diff --git a/phaseR/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--tcy4zej.json b/phaseR/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--tcy4zej.json new file mode 100644 index 0000000000000000000000000000000000000000..f1c88505ba92513ff3ed2fb0d37f9ecca46a0ee6 --- /dev/null +++ b/phaseR/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--tcy4zej.json @@ -0,0 +1,905 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-bicycle-pump-stroke-i00-standard--tcy4zej", + "taskKey": "dexhand/bicycle_pump_stroke", + "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 38, + "control_steps_total": 3356, + "elapsed_s": 2909.237, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + 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形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_2": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 12 s 的采样帧首次显示 2/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_3": { + "method": "visual", + "intervals": [ + [ + 12.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 13 s 的采样帧首次显示 3/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_4": { + "method": "visual", + "intervals": [ + [ + 13.5, + null + ] + ], + "final": 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"contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_23": { + "method": "visual", + "intervals": [ + [ + 36.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 37 s 的采样帧首次显示 23/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_24": { + "method": "visual", + "intervals": [ + [ + 37.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 38 s 的采样帧首次显示 24/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_25": { + "method": "visual", + "intervals": [ + [ + 39.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 39.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 40 s 的采样帧首次显示 25/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_26": { + "method": "visual", + "intervals": [ + [ + 40.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 40.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 41 s 的采样帧首次显示 26/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_27": { + "method": "visual", + "intervals": [ + [ + 41.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 41.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 42 s 的采样帧首次显示 27/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "pump_stroke_28": { + "method": "visual", + "intervals": [ + [ + 42.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 42.5, + "log_step": null, + "text_zh": "观察：视频顶栏 strokes 在约 43 s 的采样帧首次显示 28/28（逐秒采样，精度约 ±1 s），右手压下 T 形把手并回程。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频中右手掌面/伸出手指向下压 T 形把手，随后上提，未见合拢握住把手。" + } + ] + }, + "head_disconnected": { + "method": "visual", + "intervals": [ + [ + 52.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52.0, + "log_step": null, + "text_zh": "观察：视频 51.2-52.6 s 右手停在气门旁泵头处并将泵头退离，52.8 s 顶栏 released hold 5/50，53.7 s 显示 50/50 与 SUCCESS。推断：开锁退头约在视频 52 s，精度约 ±1 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 51-52 s 右手在气门旁开锁并拔下泵头。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "tire_gauge_pa", + "value": 211400, + "unit": "Pa", + "threshold": 210600, + "direction": "higher_better" + }, + { + "name": "piston_down_depth_m", + "value": null, + "unit": "m", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "piston_return_depth_m", + "value": null, + "unit": "m", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "piston_release_depth_m", + "value": null, + "unit": "m", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "pump_release_tilt_rad", + "value": null, + "unit": "rad", + "threshold": 0.0873, + "direction": "lower_better" + }, + { + "name": "pump_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "handle_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "任务成功：视频中泵头约 7.5 s 接通，顶栏 strokes 在约 11-46 s 逐次计到 30/28，胎压 211.40 kPa，约 52 s 开锁退头，53.7 s 显示 released hold 50/50 与 SUCCESS，全部 30 个节点完成。各次泵压时间来自逐秒采样的顶栏计数（精度约 ±1 s）；无状态日志，接通与脱开时刻为视觉估计；胎压值取自视频顶栏 211.40 kPa。", + "conf": 8, + "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，30/30 节点与顶栏计数、SUCCESS 帧一致，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:17Z", + "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/dexhand-bicycle-pump-stroke-i00-standard--tcy4zej/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--tcy4zej/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "17be07daae35f8233513f0f5e5cf2cd3ebf17300b2e18a6a6651dfbe0f0470ff", + "video_sha256": "2c75ee0865d89c05451d623a0605e435aea457fdc2fc342cb5371e6e5f8935a9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--w42tkwe.json b/phaseR/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--w42tkwe.json new file mode 100644 index 0000000000000000000000000000000000000000..f9705a8212a5bc83d8f5826a0dd9bab937ab1e78 --- /dev/null +++ b/phaseR/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--w42tkwe.json @@ -0,0 +1,159 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-book-page-turn-i00-standard--w42tkwe", + "taskKey": "dexhand/book_page_turn", + "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 16, + "control_steps_total": 769, + "elapsed_s": 1991.195, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 1, + "missing_log": 0, + "n_actions": 422, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 422, + "success": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.396, + "peak_processes": 9, + "peak_disk_gb": 0.257, + "peak_cpus": 2.76, + "peak_pids": 107, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-book-page-turn-i00-standard--w42tkwe.mp4", + "duration_s": 10.8, + "fps": 5.0, + "frames": 54, + "sha256": "319996781d1858ab72391c756ff5f403ed097d13161ddc12049447a1c233b941" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "target_page_turned": { + "method": "visual", + "intervals": [ + [ + 8.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.5, + "log_step": 61, + "text_zh": "观察：视频叠字显示第2号叶片铰链角从视频约 4.4 s 的 17° 增到 6.8 s 的 144.6°，stage 经 1/4(lifted)、2/4(past_vertical)；视频 7.8 s 起 181.7°、stage 3/4(laid)、hold 18/50，视频 8.6 s 变为 PASS、hold 50/50、stage 4/4。其他叶片最大角度变化不超过 0.3°，书位移 1.7 mm、旋转约 0.26°，手书接触数为 0。agent 自述成功（log step 61）与评分一致。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 4.0-6.0 s 机器人一只灵巧手的指尖从页缘下方拨动第2号叶片翻过书脊，视频 6.4 s 起手书接触数为 0（叠字）。未见合手夹持。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：视频中机械手用指尖拨动第2号叶片，视频约 4.8 s 离页(lifted)，约 6.0 s 过竖直，约 7.6 s 落到左堆(181.7°)，视频 8.6 s 叠字 hold 50/50 判 PASS；书位移仅 1.7 mm。无状态日志，节点时间来自视频叠字，约半秒精度；哪只手拨页只能从画面粗略判断。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与视频叠字一致：视频 8.4 s hold 48/50，8.6 s PASS 50/50，节点 8.5 s 合理；接触为单手指尖推/扫，6.0 s 帧可见手书接触，8.4 s 起为 0。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:50:21Z", + "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/dexhand-book-page-turn-i00-standard--w42tkwe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-book-page-turn-i00-standard--w42tkwe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6b10bed6983bc9babd13b309d3a0076d3c375d4eb877ebdc901a565c3dafd4bb", + "video_sha256": "319996781d1858ab72391c756ff5f403ed097d13161ddc12049447a1c233b941", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z.json b/phaseR/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z.json new file mode 100644 index 0000000000000000000000000000000000000000..0e3ec5363f7f3758b851f64a50163ad50e6d32d3 --- /dev/null +++ b/phaseR/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z.json @@ -0,0 +1,321 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-drying-rack-unfold-i00-privileged--3ftcp9z", + "taskKey": "dexhand/drying_rack_unfold", + "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "deterministic": 1, + "hand_wuji": 0, + "infra_error": 0, + "n_actions": 4922, + "sim_steps": 4922, + "stages_completed": 3, + "success": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.767, + "peak_processes": 11, + "peak_disk_gb": 0.849, + "peak_cpus": 2.02, + "peak_pids": 118, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-drying-rack-unfold-i00-privileged--3ftcp9z.mp4", + "duration_s": 31.1, + "fps": 10.0, + "frames": 311, + "sha256": "c5f71956040fee73d52c2bd79012e221b281ebbb4d88ec398f60efd5c5d75e9e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 6, + "final": 6, + "nodes": { + "rack_unfolded": { + "method": "visual", + "intervals": [ + [ + 4.8, + 5.8 + ], + [ + 6.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.9, + "log_step": null, + "text_zh": "观察：视频字幕 fold：5.0 s 6°、5.5 s 7°（≤18°），6.0 s 回弹 32°、6.5 s 49°（>18°，失去），7.0 s 起 1° 并保持到结束；故区间两段。读数精度约 ±0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：右手手指接触管边/腿杆完成该步（视频 6.9 s 附近），具体接触方式帧中难以分辨，按勾记录。" + } + ] + }, + "legs_opened_1": { + "method": "visual", + "intervals": [ + [ + 10.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.3, + "log_step": null, + "text_zh": "观察：视频字幕 legs：7.0 s、9.0 s 仍全 0；10.0 s 第三条腿 57°，10.5 s 100°，约 10.3 s 达 90°（读数精度约 ±0.3 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：右手手指接触管边/腿杆完成该步（视频 10.3 s 附近），具体接触方式帧中难以分辨，按勾记录。" + } + ] + }, + "legs_opened_2": { + "method": "visual", + "intervals": [ + [ + 13.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 13.1, + "log_step": null, + "text_zh": "观察：视频字幕 legs：13.0 s 第四条腿 60°，13.5 s 100°，约 13.1 s 达 90°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：右手手指接触管边/腿杆完成该步（视频 13.1 s 附近），具体接触方式帧中难以分辨，按勾记录。" + } + ] + }, + "legs_opened_3": { + "method": "visual", + "intervals": [ + [ + 16.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 16.4, + "log_step": null, + "text_zh": "观察：视频字幕 legs：16.0 s 第一条腿 29°，16.5 s 95°，17.5 s 99°，18 s 100°，约 16.4 s 达 90°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：右手手指接触管边/腿杆完成该步（视频 16.4 s 附近），具体接触方式帧中难以分辨，按勾记录。" + } + ] + }, + "legs_opened_4": { + "method": "visual", + "intervals": [ + [ + 21.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 21.2, + "log_step": null, + "text_zh": "观察：视频字幕 legs：19-20.5 s 仍为 100 -0 100 100；21.0 s 第二条腿 24°，21.5 s 四腿 100°、Stage 1/3 unfolded，约 21.2 s 达 90°，四腿均 ≥90°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "勾", + "note_zh": "观察：右手手指接触管边/腿杆完成该步（视频 21.2 s 附近），具体接触方式帧中难以分辨，按勾记录。" + } + ] + }, + "rack_standing": { + "method": "visual", + "intervals": [ + [ + 28.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 28.2, + "log_step": null, + "text_zh": "观察：视频字幕 27.5 s 仍为 Stage 1/3 tilt 28°，约 28.2 s 起 Stage 2/3 standing、tilt 0°、hold 0/50，手已离开架子；约 28.8 s hold 24/50，约 29 s 起 Stage 3/3 PASS、hold 50/50（读数精度约 ±0.2-0.5 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：右手约 21-27 s 翻转架子，帧中手贴在架框上缘附近，具体是抓握、勾还是推扶无法从帧分辨；约 28 s 前手已松开，立正时无接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "评分器 success=1（3/3 阶段）。视频可见右手先展开主架（约 7 s 起 fold 稳定 ≤18°（5.8-6.9 s 曾回弹失去）），再依次展开四条腿（约 10-21 s），约 21-28 s 翻转并正立，约 28.2 s 起 Stage 2/3 standing，约 29 s 起字幕 PASS，终态 hold 50/50。节点时间由视频字幕与帧读出，精度约 0.5-1 s；无状态日志。", + "conf": 7, + "review": { + "status": "disputed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "评分器 success=1，六节点前五个时间与字幕基本相符；但 rack_standing 的到达时间和证据中的字幕读数有误：27 s 时仍是 Stage 1/3，立正（Stage 2/3 standing）出现在约 28.0-28.2 s，hold 50/50 约 29 s。