20e981a3fb7188fc79e55e454e",
+   "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."
+ }
+}