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 9, + "summary_zh": "rack_standing 已修正且合理，但四条腿节点时间大多错：视频字幕显示 7.0 s、9.0 s 时 legs 仍为 0，实际依次约 10.3 s、13.1 s、16.5 s、21.2 s 达到 ≥90°；rack_unfolded 也漏掉 5.8-6.9 s 折角回弹到 32-49° 的失去阶段。", + "n_issues": 6, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "fix", + "summary_zh": "I1/I2/I4/I5 已正确应用；I3 的第四条腿时间 21.2 s 及证据读数错误（实际约 20.4 s），I6 的 summary 随之沿用错误。", + "n_issues": 3, + "n_checks": 6 + } + ], + "open_zh": [ + "[I3·第3轮未确认] 区间改为 [21.2,null] 且证据写“21.0 s 第二条腿 24°、21.5 s 四腿100°”与帧不符：实测第二条腿 20.0 s 24°、20.3 s 82°、20.4 s 92°，20.5 s 起四腿100°且 Stage 1/3；腿 4 达 90° 约 20.4 s，不是 21.2 s（偏晚约 0.8 s）；19-20 s 之间 legs 为 100 -0 100 100，20.0 s 起才开始。", + "[I6·第3轮未确认] summary 已按提议改，但“约 10-21 s”“约 21-28 s 翻转”沿用了错误的 21 s（腿展开实际约 10.2-20.4 s 结束）。", + "[第3轮事实错误] progress.nodes.legs_opened_4：intervals 起点 21.2 s 与证据“21.0 s 第二条腿 24°”均与帧不符，实际 20.0 s 24°、约 20.4 s ≥90°、20.5 s 起 Stage 1/3。" + ], + "confirm": { + "verdict": "not_confirmed", + "summary_zh": "I1/I2/I4/I5 已正确应用；I3 的第四条腿时间 21.2 s 及证据读数错误（实际约 20.4 s），I6 的 summary 随之沿用错误。", + "checks_ok": "4/6", + "n_factual_errors": 1 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:57:29Z", + "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/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--3ftcp9z/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": "ca142c26ba97b99e521bb0b891bb10fa915c9239675a5a74e7da8cabf6f6acbb", + "video_sha256": "c5f71956040fee73d52c2bd79012e221b281ebbb4d88ec398f60efd5c5d75e9e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--2ycoyww.json b/phaseR/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--2ycoyww.json new file mode 100644 index 0000000000000000000000000000000000000000..c4fe1d61157c3d8e3a54dda5e1281199ac123577 --- /dev/null +++ b/phaseR/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--2ycoyww.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-drying-rack-unfold-i00-standard--2ycoyww", + "taskKey": "dexhand/drying_rack_unfold", + "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 21, + "control_steps_total": 2770, + "elapsed_s": 3624.734, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 1695, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 1695, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.413, + "peak_processes": 9, + "peak_disk_gb": 0.299, + "peak_cpus": 1.22, + "peak_pids": 74, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-drying-rack-unfold-i00-standard--2ycoyww.mp4", + "duration_s": 36.0, + "fps": 5.0, + "frames": 180, + "sha256": "4117b052ed1c09df662d82517a8b4255583008f2e4df1a747ab038fa8f8b50bf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 6, + "base": 0, + "peak": 4, + "final": 3, + "nodes": { + "rack_unfolded": { + "method": "visual", + "intervals": [ + [ + 4.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.6, + "log_step": null, + "text_zh": "观察：视频叠加字幕 fold 角在视频 4.0 s 为 53°、5.0 s 为 1°，此后到 36 s 保持 1°；overview 可见两半架面摊平。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手在视频 0-4 s 掀起并推开活动半框（字幕 fold 180°→1°）。推断：接触方式为手指/手掌推开，帧中未见明确的捏握。" + } + ] + }, + "legs_opened_1": { + "method": "visual", + "intervals": [ + [ + 10.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.8, + "log_step": null, + "text_zh": "观察：字幕 legs 第3条腿在视频 10 s 为 29°、11 s 为 98°，之后保持 100°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手在腿附近拨动，字幕显示该腿被展开到 100°；具体为推还是勾帧中分辨不清。" + } + ] + }, + "legs_opened_2": { + "method": "visual", + "intervals": [ + [ + 18.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 18.8, + "log_step": null, + "text_zh": "观察：字幕 legs 第1条腿在视频 18 s 仍为 0、19 s 为 100°，此后保持 100°；此时已有 2 条腿 ≥90°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手移到该腿处拨开（字幕 0→100°）。" + } + ] + }, + "legs_opened_3": { + "method": "visual", + "intervals": [ + [ + 33.2, + 33.6 + ] + ], + "final": false, + "evidence": [ + { + "t": 33.2, + "log_step": null, + "text_zh": "观察：第4条腿字幕在视频约 33.2 s 为 90°、33.4 s 为 97°，33.6 s 回落到 82°，最终 81°，故一度满足 3 条腿，约 0.4 s 后失去。" + }, + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：第2条腿字幕自视频 28 s 升到 82° 后回落到 71°，从未到 90°；终态 legs 100/71/100/81。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手在视频 24-35 s 先后拨第2条与第4条腿；第4条被拨到 97° 后手离开，腿回落到 81°。" + } + ] + }, + "legs_opened_4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：终态字幕 legs 100 71 100 81，只有 2 条腿持续 ≥90°，第2条最高 82°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手反复拨第2、第4条腿，均未达 90° 稳定。" + } + ] + }, + "rack_standing": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：字幕 tilt 全程 180°（架子底面始终朝上，从未翻正），hold 0/50，Stage 0/3，状态 INCOMPLETE。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "fold_angle_rad", + "value": 0.017, + "unit": "rad", + "threshold": 0.3141592653589793, + "direction": "lower_better" + }, + { + "name": "leg_angles_rad[0]", + "value": 1.745, + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better" + }, + { + "name": "leg_angles_rad[1]", + "value": 1.239, + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better" + }, + { + "name": "leg_angles_rad[2]", + "value": 1.745, + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better" + }, + { + "name": "leg_angles_rad[3]", + "value": 1.414, + "unit": "rad", + "threshold": 1.5707963267948966, + "direction": "higher_better" + }, + { + "name": "tilt_deg", + "value": 180, + "unit": "deg", + "threshold": 10.0, + "direction": "lower_better" + }, + { + "name": "rack_linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "rack_angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "legs_opened_3", + "t": 33.6, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 11 s 与 19 s 已有两条腿到 100°；之后右手反复处理第2、第4条腿，第2条最高 82°，第4条在视频 33.4 s 到 97° 后于 33.6 s 回落到 81°，终态仍只有 2 条腿展开，架子也未翻正（tilt 180°）。" + }, + "unmet": { + "rack_unfolded": true, + "legs_opened_1": true, + "legs_opened_2": true, + "legs_opened_3": false, + "legs_opened_4": false, + "rack_standing": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 33.6, + "log_step": null, + "evidence_zh": "观察：第4条腿字幕在视频 33.4 s 为 97°，手离开后 33.6 s 回落到 82°，终态 81°（<90°）；被动铰链腿未被保持在展开位。" + } + ], + "root_causes": [], + "gap_zh": "未给根因：agent 日志只有指尖正运动学测试输出，无证据说明腿回落或第2条腿卡住的具体原因；视频小且手部细节看不清。" + }, + "summary_zh": "观察：graded 视频 36 s 中右手在视频 5 s 前展平主架（fold 1°），并展开两条腿（视频 10.8 s、18.8 s 到 100°）；第4条腿在视频 33.2-33.6 s 短暂 ≥90° 后回落到 81°，第2条腿最高 82°，架子始终底面朝上（tilt 180°）。终态 3/6 节点成立，断在第3条腿展开；无状态日志，根因证据不足故为空，节点时间取自视频叠加字幕。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "逐帧核对字幕：fold 在 4.6 s 为 17°、腿1/腿3在 11 s、18.8-19 s 左右到 90°以上，第4条腿在 33.2-33.4 s 为 90/97° 后 33.6 s 回落到 82°，终态 100/72/100/81，tilt 180；与 native_metrics 一致。节点值、峰值3、终态3、断点 legs_opened_3 均成立；空根因有 gap_zh 说明，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:16Z", + "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/dexhand-drying-rack-unfold-i00-standard--2ycoyww/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--2ycoyww/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6740470d573e20fc28d7f06d7d961b09956e2232c90be0506d4017df42cb4586", + "video_sha256": "4117b052ed1c09df662d82517a8b4255583008f2e4df1a747ab038fa8f8b50bf", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--jaqsrah.json b/phaseR/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--jaqsrah.json new file mode 100644 index 0000000000000000000000000000000000000000..4a8a67cf14c9b211f777ee3368ee5bf8c1c38775 --- /dev/null +++ b/phaseR/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--jaqsrah.json @@ -0,0 +1,297 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-cube-reorient-i00-standard--jaqsrah", + "taskKey": "dexhand/essential_cube_reorient", + "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 636, + "control_steps_total": 8414, + "elapsed_s": 3023.873, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 589, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 589, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.307, + "peak_processes": 10, + "peak_disk_gb": 0.985, + "peak_cpus": 0.99, + "peak_pids": 179, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-essential-cube-reorient-i00-standard--jaqsrah.mp4", + "duration_s": 11.84, + "fps": 25.0, + "frames": 296, + "sha256": "6c48c5d79901e582a0fb4eda2700077ffbab0316dec5345c1748c261ae6a3b8e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "sphere_first_orientation": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.7, + "log_step": 122, + "text_zh": "观察：视频 0.1 s 与 11.7 s 的裁剪帧里蓝色球始终被拇指与其他手指夹在手指间，未出现掌 Y 轴转 90° 的布局；球只是在指间小幅移动。观察：最后一局（20 号局）日志 step 122 打印 stage 0、误差约 1.0 rad（>0.16），评分器 reason=task_failure，进度未过阶段 0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：右手拇指与食/中指指尖始终接触蓝色球，尝试在手内滚动，但球转角远不足 90°。" + } + ] + }, + "sphere_second_orientation": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.7, + "log_step": 122, + "text_zh": "观察：首检查点未到，视频全程球仍在初始附近朝向，无次轴转动画面。" + } + ] + }, + "sphere_initial_orientation": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.7, + "log_step": 122, + "text_zh": "观察：前两检查点未到，球朝向未回到目标；视频 0-11.84 s 无相关画面。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_error_1", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "cube_error_2", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "cube_error_3", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "contacts", + "value": null, + "unit": "fingers", + "threshold": 2, + "direction": "higher_better" + }, + { + "name": "speed_stage", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed_terminal", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "speed_invariant", + "value": null, + "unit": "m/s or rad/s", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "object_displacement", + "value": null, + "unit": "m", + "threshold": 0.07, + "direction": "lower_better" + }, + { + "name": "object_height", + "value": null, + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target" + } + ], + "failure": { + "breakpoint": { + "ref": "sphere_first_orientation", + "t": null, + "log_step": 122, + "where": "操作中", + "evidence_zh": "观察：视频 0-11.84 s 手指持续夹着球但球没有转到 Y 轴 +90° 目标；log step 122 误差约 1.0 rad，stage 0，最终 task_failure（20 次重置用尽）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 122, + "evidence_zh": "观察：球保持在手中但朝向只转了很小角度（日志误差 1.57→约 1.0 rad），距 0.16 rad 容差很远；视频帧中球未被滚动到目标布局。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述（log step 23）：首次动作“接触保持但转动远小于几何模型预测”；20 局重试都停在 stage 0，指尖运动未有效传到球上。子类型不明。", + "source_zh": "agent 自述 / 日志 / 视频" + } + ], + "gap_zh": "无状态日志，视频为总览小图，球上标记看不清，转角主要靠日志里的 error 读数（会话读数，仅作支撑）；根因子类型未能确定。native_metrics 评分字段未给出，值为 null。", + "unmet": { + "sphere_first_orientation": false, + "sphere_second_orientation": false, + "sphere_initial_orientation": false + } + }, + "summary_zh": "观察：视频 11.84 s 中右手始终夹着蓝色球，但三个检查点均未达到（0/3），评分器 stage 0、task_failure。断在第一轴 +90° 转动（操作中），现象为朝向转角远不足（位姿不准），根因仅能定到“控制”。证据缺口：无状态日志，球标记在总览中难辨。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "三个检查点未达成（0/3）、断点 sphere_first_orientation 操作中、位姿不准 + 控制（子类型不明）与日志（最后一局 stage 0，误差 1.57→0.90 rad，task_failure）和视频（球始终在指间、无大幅转动）一致；视频分辨率太小无法进一步判别，gap_zh 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": "2026-11-08T20:51:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--jaqsrah/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--jaqsrah/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f5a96c95b47c6355a5127243212db0b08f65d6e08aa43906f2c9132e508a96a7", + "video_sha256": "6c48c5d79901e582a0fb4eda2700077ffbab0316dec5345c1748c261ae6a3b8e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--ofxjcrg.json b/phaseR/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--ofxjcrg.json new file mode 100644 index 0000000000000000000000000000000000000000..fd2505e5cb27f7f3286f741ff536cea85db4682c --- /dev/null +++ b/phaseR/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--ofxjcrg.json @@ -0,0 +1,209 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-pen-regrasp-i00-standard--ofxjcrg", + "taskKey": "dexhand/essential_pen_regrasp", + "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 69, + "control_steps_total": 1116, + "elapsed_s": 3655.922, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 465, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 465, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.584, + "peak_processes": 9, + "peak_disk_gb": 0.294, + "peak_cpus": 9.99, + "peak_pids": 107, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-essential-pen-regrasp-i00-standard--ofxjcrg.mp4", + "duration_s": 9.36, + "fps": 25.0, + "frames": 234, + "sha256": "7ca80c30b65da03ca6091743f05ce43bfcaa89aa9ee89b45bc57eba3292b81bd" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "pen_advanced": { + "method": "visual", + "intervals": [ + [ + 3.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.5, + "log_step": 89, + "text_zh": "观察：视频约 0–3.3 s 食指内收、三指并拢夹住笔的握带，笔随之前移，约 3.5 s 后进入抬起转向动作。推断：agent 自述 Stage 1 在 Episode 6 达成（pen_axial 29–30 mm、pen_angle 0.12–0.17 rad，log step 89/91）；这是实时服务的评分读数，帧中笔太小无法量出位移，时间 3.5 s 为估计。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "右手拇指、食指、中指三指垫夹住笔握带并一起沿轴平移（agent 自述 + 视频手指闭合）" + } + ] + }, + "pen_tripod_grip": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.7, + "log_step": 91, + "text_zh": "观察：视频约 4–5 s 手指抬起，笔明显翘出手背上方（转向动作），之后手指回握，到 9.36 s 结束；没有看到笔稳定保持在三指握带上的画面。推断：服务在 control step 465（465×0.02 s≈视频 9.3 s，与视频时长吻合）报 task_failure（log step 91），agent 自述食指间隙张开 1.38 mm（agent 自述）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "抬起转向 45° 时拇指、食指继续接触笔，但食指与笔间隙张开，未形成稳定三指握" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "pen_tripod_grip", + "t": 4.7, + "where": "操作中", + "evidence_zh": "观察：视频约 4–5 s 开始抬起转向，之后回握，直到 9.36 s 未达成稳定三指握；服务在 control step 465 报 task_failure（log step 91）。", + "log_step": 91 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 4.7, + "log_step": 91, + "evidence_zh": "推断：转向中拇指与食指在笔上滚动不同步，食指指垫间隙张开 1.38 mm（agent 自述，log step 91），笔未落入握带三指接触条件。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述 PIP/DIP 关节 kp=0.9、kd=0.9 响应滞后，食指跟不上拇指（log step 80, 91）；转向轨迹本身可行性未验证。", + "source_zh": "agent 自述", + "note_zh": "子类不明，保持 控制" + } + ], + "gap_zh": "无状态日志，笔在俯视小画面中难以量出位移与角度，节点时间主要来自视频粗判与服务读数；根因仅来自 agent 自述。", + "unmet": { + "pen_advanced": true, + "pen_tripod_grip": false + } + }, + "summary_zh": "观察：graded 为第 6 个 episode（465 步≈视频 9.3 s）。推断：笔沿轴推进（pen_advanced）在约视频 3.5 s 达成（依服务读数，时间估计），笔转向三指握未完成，服务在视频末尾报 task_failure；断点在换握，现象为位姿不准（食指间隙张开），根因归于控制（自述）。主要缺口：无状态日志，笔位姿无法在视频中量化。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "标注与视频和服务读数基本一致：graded 为第 6 个 episode（465 步≈9.3 s），视频约 2.5–5.5 s 手指内收并把笔翘起转向，之后静止至结束，未见稳定三指握；pen_advanced 依服务读数为真、pen_tripod_grip 为假，断点在换握，均有证据。位姿不准/控制根因仅来自 agent 自述与服务读数，已在文中标为推断，且 gap_zh 已说明；无需改动。", + "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": "2026-11-08T20:51:25Z", + "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/dexhand-essential-pen-regrasp-i00-standard--ofxjcrg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--ofxjcrg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a946941b01761d1e012ba873e9ca74b3b9665c59286dd4d971f967cc94ef70be", + "video_sha256": "7ca80c30b65da03ca6091743f05ce43bfcaa89aa9ee89b45bc57eba3292b81bd", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--qczrhtk.json b/phaseR/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--qczrhtk.json new file mode 100644 index 0000000000000000000000000000000000000000..9155add0bddcc4f470630b8df4c02cc7aa60ead3 --- /dev/null +++ b/phaseR/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--qczrhtk.json @@ -0,0 +1,277 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-pen-regrasp-i00-standard--qczrhtk", + "taskKey": "dexhand/essential_pen_regrasp", + "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 354, + "control_steps_total": 24895, + "elapsed_s": 3624.661, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 5175, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 8, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 5175, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.646, + "peak_processes": 9, + "peak_disk_gb": 1.129, + "peak_cpus": 3.29, + "peak_pids": 154, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-essential-pen-regrasp-i00-standard--qczrhtk.mp4", + "duration_s": 51.84, + "fps": 25.0, + "frames": 1296, + "sha256": "871aa43579b137b3c4eaade8f9a54af04b9974b5198959a47279b2ed14f69829" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "pen_advanced": { + "method": "visual", + "intervals": [ + [ + 4.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 0 s 蓝色握带离指尖约130像素（裁剪放大图），视频 4–20 s 笔仍近似水平但握带明显更靠近指尖（约95像素），笔相对手向前滑移。推断：沿轴推进约三厘米在视频 4 s 前后完成，时间不确定（无状态日志）；agent 自述估计前移 26–34 mm（log step 85, 143）仅作旁证。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：右手拇指与其他手指接触笔杆，使笔在手内沿轴前滑" + } + ] + }, + "pen_tripod_grip": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32.0, + "log_step": 149, + "text_zh": "观察：视频 24–51.8 s 笔被抬起并上翘、悬在指背之上，拇指/食指/中指并未稳定围住握带，笔明显俯仰而非绕轴转向；视频末帧（51.8 s）仍如此。agent 自述最终估计前移 28 mm、转角约 72°（超出 0.65–0.92 rad 窗口，log step 149），且服务未报告成功。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "观察：拇指、食指、中指接触笔并推其转向，但三指未同时稳定夹持握带" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pen_axial", + "value": null, + "unit": "m", + "threshold": [ + 0.024, + 0.036 + ], + "direction": "target" + }, + { + "name": "pen_angle_advance", + "value": null, + "unit": "rad", + "threshold": [ + 0, + 0.2 + ], + "direction": "target" + }, + { + "name": "pen_angle_tripod", + "value": null, + "unit": "rad", + "threshold": [ + 0.65, + 0.92 + ], + "direction": "target" + }, + { + "name": "speed_terminal", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "object_displacement", + "value": null, + "unit": "m", + "threshold": 0.07, + "direction": "lower_better" + }, + { + "name": "object_height", + "value": null, + "unit": "m", + "threshold": [ + 0.18, + 0.6 + ], + "direction": "target" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pen_tripod_grip", + "where": "操作中", + "t": 32.0, + "log_step": 146, + "evidence_zh": "观察：视频 28–36 s 笔被指尖拨起、上翘，视频 40–51.8 s 笔斜悬于手指之上，未形成三指夹持握带；agent 自述最后一次转向过冲到约 72°（log step 146, 149）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 40.0, + "log_step": 146, + "evidence_zh": "观察：视频 40–51.8 s 笔转角/俯仰偏离目标窗口，agent 自述约 72° 过冲（log step 146）。推断：笔姿态超出 0.65–0.92 rad。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，节点时间由视频目测，推进时间不确定；phenomenon 类别按 taxonomy 近似选取，根因无足够证据故留空。", + "unmet": { + "pen_advanced": true, + "pen_tripod_grip": false + } + }, + "summary_zh": "观察：视频 51.8 s 的回放中笔在视频约 4 s 起前移，随后被抬起上翘、未形成三指握带，评分未成功。推进节点据视频判为完成（时间不确定），换握节点未完成，断点在笔转向三指握（视频约 32 s 起）。证据缺口：无状态日志，根因证据不足。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "视频显示笔相对指尖前移（约视频 4–8 s 起，时间不确定已注明），随后在视频 32 s 前后被抬起上翘、三指未围住握带；评分未成功（success 0）。断点、位姿不准现象、根因留空并写 gap_zh 均可接受；无状态日志，无法进一步核对。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--qczrhtk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--qczrhtk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5c4fce959b3987822790fb0ccf0de163f5d6eff7f4b0f796f1b4173e4aee8dfc", + "video_sha256": "871aa43579b137b3c4eaade8f9a54af04b9974b5198959a47279b2ed14f69829", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--fm3ndzg.json b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--fm3ndzg.json new file mode 100644 index 0000000000000000000000000000000000000000..e8736beeb298a64b3db81002b3a3ee241e6307b6 --- /dev/null +++ b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--fm3ndzg.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-standard--fm3ndzg", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 69, + "control_steps_total": 5908, + "elapsed_s": 1818.511, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 41, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 41, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.829, + "peak_processes": 10, + "peak_disk_gb": 1.142, + "peak_cpus": 1.23, + "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:dexhand-essential-rotary-gait-i00-standard--fm3ndzg.mp4", + "duration_s": 0.88, + "fps": 25.0, + "frames": 22, + "sha256": "4089692422f8fa4e97d55aabb57a713c5273ed77c0063f096d57d6f010b41684" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "knob_forward_720": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频仅 0.88 s（22 帧），视频 0–0.88 s 内右手中指/无名指一侧贴在黑色旋钮旁，金色标记未见累计转动，远未到两圈；对照 oracle 成功视频，转动应持续多圈。推断：该图段内未达 +720°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 0–0.88 s 手的中指/无名指指尖贴在旋钮面上推压；推断（agent 自述 log step 最后一条：只有中指和无名指能够到旋钮）。" + } + ] + }, + "knob_reversed_360_held": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：前置节点 knob_forward_720 未达成，视频 0.88 s 内旋钮无反转；该节点不成立。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "value": null, + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target" + }, + { + "name": "turn:one_reverse_turn", + "value": null, + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target" + }, + { + "name": "speed:stage", + "value": null, + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed:terminal", + "value": null, + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "speed:invariant", + "value": null, + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knob_forward_720", + "t": 0.5, + "log_step": 214, + "where": "操作中", + "evidence_zh": "观察：视频 0.88 s 内手指贴着旋钮但旋钮未见转动；评分器字段 success=0，resets=20。服务读数（log step 214 status）：done=True, reason=task_failure；触发规则（力/速度/其它）服务未说明。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频只有 0.88 s，无状态日志；服务只报 reason=task_failure，触发规则（力/速度/其它）未知，视频看不出力或机制，故现象与根因均留空；旋钮角度、接触指集合只来自 agent 自述（够不到/构型限制也不属控制类证据）。根因无法由准入证据判定。", + "unmet": { + "knob_forward_720": false, + "knob_reversed_360_held": false + } + }, + "summary_zh": "观察：图段视频仅 0.88 s，右手指尖贴到旋钮后该次运行即被服务判 task_failure（20 次复位耗尽）；两个目标节点（正转 720°、反转 360°）均未达成，断在正转步。失败触发规则服务未说明，现象留空；根因留空。证据缺口：无状态日志，视频过短。", + "conf": 3, + "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、断在 knob_forward_720）与视频及服务读数（episode 21，41 control_steps，done/task_failure）一致，未发现节点错误。但 phenomenon「接触力异常」只来自 agent 自述（服务只给 reason=task_failure，没有力读数，视频也看不到力），不应作为观察支持；断点 log_step 指向的是收尾消息而非失败发生处。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（两节点未达成、断在 knob_forward_720、log_step 214）与视频 0.88 s 及服务读数一致。唯一问题：根因「控制」只来自 agent 自述，且「只有中指和无名指够得着」是够不到/构型限制，并非控制类证据；准入证据无法判定根因，应留空并写 gap_zh。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已接受并完整应用：root_causes 为 []，gap_zh 说明根因无法由准入证据判定，summary_zh 已改为根因留空，未破坏其他字段。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已接受并完整应用：root_causes 为 []，gap_zh 说明根因无法由准入证据判定，summary_zh 已改为根因留空，未破坏其他字段。", + "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": "2026-11-08T20:55:32Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--fm3ndzg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--fm3ndzg/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--fm3ndzg/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--fm3ndzg/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--fm3ndzg/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--fm3ndzg/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": "cdd4914eb71eb46b54511b24db78b69dd509b1ab6c9afac4fcad6b2598c92960", + "video_sha256": "4089692422f8fa4e97d55aabb57a713c5273ed77c0063f096d57d6f010b41684", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--hn7ovfj.json b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--hn7ovfj.json new file mode 100644 index 0000000000000000000000000000000000000000..0846664ca8f8f08d9bf4fb538d8d54b85c7a4028 --- /dev/null +++ b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--hn7ovfj.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-standard--hn7ovfj", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 48, + "control_steps_total": 6465, + "elapsed_s": 3613.738, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 2217, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 6, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2217, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.529, + "peak_processes": 9, + "peak_disk_gb": 0.289, + "peak_cpus": 0.45, + "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:dexhand-essential-rotary-gait-i00-standard--hn7ovfj.mp4", + "duration_s": 44.4, + "fps": 25.0, + "frames": 1110, + "sha256": "dc64b7b3e20533438be5b97acc0c2143e969db4701d7dd76c237bf007a8b8035" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "knob_forward_720": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 40.0, + "log_step": null, + "text_zh": "观察：视频 0、10、20、30、40 s 的裁剪帧中金色短标记始终接近正上方（约 12 点），旋钮没有明显累计转动；视频 44.3 s 才可见标记移开约几十度，远未到 +720°。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手食指/中指指腹在视频 0-44 s 间贴着旋钮边缘轻触、拖动，未见多指交替接力拨转；手腕和定位台不动。" + } + ] + }, + "knob_reversed_360_held": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 44.3, + "log_step": null, + "text_zh": "观察：正转两圈未达成，反转阶段不可能开始；视频末帧旋钮仅转动不大的角度。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：右手食指/中指指腹在视频 0-44 s 间贴着旋钮边缘轻触、拖动，未见多指交替接力拨转；手腕和定位台不动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "value": null, + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target" + }, + { + "name": "turn:one_reverse_turn", + "value": null, + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target" + }, + { + "name": "speed:stage", + "value": null, + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed:terminal", + "value": null, + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "speed:invariant", + "value": null, + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knob_forward_720", + "where": "操作中", + "t": 40.0, + "evidence_zh": "观察：视频 0-40 s 旋钮标记几乎不动，44.3 s 才转开一小角度，正转两圈未达成；评分器 success=0（live_success 0）。", + "log_step": null + }, + "phenomena": [ + { + "t": 40.0, + "log_step": null, + "evidence_zh": "观察：手指贴在旋钮边缘，但推动后旋钮转角远小于所需的 +720°，拨动幅度不足。推断：粗略分类，视频分辨率有限，无状态日志。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；agent 全程在会话中试拨，其测试不能代表图像中的评分回合；日志末步（log step 106）只提到启动 gen.py，没有结果，所以无法确定根因。", + "unmet": { + "knob_forward_720": false, + "knob_reversed_360_held": false + } + }, + "summary_zh": "观察：评分回合 44.4 s 视频中旋钮标记长时间停在 12 点附近，仅在末尾转开小角度，两个节点均未达成。断点在正转两圈（操作中），现象为拨转幅度不足（位姿不准），根因证据不足、留空。无状态日志，转角只能靠目测。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频 0/10/20/30/40 s 帧中金色标记基本停在 12 点，44.3 s 才转开一小角度，两节点未达成、断点在正转两圈与视频一致；现象与空根因（有 gap_zh）保守可接受，conf 4 诚实。", + "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": "2026-11-08T20:50:48Z", + "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/dexhand-essential-rotary-gait-i00-standard--hn7ovfj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--hn7ovfj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1309a0c0b7194bad29915d437231f2cda1530476786dc2ac221177f8b478330d", + "video_sha256": "dc64b7b3e20533438be5b97acc0c2143e969db4701d7dd76c237bf007a8b8035", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--qseu9md.json b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--qseu9md.json new file mode 100644 index 0000000000000000000000000000000000000000..d600eb4375ed44611a6aeb07accb9207725b9b7e --- /dev/null +++ b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--qseu9md.json @@ -0,0 +1,239 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-standard--qseu9md", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 288, + "control_steps_total": 12705, + "elapsed_s": 1148.76, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 1, + "missing_log": 0, + "n_actions": 12421, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 12421, + "success": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.304, + "peak_processes": 9, + "peak_disk_gb": 1.374, + "peak_cpus": 1.0, + "peak_pids": 139, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-essential-rotary-gait-i00-standard--qseu9md.mp4", + "duration_s": 55.28, + "fps": 25.0, + "frames": 1382, + "sha256": "4012ac29070e3410535a3ddc6c209c1198bc7e3d1a3d539dc9d40ea6c5536baa" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "knob_forward_720": { + "method": "visual", + "intervals": [ + [ + 37.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 37.0, + "log_step": 65, + "text_zh": "推断：评分器判定成功（reward 1.0）；log step 63/65 的服务读数 control_steps 8075 角度 12.23、8565 角度 12.62，故 +720° 约在 control step 8300，按 12421 步≈视频 55.28 s 线性映射约 视频 37 s（映射未在可见事件处核对，旋钮金色标记在 640×480 视频中无法辨认）。观察：视频 30–55 s 白色右手持续贴着黑色旋钮。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "右手食指、中指等交替拨动黑色旋钮并保持至少一指接触（log step 66 自述食指保持接触、中指往复）" + } + ] + }, + "knob_reversed_360_held": { + "method": "visual", + "intervals": [ + [ + 55.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 55.0, + "log_step": 73, + "text_zh": "推断：log step 73 服务返回 done=True reason=success（episode control_steps 12421），故反转到 +360° 并停稳在视频末尾（≈55 s）达成；log step 69/71 角度 7.17 rad（≈+411°）仍在反转。时间为线性映射估计，未在帧上核对。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "右手食指、中指等交替拨动黑色旋钮并保持至少一指接触（log step 66 自述食指保持接触、中指往复）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "value": null, + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target" + }, + { + "name": "turn:one_reverse_turn", + "value": null, + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target" + }, + { + "name": "speed:stage", + "value": null, + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed:terminal", + "value": null, + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "speed:invariant", + "value": null, + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "成功：评分器 reward 1.0，两个节点均达成（正转 +720°、反转到 +360° 并停稳）。节点时间由 log step 63-73 的服务 control_steps/角度读数按 12421 步≈视频 55.28 s 线性映射估计（正转约视频 37 s，反转停稳约视频 55 s），视频中旋钮标记太小无法直接核对；评分器未给出各指标数值。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "成功运行（reward 1.0，live 评分）。两个节点均 final=true，时间由服务 control_steps/角度读数按 12421 步≈视频 55.28 s 线性映射估计，已明确标注为推断且未核对；未发现与帧或日志矛盾之处，conf 5 合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:04Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--qseu9md/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--qseu9md/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3493f97ae56a9c3c25ae1c349143efd1e110ab38ee9d740add8feb454c8ae5dd", + "video_sha256": "4012ac29070e3410535a3ddc6c209c1198bc7e3d1a3d539dc9d40ea6c5536baa", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--xatbjit.json b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--xatbjit.json new file mode 100644 index 0000000000000000000000000000000000000000..b62a37e2de9e4f7758e8999e710c7e9d0b388cd6 --- /dev/null +++ b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--xatbjit.json @@ -0,0 +1,218 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-standard--xatbjit", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 216, + "control_steps_total": 4984, + "elapsed_s": 922.42, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 327, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 327, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.201, + "peak_processes": 9, + "peak_disk_gb": 0.247, + "peak_cpus": 1.0, + "peak_pids": 80, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-essential-rotary-gait-i00-standard--xatbjit.mp4", + "duration_s": 6.6, + "fps": 25.0, + "frames": 165, + "sha256": "3770d7a37303b6f7225f51a5fce20eaef50ec41e1edebaefb1d1bf863f1f27c2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "knob_forward_720": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 42, + "text_zh": "观察：视频约 0–2.4 s 右手中指带动旋钮转过一小段（目测远小于一圈），约 2.4 s 起食指伸直抬起，之后旋钮基本静止，末帧远未累计 +720°。agent 会话测试中的 +1 rad 读数仅为 log 引用（log step 46），非评分回合读数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频中仅见右手中指/食指在旋钮前动作，无换指接力、无多指重叠（视频 0–6.6 s）；接触细节因分辨率目测不清。" + } + ] + }, + "knob_reversed_360_held": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": 46, + "text_zh": "观察：正转目标未达成，视频内无累计反转一圈，末帧旋钮停在小角度。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "knob_forward_720", + "t": 2.4, + "log_step": 46, + "where": "操作中", + "evidence_zh": "观察：视频约 0–2.4 s 旋钮被带动转过一小段，约 2.4 s 起食指抬起、旋钮停止，无换指接力；整个视频内未接近 +720°。" + }, + "phenomena": [ + { + "cat": "接触", + "t": 2.4, + "log_step": 42, + "item": "没保持住", + "evidence_zh": "观察：视频约 0–2.4 s 中指带动旋钮转动，约 2.4 s 后旋钮停止、无手指继续带动。推断（低把握）：对旋钮的推动接触没有持续。卡住/接触力异常来自 agent 会话自述，评分回合视频不支持，已删。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "已验证有", + "evidence_zh": "观察：评分回合只有一次单指探测动作（log step 42 脚本：中指 0.2/0.6/0.4 后抬起食指），视频中无至少四次的多指重叠接力；推断：未形成或未执行接力步态计划。任务可行（oracle 视频成功）。", + "source_zh": "视频 + log step 42" + } + ], + "gap_zh": "无状态日志，旋钮角与接触指为目测。评分回合为探测动作（agent 在 reset 用尽后试验，log step 42/46），失败触发条件未知；agent 自述的“手指被卡住”“后续周期 +0.1 rad”属会话测试，未作为评分回合事实。", + "unmet": { + "knob_forward_720": false, + "knob_reversed_360_held": false + } + }, + "summary_zh": "观察：评分回合视频 6.6 s，约 0–2.4 s 中指带动旋钮转过一小段，随后食指抬起、旋钮停止，未达 +720°，两个节点均未完成。评分回合实为单指探测动作，未执行多指重叠接力；失败触发条件未知（无状态日志，角度目测），故置信度较低。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点均未达成、断点落在 knob_forward_720 基本正确；但失败现象与根因主要来自 agent 在会话测试中的自述（中指卡在旋钮左侧、后续周期 +0.1 rad），而评分回合（第 21 回合）实际只是一次探测动作（中指弯曲后抬起食指），视频与自述的时间对应也不符，应改为以视频为准并降低置信度。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两个节点未达成、断点 knob_forward_720 与视频相符；评分回合仅为单指探测动作，会话自述已不再当作评分回合事实，第1轮问题均已处理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:25Z", + "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/dexhand-essential-rotary-gait-i00-standard--xatbjit/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--xatbjit/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--xatbjit/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--xatbjit/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "81429873709be9f50b7a76f4f2a102dad06a9ce9bb51e2e8f9be67bbe6f85c4c", + "video_sha256": "3770d7a37303b6f7225f51a5fce20eaef50ec41e1edebaefb1d1bf863f1f27c2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--y3kcv6a.json b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--y3kcv6a.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe3b44926f8b027a8440833b6b220213462ead7 --- /dev/null +++ b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--y3kcv6a.json @@ -0,0 +1,290 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-standard--y3kcv6a", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 333, + "control_steps_total": 7668, + "elapsed_s": 1678.516, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 6181, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 6181, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.262, + "peak_processes": 9, + "peak_disk_gb": 0.256, + "peak_cpus": 0.55, + "peak_pids": 82, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-essential-rotary-gait-i00-standard--y3kcv6a.mp4", + "duration_s": 49.52, + "fps": 25.0, + "frames": 1238, + "sha256": "d1ae7f37386f5e672cd1773cb831701c141558787b08faff1641a7f1cac8bf43" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "knob_forward_720": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": 180, + "text_zh": "观察：视频取帧（10 s、20 s、40 s）未见标记累计两圈；服务返回 done=True reason=task_failure、成功 0（log step 180），该终止原因不明，可能是约束触发（log step 125/126 中 task_failure 在仅约 0.42 rad、80 控制步时即出现），不能当作“未转够”的直接证据。推断：agent 自测（log step 153、171）最大累计角度约 0.5-0.57 rad。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 0-49.5 s 右手手指在黑色旋钮边缘下压/拨动，手指接触旋钮表面；不是换指接力式手内调整。" + } + ] + }, + "knob_reversed_360_held": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 49.0, + "log_step": 180, + "text_zh": "推断：前置节点正转两圈未达成，反转停稳不成立；视频中旋钮未见反向累计一圈。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "turn:two_forward_turns", + "value": null, + "unit": "rad", + "threshold": 12.566370614359172, + "direction": "target" + }, + { + "name": "turn:one_reverse_turn", + "value": null, + "unit": "rad", + "threshold": 6.283185307179586, + "direction": "target" + }, + { + "name": "speed:stage", + "value": null, + "unit": "rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed:terminal", + "value": null, + "unit": "rad/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "speed:invariant", + "value": null, + "unit": "rad/s", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "knob_forward_720", + "where": "操作中", + "t": 10.0, + "evidence_zh": "观察：视频取帧未见累计两圈；服务返回 task_failure（原因不明，可能为约束终止，log step 180；log step 125/126 同一 reason 出现于约 0.42 rad 时）。", + "log_step": 180 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，未能逐帧读取旋钮累计角度，native 指标评分器未报告；task_failure 的终止原因未知（可能是约束触发，非进度不足）；agent 自述“复位时反向拖回”（log step 184）未经视频核实，故不给根因；位姿不准现象仅来自 agent 自测，属推断。", + "unmet": { + "knob_forward_720": false, + "knob_reversed_360_held": false + } + }, + "summary_zh": "观察：视频取帧未见旋钮累计转动两圈，未达到正转两圈（+720°），两个节点均未达成；断点为正转两圈步骤的操作中。服务返回 task_failure（log step 180，终止原因不明）。缺口：无状态日志，累计角度由视频标记粗判。", + "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（两个均未达成）与断点位置大体可接受，但 phenomenon 与 knob 节点证据把 session 自测读数（log step 153/171/178）当作图形化回合事实，且把服务 reason=task_failure 读成“没转够两圈”，而 log step 125/126 显示该 reason 在仅转约 0.42 rad、80 个控制步后就出现，更像约束触发的终止；视频中旋钮标记 0.5 s 与 25 s 的朝向差别明显，“小范围摆动”的说法没有逐帧支撑。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "两个节点均未达成、断点 knob_forward_720/操作中 与视频及评分结果（success 0）一致；但唯一的现象“位姿不准”只来自 agent 自测（log step 171/178），按规则 agent 自述与 session 测试不算证据，且视频与服务读数都不能给出每轮净增角度，应清空 phenomena 并在 gap_zh 说明。", + "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：phenomena 为空，gap_zh 说明了无状态日志、评分器未报告角度、task_failure 原因不明、agent 自测不采信；断点未变。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的修改已完整应用：phenomena 为空，gap_zh 说明了无状态日志、评分器未报告角度、task_failure 原因不明、agent 自测不采信；断点未变。", + "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": "2026-11-08T20:56:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--y3kcv6a/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--y3kcv6a/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--y3kcv6a/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--y3kcv6a/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--y3kcv6a/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--y3kcv6a/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": "8dcbf64405ed99a4845bfe0f3676d5e11a3ff3fbb985b1c11bd53218f2272f0f", + "video_sha256": "d1ae7f37386f5e672cd1773cb831701c141558787b08faff1641a7f1cac8bf43", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "gap_zh": "无状态日志，评分器未报告累计角度，task_failure 终止原因未知（可能是约束触发，非进度不足）；agent 自测（log step 171/178）与自述（step 184）不采信，视频也不能读出每轮净增角度，故不给现象与根因。" +} diff --git a/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--zffjk7p.json b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--zffjk7p.json new file mode 100644 index 0000000000000000000000000000000000000000..84bdd74e1b9fe7591b131f4a06cce3461f0c3cd4 --- /dev/null +++ b/phaseR/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--zffjk7p.json @@ -0,0 +1,217 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-rotary-gait-i00-standard--zffjk7p", + "taskKey": "dexhand/essential_rotary_gait", + "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 108, + "control_steps_total": 17373, + "elapsed_s": 3549.268, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 7128, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 7128, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.758, + "peak_processes": 10, + "peak_disk_gb": 0.336, + "peak_cpus": 1.8, + "peak_pids": 91, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-essential-rotary-gait-i00-standard--zffjk7p.mp4", + "duration_s": 57.12, + "fps": 25.0, + "frames": 1428, + "sha256": "aa9c0a7ae10c4e597fe21fd0306c1c0075c585cdb49d5731f4b40351e0ed11f9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "knob_forward_720": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 56.5, + "log_step": 130, + "text_zh": "观察：视频 1–57 s 各帧中右手手指贴在黑色旋钮上，旋钮金色标记朝向基本没有变化，远未累计 +720°；log step 130 自述最终回合旋钮约 4–13° 后回绕（仅作旁证）。推断：未达成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右手手指在旋钮表面按压拨动，旋钮仅转很小角度" + } + ] + }, + "knob_reversed_360_held": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 56.5, + "log_step": 130, + "text_zh": "观察：视频 1–57 s 各帧中右手手指贴在黑色旋钮上，旋钮金色标记朝向基本没有变化，远未累计 +720°；log step 130 自述最终回合旋钮约 4–13° 后回绕（仅作旁证）。推断：未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "knob_forward_720", + "where": "操作中", + "t": 30, + "log_step": 131, + "evidence_zh": "观察：视频全程右手接触旋钮但旋钮几乎不转；log step 131 自述每周期净转角为负、旋钮回绕。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 30, + "log_step": 131, + "evidence_zh": "观察：视频 1–57 s 手指接触旋钮但未能累计转动，旋钮标记基本停留在起点附近。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断（依据 agent 自述的追踪读数，log step 130-132；视频只显示旋钮几乎不转）：最终回合接力步态（环指按压重叠）每周期净转角为负，旋钮转角由约13°回落到约3°；此前追踪脚本错误只发生在更早的回合，不是受评回合失败的原因。", + "source_zh": "日志（agent 自述，非服务读数）" + } + ], + "gap_zh": "无状态日志，旋钮角度仅由小视频帧目视判断；根因来自 agent 自述，未逐帧核实。", + "unmet": { + "knob_forward_720": false, + "knob_reversed_360_held": false + } + }, + "summary_zh": "观察：视频 57 s 内右手一直接触旋钮，但旋钮几乎没有累计转动，正转 +720° 与反转停稳两个节点均未达成。断点在正转步骤的操作中；agent 自述控制脚本多次出错、重置次数用完，最终回合每周期净转角为负。缺口：无状态日志，旋钮角度靠目视。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（两节点未达、断点在正转步骤、操作中）与视频一致：首尾帧旋钮朝向无明显变化。仅根因证据需修：把早期 episode 的跟踪脚本错误/误杀 shell 当成图示根因，与受评最终回合的失败机制不符。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "两节点未达、断点在正转步骤操作中均与视频一致（2 s 与 56 s 帧旋钮朝向无明显变化）；第 1 轮的根因证据已按建议修正，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": "2026-11-08T20:54:30Z", + "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/dexhand-essential-rotary-gait-i00-standard--zffjk7p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--zffjk7p/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--zffjk7p/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--zffjk7p/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "03c2bfaf87035831a2bb9167541872893a4bf331dba3c160c73650206ad56947", + "video_sha256": "aa9c0a7ae10c4e597fe21fd0306c1c0075c585cdb49d5731f4b40351e0ed11f9", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--exc8oig.json b/phaseR/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--exc8oig.json new file mode 100644 index 0000000000000000000000000000000000000000..478d40e1af3821659581d30bdb1454b0a103242d --- /dev/null +++ b/phaseR/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--exc8oig.json @@ -0,0 +1,296 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--exc8oig", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 425, + "control_steps_total": 6172, + "elapsed_s": 3629.506, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 101, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 16, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 101, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.903, + "peak_processes": 12, + "peak_disk_gb": 3.751, + "peak_cpus": 4.48, + "peak_pids": 335, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-essential-two-object-i00-standard--exc8oig.mp4", + "duration_s": 2.08, + "fps": 25.0, + "frames": 52, + "sha256": "3cafab190bd07e36e47a66b6c60f3a6d67339d9d9b6f437e9cc00a5ccec0e8cf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 128, + "text_zh": "观察：视频 0–2.08 s 仅见右手指握着棕色核桃A，核桃外壳纹理朝向基本不变（视频 0、1.0、2.04 s 帧对比），未见转过约四分之一圈；推断：log step 128 称最终回合在转动阶段失败（service reason task_failure，control_steps 101 ≈ 视频 2.02 s）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "手内调整", + "note_zh": "右手手指试图在掌内转动核桃A，同时其余手指夹持核桃B；视频中A未转到位。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 128, + "text_zh": "观察：视频 0–2.08 s 仅见右手指握着棕色核桃A，核桃外壳纹理朝向基本不变（视频 0、1.0、2.04 s 帧对比），未见转过约四分之一圈；推断：log step 128 称最终回合在转动阶段失败（service reason task_failure，control_steps 101 ≈ 视频 2.02 s）。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": 128, + "text_zh": "观察：视频 0–2.08 s 仅见右手指握着棕色核桃A，核桃外壳纹理朝向基本不变（视频 0、1.0、2.04 s 帧对比），未见转过约四分之一圈；推断：log step 128 称最终回合在转动阶段失败（service reason task_failure，control_steps 101 ≈ 视频 2.02 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "a_orientation_error", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "a_position_error", + "value": null, + "unit": "m", + "threshold": 0.035, + "direction": "lower_better" + }, + { + "name": "a_deposit_distance", + "value": null, + "unit": "m", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "b_position_error", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "b_orientation_error", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "a_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better" + }, + { + "name": "a_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "a_height", + "value": null, + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target" + }, + { + "name": "speed_rotate_return", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed_terminal", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "where": "操作中", + "t": 1.0, + "evidence_zh": "观察：视频 0–2.08 s 手指持核桃A，朝向未转到 90°；log step 128 agent 自述最终回合在转动阶段失败，service 终态 reason=task_failure（log step 128）。", + "log_step": 128 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅 2.08 s 且核桃被手指遮挡，无状态日志，无法判断是接触丢失、轴向偏转还是速度越界；agent 自述（log step 122,126）称接触丢失、A 绕错误轴转动，但无视频佐证，故现象与根因留空。", + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + } + }, + "summary_zh": "观察：graded 视频仅 2.08 s（约 101 控制步），手指握着核桃A但未转到 90°，三个节点均未达成。断点在“A转九十度”的操作中；agent 自述最终回合在转动阶段失败（log step 128）。无状态日志且核桃被遮挡，现象与根因证据不足，留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频仅 2.08 s（≈101 控制步，与 service 终态 task_failure、control_steps=101 一致），核桃A被手指遮挡，放大帧（0、1.0、2.04 s）未见转过四分之一圈；三节点 false、断点 a_quarter_turned/操作中、现象与根因留空并写 gap_zh 均合理。无状态日志，无法证实接触丢失或转轴偏差，留空比采用 agent 自述更稳妥。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:03Z", + "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/dexhand-essential-two-object-i00-standard--exc8oig/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--exc8oig/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "12c2503d322f489c89d87286e7f7641e8dc14bfff6e0ad4334a919a74b75996e", + "video_sha256": "3cafab190bd07e36e47a66b6c60f3a6d67339d9d9b6f437e9cc00a5ccec0e8cf", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--n3qrdpd.json b/phaseR/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--n3qrdpd.json new file mode 100644 index 0000000000000000000000000000000000000000..73ba251beb0e14481467577a1a828b85be894ce7 --- /dev/null +++ b/phaseR/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--n3qrdpd.json @@ -0,0 +1,319 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-essential-two-object-i00-standard--n3qrdpd", + "taskKey": "dexhand/essential_two_object", + "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 66, + "control_steps_total": 248, + "elapsed_s": 3624.604, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 0, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 0, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.553, + "peak_processes": 8, + "peak_disk_gb": 0.267, + "peak_cpus": 2.1, + "peak_pids": 104, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-essential-two-object-i00-standard--n3qrdpd.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "36f1082fb154c6ca62cb28f81cb769556462c8be6aff6c2ad12c39e8e468fc9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "a_quarter_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：回放视频仅1帧（0.04 s），显示悬空的右手与核桃在初始位置、接盘为空，无任何手指转动A或A入盘的画面；评分器字段 n_actions=0、sim_steps=0，表明没有交付任何动作序列。因此该节点未达成。" + } + ] + }, + "a_returned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：回放视频仅1帧（0.04 s），显示悬空的右手与核桃在初始位置、接盘为空，无任何手指转动A或A入盘的画面；评分器字段 n_actions=0、sim_steps=0，表明没有交付任何动作序列。因此该节点未达成。" + } + ] + }, + "a_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：回放视频仅1帧（0.04 s），显示悬空的右手与核桃在初始位置、接盘为空，无任何手指转动A或A入盘的画面；评分器字段 n_actions=0、sim_steps=0，表明没有交付任何动作序列。因此该节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "a_quarter_turn_error", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "a_orientation_error", + "value": null, + "unit": "rad", + "threshold": 0.16, + "direction": "lower_better" + }, + { + "name": "a_position_error", + "value": null, + "unit": "m", + "threshold": 0.035, + "direction": "lower_better" + }, + { + "name": "a_deposit_distance", + "value": null, + "unit": "m", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "b_position_error", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "b_orientation_error", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "force", + "value": null, + "unit": "N", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "palm_drift", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "wrist_rotation", + "value": null, + "unit": "rad", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "a_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 2.5, + "direction": "lower_better" + }, + { + "name": "a_angular_speed", + "value": null, + "unit": "rad/s", + "threshold": 80, + "direction": "lower_better" + }, + { + "name": "a_height", + "value": null, + "unit": "m", + "threshold": [ + 0.135, + 0.6 + ], + "direction": "target" + }, + { + "name": "speed_rotate_return", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.25, + "direction": "lower_better" + }, + { + "name": "speed_terminal", + "value": null, + "unit": "m/s or rad/s", + "threshold": 0.06, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "a_quarter_turned", + "t": 0.0, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：评分器 n_actions=0，graded 视频仅1帧，手与核桃保持初始状态；agent 在 log step 32-112 一直在做自己的会话内测试、追踪器与FK/IK分析，未交付动作。首步（A转九十度）从未开始。" + }, + "unmet": { + "a_quarter_turned": false, + "a_returned": false, + "a_in_tray": false + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 0.0, + "log_step": null, + "evidence_zh": "观察：评分器 n_actions=0，视频1帧显示初始状态；graded 尝试里没有任何转动A的动作。" + } + ], + "root_causes": [], + "gap_zh": "没有交付任何轨迹，视频只有1帧；agent 在 3600 s 预算内一直做会话内测试（log step 32-112）而未交付，会话证据不能作为根因，也没有证据说明具体原因，故根因层为空。" + }, + "summary_zh": "观察：graded 尝试没有交付任何动作（n_actions=0），视频仅1帧显示初始状态，三个节点均未达成（0/3）。断点在首步 A转九十度，首步前，现象为没尝试；agent 在约3600 s 预算内只做会话内测试与分析（log step 32-112，agent 工作时间），未交付，原因无证据故根因为空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "同意：评分局 n_actions=0、sim_steps=0，视频仅1帧（0.0 s）为初始状态；agent 自己超时（wall 3604 s / 限 3600 s）且一直做会话内测试，属 agent 侧原因，故首步前/没尝试正确，根因层为空并有 gap_zh，符合 03 的规则与 FAIL-22。三节点 false、contact 不适用均合理。", + "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": "2026-11-08T20:50:21Z", + "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/dexhand-essential-two-object-i00-standard--n3qrdpd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-essential-two-object-i00-standard--n3qrdpd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd0d3da4418cc00a97093c6c8155a1ea4e77931c16276bd2feafbf40457394b2", + "video_sha256": "36f1082fb154c6ca62cb28f81cb769556462c8be6aff6c2ad12c39e8e468fc9d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "a_quarter_turned": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 n_actions=0，未交付任何轨迹，图中无手-核桃操作。" + } + ], + "a_returned": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 n_actions=0，未交付任何轨迹，图中无手-核桃操作。" + } + ], + "a_in_tray": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 n_actions=0，未交付任何轨迹，图中无手-核桃操作。" + } + ] + } +} diff --git a/phaseR/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--hbwtqjy.json b/phaseR/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--hbwtqjy.json new file mode 100644 index 0000000000000000000000000000000000000000..c75bd807b70c23e093fc28ecb1b1108f365b01d9 --- /dev/null +++ b/phaseR/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--hbwtqjy.json @@ -0,0 +1,198 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-grinder-crank-i00-standard--hbwtqjy", + "taskKey": "dexhand/grinder_crank", + "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 31, + "control_steps_total": 896, + "elapsed_s": 3609.795, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 229, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 3, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 229, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.441, + "peak_processes": 9, + "peak_disk_gb": 0.261, + "peak_cpus": 2.33, + "peak_pids": 107, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-grinder-crank-i00-standard--hbwtqjy.mp4", + "duration_s": 6.8, + "fps": 5.0, + "frames": 34, + "sha256": "7a1984ed05bfd937225130cac2c4f2d14d3bb24ed87bfef9478d47e11a446761" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 1, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "crank_turned": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 4.5, + "log_step": 136, + "text_zh": "观察：视频 4.5 s 起顶栏显示 FAIL: grinder_slid，Crank 仅 +0.15/2.00 圈，slide 20.2 mm、tilt 7.1°；到视频结束（6.8 s）曲柄未超过 0.15 圈，released hold 0/50，转角远未达 720°。" + } + ], + "contact_actual": [ + { + "who": "双臂协作", + "how": "抓握", + "note_zh": "观察：左手视频 3.6 s 起包握磨豆机机身（hand contacts L 3–5），右手手指视频 4.4 s 起才触到黑色旋钮（R 1–2）；机身在右手接触前已开始滑移并转 yaw（4.0 s：slide 2.5 mm、yaw 6.3°），之后继续滑到 20 mm 后被判定失败；旋钮只被带动 0.15 圈。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "crank_turned", + "where": "操作中", + "t": 4.2, + "evidence_zh": "观察：视频 4.0 s（step 200）机身 slide 2.5 mm、yaw 6.3°，视频 4.4 s（step 220）slide 12 mm、yaw 8.3°，视频 4.5 s（step 229）顶栏变为 FAIL: grinder_slid，slide 20.2 mm、tilt 7.1°、yaw 8.7°，曲柄仅 0.15 圈；评分器因机身滑移超过 0.02 m 立即终止。", + "log_step": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "带动本体", + "t": 4.2, + "log_step": null, + "evidence_zh": "观察：视频 3.6 s 起左手包住机身，视频 4.0 s 机身 slide 2.5 mm、yaw 6.3°，视频 4.4 s 右手指触旋钮时 slide 12 mm，视频 4.5 s slide 20.2 mm、曲柄仅 0.15 圈，机身被带走，grinder_slid 终止。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；现象「带动本体」由回放顶栏读数支持，但根因（左手握力、受力、控制偏差）无法从画面量化，故根因留空。agent 最后一步（log step 136）仅启动脚本，未见自述原因。", + "unmet": { + "crank_turned": false + } + }, + "summary_zh": "视频 6.8 s：左手包握机身，右手指推旋钮，曲柄仅转 0.15/2.00 圈，机身在视频约 4.5 s 滑移 20.2 mm 触发 grinder_slid 终止，节点 曲柄转满两圈 未达成。断点为该节点的操作中；现象：带动本体；缺少状态日志，根因未标注。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值和断点正确，但现象留空不当：回放顶栏的 slide/yaw 读数已足以支持「带动本体」；另有几处时间和因果表述与顶栏读数不符。", + "n_issues": 3, + "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 crank_turned 操作中、现象带动本体均有顶栏读数支持（4.0 s slide 2.5 mm，4.4 s 12 mm，4.5 s FAIL 20.2 mm，曲柄 0.15 圈）；根因留空并写明理由合理；接触备注与顶栏一致（右手接触 4.2 s 起，差不到 0.2 s，不需改）。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:36Z", + "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/dexhand-grinder-crank-i00-standard--hbwtqjy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--hbwtqjy/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--hbwtqjy/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-grinder-crank-i00-standard--hbwtqjy/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "933375aa6e9a8d771424a6a7337f936854cbc4502f7add070b2e61b53383d373", + "video_sha256": "7a1984ed05bfd937225130cac2c4f2d14d3bb24ed87bfef9478d47e11a446761", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--urdwnwc.json b/phaseR/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--urdwnwc.json new file mode 100644 index 0000000000000000000000000000000000000000..dff9f9eec769810175cb96211594f3a39663f2fd --- /dev/null +++ b/phaseR/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--urdwnwc.json @@ -0,0 +1,305 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-ram-module-install-i00-standard--urdwnwc", + "taskKey": "dexhand/ram_module_install", + "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 25, + "control_steps_total": 2603, + "elapsed_s": 3614.684, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 485, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 3, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 485, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.502, + "peak_processes": 10, + "peak_disk_gb": 0.3, + "peak_cpus": 2.4, + "peak_pids": 107, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-ram-module-install-i00-standard--urdwnwc.mp4", + "duration_s": 11.8, + "fps": 5.0, + "frames": 59, + "sha256": "eaf1eb998065074f52a817c5a64d6fda5482f0ae3b9ef1265e3578864fddd3af" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "module_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.6, + "log_step": null, + "text_zh": "观察：视频 0–11.8 s 绿色内存条始终留在粉色泡沫架上，从未被取出；叠加字幕全程为 Stage 0/3，end depths -8.8/-8.8 mm（视频 4.4 s 附近短暂 -7.5/-7.6 mm），末帧仍在架上。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 2.4–4.6 s 右手拇指与其余指尖夹住泡沫架上的内存条，但没能带起" + } + ] + }, + "latch_closed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 11.6, + "log_step": null, + "text_zh": "观察：视频全程字幕 latch 0.55 rad 不变（外张），内存条未到插槽，锁扣从未闭合。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "min_end_depths_m", + "value": null, + "unit": "m", + "threshold": 0.0015, + "direction": "higher_better" + }, + { + "name": "max_end_depths_m", + "value": null, + "unit": "m", + "threshold": 0.0026, + "direction": "lower_better" + }, + { + "name": "lateral_m", + "value": null, + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better" + }, + { + "name": "abs_along_slot_offset_m", + "value": null, + "unit": "m", + "threshold": 0.001, + "direction": "lower_better" + }, + { + "name": "upright_err_deg", + "value": null, + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better" + }, + { + "name": "keyed_err_deg", + "value": null, + "unit": "deg", + "threshold": 3.0, + "direction": "lower_better" + }, + { + "name": "latch_rad", + "value": null, + "unit": "rad", + "threshold": 0.08, + "direction": "lower_better" + }, + { + "name": "module_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "module_ang_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "module_seated", + "t": 4.4, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 2.4–4.6 s 灵巧手拇指与其余指尖夹到泡沫架上的内存条两侧，条被拖动但未离开泡沫架，之后手空手离开，6–11.8 s 手在主板上方徘徊；内存条始终在泡沫架上，Stage 0/3，从未拾取，插入步骤未完成也未修复。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 4.4, + "log_step": null, + "evidence_zh": "观察：视频约 2.4–4.6 s 拇指与食/中指指尖夹到内存条两侧，条被拖动但未离开泡沫架，之后手空手离开。" + } + ], + "root_causes": [], + "gap_zh": "根因无足够证据：无状态日志，视频无法显示指尖与内存条的受力；日志只有 agent 自述（log step 59：强捏使内存条在槽内倾斜），属会话证据，且最终交付的脚本的运动细节未核实，故不下结论。native_metrics 评分器未报告数值。", + "unmet": { + "module_seated": false, + "latch_closed": false + } + }, + "summary_zh": "观察：右手在视频 2.4–4.6 s 触及泡沫架上的内存条但未能拾取，内存条全程留在架上（Stage 0/3），两个节点均未达成。断点在插入内存（拾取阶段，操作中），现象为接触·没保持住（指尖夹到内存条但未带起）；根因无证据，留空。无状态日志，仅凭视频判断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点未达成、断点 module_seated 均正确；但现象「没建立接触」与视频不符：2.4–4.6 s 拇指和其余指尖已夹住泡沫架上的内存条，只是没能带起，应为接触已建立后没保持住，contact_actual 也应反映夹捏。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 8, + "summary_zh": "节点未达成、断点 module_seated、现象 接触/没保持住、contact_actual 抓握均与视频一致；仅 summary_zh 仍写旧现象「没建立夹持」，与 phenomena 不一致。根因留空并有 gap_zh，可接受。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按建议修改，summary_zh 与 phenomena 一致，无其他改动引入问题。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按建议修改，summary_zh 与 phenomena 一致，无其他改动引入问题。", + "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": "2026-11-08T20:55:03Z", + "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/dexhand-ram-module-install-i00-standard--urdwnwc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--urdwnwc/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--urdwnwc/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--urdwnwc/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--urdwnwc/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dexhand-ram-module-install-i00-standard--urdwnwc/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": "678b76ec070d334d8e94f43416321e1a2075e173cd332492ba656e51b7e4f763", + "video_sha256": "eaf1eb998065074f52a817c5a64d6fda5482f0ae3b9ef1265e3578864fddd3af", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--jftzyhn.json b/phaseR/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--jftzyhn.json new file mode 100644 index 0000000000000000000000000000000000000000..d67c72f49d0d054f289cfb9aac16462563e36ff9 --- /dev/null +++ b/phaseR/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--jftzyhn.json @@ -0,0 +1,356 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--jftzyhn", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 122, + "control_steps_total": 5930, + "elapsed_s": 3608.207, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 2528, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 2, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 2528, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.702, + "peak_processes": 9, + "peak_disk_gb": 0.228, + "peak_cpus": 22.23, + "peak_pids": 107, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-remote-battery-swap-i00-standard--jftzyhn.mp4", + "duration_s": 52.6, + "fps": 5.0, + "frames": 263, + "sha256": "4b5c04818eb02fb3b4e29d4c659c7dcc81adb731ab8d7c5f9d7eca2f89494ac2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 4, + "final": 4, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [ + [ + 12.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.7, + "log_step": null, + "text_zh": "观察：视频 12-13 s 画面叠字门开度 28 mm→70 mm，Stages 0/4→1/4（≥60 mm）；视频 0-4 s 右手食指在遥控器尾端按锁片并推开黑色滑盖，灰色电池露出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右手食指指尖压锁片并推动滑盖滑开（视频 1-13 s）" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [ + [ + 25.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 25.0, + "log_step": null, + "text_zh": "观察：视频 14-24 s 右手把灰色旧电池从仓内取出移向托盘；视频 24 s 画面叠字 Stages 2/4（视频 25 s 起），托盘底面可见旧电池，视频 35 s 后仍在托盘内。叠字为基准自身的阶段读数。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手手指夹取灰色旧电池，移到白色托盘后放开，并在盘内拨正（视频 14-25 s）" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [ + [ + 36.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 36.0, + "log_step": null, + "text_zh": "观察：视频 27-35 s 右手从桌面拾起绿色新电池送向遥控器仓；叠字 Stages 3/4 自视频 36 s 起，视频 36 s 帧可见绿色电池卧在仓内、手在其上方。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "右手手指夹住绿色新电池搬到仓位并放下（视频 27-36 s）" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + 12.0 + ], + [ + 49.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.0, + "log_step": null, + "text_zh": "观察：开局滑盖关闭（门 0 mm），视频 12 s 起门开度增至 28 mm，关盖条件失去。" + }, + { + "t": 49.0, + "log_step": null, + "text_zh": "观察：视频 40-42 s 门开度 76→26→7 mm，视频 48 s 前后手把滑盖推回，视频 49 s 叠字 Stages 4/4、门 -4 mm；视频 49-52.6 s 滑盖保持关闭、绿色电池不再露出。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "右手手掌/手指把滑盖推回并压下锁片（视频 40-49 s）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cover_slide_m_open", + "value": null, + "unit": "m", + "threshold": 0.06, + "direction": "higher_better" + }, + { + "name": "cover_slide_m_closed", + "value": null, + "unit": "m", + "threshold": 0.002, + "direction": "lower_better" + }, + { + "name": "tab_depth_m_closed", + "value": null, + "unit": "m", + "threshold": 0.0015, + "direction": "lower_better" + }, + { + "name": "old_cell_tray_local_x_abs", + "value": null, + "unit": "m", + "threshold": 0.037, + "direction": "lower_better" + }, + { + "name": "old_cell_tray_local_y_abs", + "value": null, + "unit": "m", + "threshold": 0.032, + "direction": "lower_better" + }, + { + "name": "old_cell_tray_local_z", + "value": null, + "unit": "m", + "threshold": 0.014, + "direction": "lower_better" + }, + { + "name": "new_cell_slot_error_x_abs", + "value": null, + "unit": "m", + "threshold": 0.005, + "direction": "lower_better" + }, + { + "name": "new_cell_slot_error_y_abs", + "value": null, + "unit": "m", + "threshold": 0.003, + "direction": "lower_better" + }, + { + "name": "new_cell_slot_error_z_abs", + "value": null, + "unit": "m", + "threshold": 0.002, + "direction": "lower_better" + }, + { + "name": "new_cell_axis_angle_deg", + "value": null, + "unit": "deg", + "threshold": 10, + "direction": "lower_better" + }, + { + "name": "max_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "max_spin_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.5, + "direction": "lower_better" + }, + { + "name": "remote_displacement_m", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "remote_tilt_deg", + "value": null, + "unit": "deg", + "threshold": 15, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "battery_cover_closed", + "t": 51.0, + "log_step": null, + "where": "终态验收", + "evidence_zh": "观察：视频 49 s 起叠字 Stages 4/4，视频 50 s released hold 2/50、视频 51 s 起“final state”且 hold 6/50、画面仍标 INCOMPLETE，视频 52.6 s 结束；连续 50 步离手静止窗口未完成。agent 自述最后一次回合仍在后台运行（log step 92），wall 3604 s 用尽。" + }, + "unmet": { + "battery_cover_opened": true, + "old_cell_in_tray": true, + "new_cell_seated": true, + "battery_cover_closed": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "四个阶段均已达成，仅最后 50 控制步的离手静止窗口只到 6/50 就结束；无状态日志，视频不能显示结束原因（是否因预算/轨迹到头，或手仍触碰遥控器：视频 50-52.4 s 手停在遥控器尾端上方）。时间用完不作现象；无证据判定现象或根因，故留空。" + }, + "summary_zh": "观察：右手依次完成开盖（视频约 12.7 s）、旧电池入托盘（约 25 s）、新电池入槽（约 36 s）、关盖（约 49 s），四个节点终态均为真；但基准叠字显示 released hold 仅 6/50、INCOMPLETE，视频 52.6 s 结束，最终离手静止窗口未满足，判失败。断点在终态验收；因视频无法说明窗口中断的原因，现象与根因留空。无状态日志，阶段时间取自视频叠字与画面，精度约 1 s。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "四个节点时间与视频叠字一致（开盖约12.7 s、旧电池2/4约25 s、新电池3/4约35.4-35.8 s、关盖4/4约49 s），断点在终态验收、现象与根因留空并有 gap_zh，均有证据支持；未发现需改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:06Z", + "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/dexhand-remote-battery-swap-i00-standard--jftzyhn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--jftzyhn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bf0e89402e438e01de0d3ebc7b2f87f6ffa9b7619c54e08e019681a8f34e15ae", + "video_sha256": "4b5c04818eb02fb3b4e29d4c659c7dcc81adb731ab8d7c5f9d7eca2f89494ac2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--kfbebnz.json b/phaseR/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--kfbebnz.json new file mode 100644 index 0000000000000000000000000000000000000000..887f5f583d14b799da2159c93f7e7c97c78f1529 --- /dev/null +++ b/phaseR/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--kfbebnz.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-remote-battery-swap-i00-standard--kfbebnz", + "taskKey": "dexhand/remote_battery_swap", + "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 1679, + "control_steps_total": 12384, + "elapsed_s": 2970.977, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 418, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 14, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 418, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.393, + "peak_processes": 10, + "peak_disk_gb": 1.056, + "peak_cpus": 1.62, + "peak_pids": 54, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-remote-battery-swap-i00-standard--kfbebnz.mp4", + "duration_s": 10.6, + "fps": 5.0, + "frames": 53, + "sha256": "539ec055a1f6d1b4482622822ea964c5f8a18fc07e816002142728778684602b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 1, + "peak": 1, + "final": 1, + "nodes": { + "battery_cover_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 0-10.6 s 全程右手平放在遥控器上，画面叠字“door -0 mm”、“Stages 0/4”，滑盖始终未滑出，灰色电池未露出；与 oracle 开盖后露出电池仓不同。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：右手四指和手掌平压在遥控器上表面，未见拇指压住锁片并拉开滑盖" + } + ] + }, + "old_cell_in_tray": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 10.4 s 白色托盘内为空，叠字 Stages 0/4；灰色旧电池一直在遥控器内。" + } + ] + }, + "new_cell_seated": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 10.4, + "log_step": null, + "text_zh": "观察：视频 10.4 s 绿色新电池躺在桌面中央，未入槽，叠字 Stages 0/4。" + } + ] + }, + "battery_cover_closed": { + "method": "visual", + "intervals": [ + [ + 0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频 0 s 起滑盖闭合（door 0 mm），全程未打开，故条件始终成立；整体验收未通过（叠字 FAIL: remote_displaced）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "battery_cover_opened", + "where": "操作中", + "t": 5.0, + "evidence_zh": "观察：视频 0-10.6 s 右手平放压在遥控器上，door 始终 -0~-3 mm，没有打开盖；视频末帧叠字“FAIL: remote_displaced”，遥控器相对开头位置有位移（视频 10.4 s 与 0 s 对比）。", + "log_step": null + }, + "phenomena": [ + { + "t": 10.4, + "log_step": null, + "evidence_zh": "观察：手平压遥控器，遥控器被推离初始位置，末帧叠字 FAIL: remote_displaced，滑盖未开。推断：压锁片/拖盖的动作把遥控器一起带动，而不是只滑开盖。", + "cat": "接触", + "item": "带动本体" + } + ], + "root_causes": [ + { + "evidence_zh": "agent 自述最终报告（log step 172）：机械臂自重下垂 15-30 mm 且无物体状态反馈，2-5 mm 公差的锁片按压无法达到；其多次 episode 以 task_failure 结束（log step 158、163）。本视频的精确压点未直接观测，故只到“控制”。", + "source_zh": "agent 自述", + "cat": "控制", + "item": "控制" + } + ], + "gap_zh": "视频仅 10.6 s、无状态日志，未能直接看到锁片是否被按到、遥控器位移量；带动本体和根因均为部分推断。", + "unmet": { + "battery_cover_opened": false, + "old_cell_in_tray": false, + "new_cell_seated": false, + "battery_cover_closed": true + } + }, + "summary_zh": "观察：图示被评分的 episode 只有视频 10.6 s，右手平压遥控器，滑盖始终未开（0/4 阶段），叠字最终 FAIL: remote_displaced。第 1 步“打开电池盖”未完成，其后各步未开始；仅“关盖”在开局即成立并保持。根因只能由 agent 自述推断（臂下垂、毫米级公差），缺少状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "逐帧核对视频 0-10.6 s：右手始终平压遥控器，door 0~-3 mm，Stages 0/4，遥控器逐渐被推动旋转，约 8 s 叠字变为 FAIL: remote_displaced。节点值、终值 1/4、断点与「带动本体」现象均有视频支持，根因标注为推断且 conf 诚实。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:49Z", + "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/dexhand-remote-battery-swap-i00-standard--kfbebnz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-remote-battery-swap-i00-standard--kfbebnz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "208cdc2a23992dbf83246f5de8bd6038d606e727ca427318ab54642a4f40547f", + "video_sha256": "539ec055a1f6d1b4482622822ea964c5f8a18fc07e816002142728778684602b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--8iaudv5.json b/phaseR/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--8iaudv5.json new file mode 100644 index 0000000000000000000000000000000000000000..008182eb9aeef62be7ae9cca2048d25107e620aa --- /dev/null +++ b/phaseR/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--8iaudv5.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-stool-brace-insert-i00-standard--8iaudv5", + "taskKey": "dexhand/stool_brace_insert", + "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 148, + "control_steps_total": 4128, + "elapsed_s": 2304.273, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 284, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 20, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 284, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.575, + "peak_processes": 6, + "peak_disk_gb": 0.271, + "peak_cpus": 1.96, + "peak_pids": 103, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-stool-brace-insert-i00-standard--8iaudv5.mp4", + "duration_s": 8.0, + "fps": 5.0, + "frames": 40, + "sha256": "5799ba015712eacccf89120ccd6999589c136ed76d8cd37882ff69366d8e59d6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brace_in_lower_frame": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 2.8 s 起字幕为 Stage 1/4 brace lifted（横撑被手抓起离桌，至约 5.6 s 手仍持横撑）；视频 6.0 s 字幕变为 FAIL: brace_dropped，其后横撑斜靠在下框上，下端未插入孔内，字幕始终 seated interfaces 3/8（与初态相同，第 8 个接口未插好）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频约 2-5.6 s Sharpa 手用拇指与手指抓握横撑一端，将其提起并移向下框空孔；随后横撑掉落。" + } + ] + }, + "upper_frame_on_dowels": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.8, + "log_step": null, + "text_zh": "观察：对侧倒置框架全程留在桌面后侧原处，手未触碰，字幕 seated interfaces 3/8，未到该步。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "brace_in_lower_frame", + "where": "操作中", + "t": 6.0, + "evidence_zh": "观察：视频 6.0 s 字幕变为 FAIL: brace_dropped（4.8-5.6 s 手仍持横撑在孔旁）；横撑掉落后斜靠在下框，未插入孔，接口仍 3/8。", + "log_step": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 6.0, + "log_step": null, + "evidence_zh": "观察：视频 2.8-5.6 s 手抓着横撑一端移到下框孔旁，5.6-6.0 s 横撑脱手掉落（字幕 brace_dropped）。推断：已建立的抓握在对准插入前丢失。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志，无法读取接触力与抓握细节；agent 在日志中的自述（单端抓握、另一端作支点）未被视频直接证实，故不给根因。", + "unmet": { + "brace_in_lower_frame": false, + "upper_frame_on_dowels": false + } + }, + "summary_zh": "观察：graded 视频 8 s，手于 2.8 s 抓起横撑（Stage 1/4），约 6.0 s 横撑掉落（brace_dropped），始终未插入下框孔，两个节点均未达成（0/2）。断点为横撑插入下框的操作中，现象为没保持住；根因证据不足。无状态日志，故为视觉判定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "节点值（两节点均未达成）与现象类别基本正确，但断点/现象/证据把 FAIL: brace_dropped 字幕出现时间写成视频 4.8 s，实际为 6.0 s（第 30 帧，约 1.2 s 误差），手持横撑也一直持续到约 5.6 s。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "两个节点均未达成、断点在横撑插入下框的操作中、现象为没保持住，与视频一致；6.0 s 起字幕为 FAIL: brace_dropped，手持横撑至约 5.6 s，上一轮的时间修正已落实。根因留空并写明 gap_zh，证据上可接受。", + "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": "2026-11-08T20:54:19Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--8iaudv5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--8iaudv5/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--8iaudv5/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-stool-brace-insert-i00-standard--8iaudv5/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b08be3593620045ddf895a1e8219466190b33b4efd03cccb84156b985537f67c", + "video_sha256": "5799ba015712eacccf89120ccd6999589c136ed76d8cd37882ff69366d8e59d6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--akfv7vy.json b/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--akfv7vy.json new file mode 100644 index 0000000000000000000000000000000000000000..6827a94c545da70918d63c07440004b9c0061306 --- /dev/null +++ b/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--akfv7vy.json @@ -0,0 +1,331 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--akfv7vy", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "calls": 141, + "control_steps_total": 349554, + "elapsed_s": 3270.989, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 1, + "missing_log": 0, + "n_actions": 88100, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 5, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 88100, + "success": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.306, + "peak_processes": 10, + "peak_disk_gb": 1.38, + "peak_cpus": 1.07, + "peak_pids": 182, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-sweep-dustpan-i00-standard--akfv7vy.mp4", + "duration_s": 13.1, + "fps": 10.0, + "frames": 131, + "sha256": "f9deb01a4493b6a1028fe71eb6738668292de9e69c0b732ec359f94dcab8ae05" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 3.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.3, + "log_step": null, + "text_zh": "观察：画面顶部叠加条（仿真时钟，视频 1 s ≈ 仿真 4 s）显示簸箕内计数在视频 3.3 s 达到对应数量；推断：碎屑逐件身份无法逐帧辨认，按节点顺序分配计数（DECISIONS N4）。计数在视频 5.9–6.3 s 曾回落 6→5，视频 6.4 s 起稳定为 6/6，最终 PASS。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手扫帚刷毛把碎屑推扫过簸箕入口斜坡；左手握簸箕接料。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 3.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.4, + "log_step": null, + "text_zh": "观察：画面顶部叠加条（仿真时钟，视频 1 s ≈ 仿真 4 s）显示簸箕内计数在视频 3.4 s 达到对应数量；推断：碎屑逐件身份无法逐帧辨认，按节点顺序分配计数（DECISIONS N4）。计数在视频 5.9–6.3 s 曾回落 6→5，视频 6.4 s 起稳定为 6/6，最终 PASS。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手扫帚刷毛把碎屑推扫过簸箕入口斜坡；左手握簸箕接料。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：画面顶部叠加条（仿真时钟，视频 1 s ≈ 仿真 4 s）显示簸箕内计数在视频 5.8 s 达到对应数量；推断：碎屑逐件身份无法逐帧辨认，按节点顺序分配计数（DECISIONS N4）。计数在视频 5.9–6.3 s 曾回落 6→5，视频 6.4 s 起稳定为 6/6，最终 PASS。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手扫帚刷毛把碎屑推扫过簸箕入口斜坡；左手握簸箕接料。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：画面顶部叠加条（仿真时钟，视频 1 s ≈ 仿真 4 s）显示簸箕内计数在视频 5.8 s 达到对应数量；推断：碎屑逐件身份无法逐帧辨认，按节点顺序分配计数（DECISIONS N4）。计数在视频 5.9–6.3 s 曾回落 6→5，视频 6.4 s 起稳定为 6/6，最终 PASS。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手扫帚刷毛把碎屑推扫过簸箕入口斜坡；左手握簸箕接料。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：画面顶部叠加条（仿真时钟，视频 1 s ≈ 仿真 4 s）显示簸箕内计数在视频 5.8 s 达到对应数量；推断：碎屑逐件身份无法逐帧辨认，按节点顺序分配计数（DECISIONS N4）。计数在视频 5.9–6.3 s 曾回落 6→5，视频 6.4 s 起稳定为 6/6，最终 PASS。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手扫帚刷毛把碎屑推扫过簸箕入口斜坡；左手握簸箕接料。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 6.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": null, + "text_zh": "观察：画面顶部叠加条（仿真时钟，视频 1 s ≈ 仿真 4 s）显示簸箕内计数在视频 6.4 s 达到对应数量；推断：碎屑逐件身份无法逐帧辨认，按节点顺序分配计数（DECISIONS N4）。计数在视频 5.9–6.3 s 曾回落 6→5，视频 6.4 s 起稳定为 6/6，最终 PASS。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手扫帚刷毛把碎屑推扫过簸箕入口斜坡；左手握簸箕接料。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [ + [ + 8.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.8, + "log_step": 154, + "text_zh": "观察：视频 8.6–8.8 s 簸箕在画面中明显抬离地面变大，之后保持到视频 11.0 s（画面叠加仿真时钟 44.05 s）转为 PASS，随后画面静止至 13.1 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕柄抬起装载的簸箕；右手扫帚撤开。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better" + }, + { + "name": "terminal_run", + "value": null, + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：视频（叠加仿真时钟，4× 回放）显示 6 件碎屑在视频 3.3–6.4 s 被右手扫帚扫入簸箕，视频 8.8 s 左手抬起簸箕，视频 11.0 s 叠加条转 PASS，评分器 success=1。7/7 节点完成。缺口：碎屑逐件身份无法区分，按计数顺序分配；无状态日志，指标数值未在 run.json 中给出。", + "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，7/7 节点；叠加条计数（视频 3.4 s 起 2/6，5.8 s 5/6，6.4 s 起 6/6）与节点时间一致，视频 8.4–9.2 s 簸箕抬离地面，时间和 contact_actual 合理，无失败层。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:41Z", + "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/dexhand-sweep-dustpan-i00-standard--akfv7vy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--akfv7vy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2e7bd15bacdd9f8ca5bd233a5545c203039b4d7db2f23ab9374c6b54e22c4852", + "video_sha256": "f9deb01a4493b6a1028fe71eb6738668292de9e69c0b732ec359f94dcab8ae05", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--f9yjrgh.json b/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--f9yjrgh.json new file mode 100644 index 0000000000000000000000000000000000000000..7789feeb16c641ddfdc09ce4f68776e97b93130c --- /dev/null +++ b/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--f9yjrgh.json @@ -0,0 +1,381 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--f9yjrgh", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 450, + "control_steps_total": 419297, + "elapsed_s": 3250.46, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 33320, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 13, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 33320, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.219, + "peak_processes": 11, + "peak_disk_gb": 0.42, + "peak_cpus": 0.92, + "peak_pids": 144, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dexhand-sweep-dustpan-i00-standard--f9yjrgh.mp4", + "duration_s": 6.2, + "fps": 10.0, + "frames": 62, + "sha256": "fbed992b0c768e83a31cb8819d2b6b1f125bae488f4c011399545d440552f56d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 7, + "final": 7, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0-1.8 s 该碎屑还在簸箕外的地面上，扫帚从左侧推扫；视频约 2.4 s（仿真 9.6 s）起六件均落在绿色簸箕底板内，到视频 4.2 s 末帧（仿真 16.66 s）一直在簸箕内，画面标题栏显示“in pan 6/6”。各件进入的先后无法逐件分辨，统一取约 2.4 s，误差约 ±0.6 s；碎屑与簸箕边界的毫米判定无法从视频确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛贴地把碎屑向簸箕推扫（视频 0-2.4 s）；是否逐件被刷毛碰到无法确认，蓝/橙两方块呈一线排列，可能有一件被另一件推入。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕，簸箕底板和斜坡承接碎屑。" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0-1.8 s 该碎屑还在簸箕外的地面上，扫帚从左侧推扫；视频约 2.4 s（仿真 9.6 s）起六件均落在绿色簸箕底板内，到视频 4.2 s 末帧（仿真 16.66 s）一直在簸箕内，画面标题栏显示“in pan 6/6”。各件进入的先后无法逐件分辨，统一取约 2.4 s，误差约 ±0.6 s；碎屑与簸箕边界的毫米判定无法从视频确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛贴地把碎屑向簸箕推扫（视频 0-2.4 s）；是否逐件被刷毛碰到无法确认，蓝/橙两方块呈一线排列，可能有一件被另一件推入。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕，簸箕底板和斜坡承接碎屑。" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0-1.8 s 该碎屑还在簸箕外的地面上，扫帚从左侧推扫；视频约 2.4 s（仿真 9.6 s）起六件均落在绿色簸箕底板内，到视频 4.2 s 末帧（仿真 16.66 s）一直在簸箕内，画面标题栏显示“in pan 6/6”。各件进入的先后无法逐件分辨，统一取约 2.4 s，误差约 ±0.6 s；碎屑与簸箕边界的毫米判定无法从视频确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛贴地把碎屑向簸箕推扫（视频 0-2.4 s）；是否逐件被刷毛碰到无法确认，蓝/橙两方块呈一线排列，可能有一件被另一件推入。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕，簸箕底板和斜坡承接碎屑。" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0-1.8 s 该碎屑还在簸箕外的地面上，扫帚从左侧推扫；视频约 2.4 s（仿真 9.6 s）起六件均落在绿色簸箕底板内，到视频 4.2 s 末帧（仿真 16.66 s）一直在簸箕内，画面标题栏显示“in pan 6/6”。各件进入的先后无法逐件分辨，统一取约 2.4 s，误差约 ±0.6 s；碎屑与簸箕边界的毫米判定无法从视频确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛贴地把碎屑向簸箕推扫（视频 0-2.4 s）；是否逐件被刷毛碰到无法确认，蓝/橙两方块呈一线排列，可能有一件被另一件推入。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕，簸箕底板和斜坡承接碎屑。" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0-1.8 s 该碎屑还在簸箕外的地面上，扫帚从左侧推扫；视频约 2.4 s（仿真 9.6 s）起六件均落在绿色簸箕底板内，到视频 4.2 s 末帧（仿真 16.66 s）一直在簸箕内，画面标题栏显示“in pan 6/6”。各件进入的先后无法逐件分辨，统一取约 2.4 s，误差约 ±0.6 s；碎屑与簸箕边界的毫米判定无法从视频确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛贴地把碎屑向簸箕推扫（视频 0-2.4 s）；是否逐件被刷毛碰到无法确认，蓝/橙两方块呈一线排列，可能有一件被另一件推入。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕，簸箕底板和斜坡承接碎屑。" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 0-1.8 s 该碎屑还在簸箕外的地面上，扫帚从左侧推扫；视频约 2.4 s（仿真 9.6 s）起六件均落在绿色簸箕底板内，到视频 4.2 s 末帧（仿真 16.66 s）一直在簸箕内，画面标题栏显示“in pan 6/6”。各件进入的先后无法逐件分辨，统一取约 2.4 s，误差约 ±0.6 s；碎屑与簸箕边界的毫米判定无法从视频确认。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛贴地把碎屑向簸箕推扫（视频 0-2.4 s）；是否逐件被刷毛碰到无法确认，蓝/橙两方块呈一线排列，可能有一件被另一件推入。" + }, + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左手握簸箕，簸箕底板和斜坡承接碎屑。" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [ + [ + 3.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 3.0-3.6 s（画面仿真时钟约 12-14.4 s，4 倍速重放）绿色簸箕整体上移并变大，之后至视频 4.2 s（仿真 16.66 s）位置不再变化，六件碎屑留在簸箕内；视频 4.2 s 起为定格。推断：簸箕被左手抬起约 8 cm（agent 的脚本参数 panlift=0.08，log step 34），达到 ≥50 mm；无状态日志，精确高度和 2000 步共同保持窗口无法核对。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "左手一直握簸箕柄并将簸箕抬起，视频 3.0-3.6 s 可见簸箕上升。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better" + }, + { + "name": "terminal_run", + "value": null, + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pan_raised", + "t": 4.2, + "log_step": 79, + "where": "终态验收", + "evidence_zh": "观察：视频 2.4-4.2 s 六件均在簸箕内，簸箕在视频 3.0-3.6 s 抬起并保持到 4.2 s，之后定格；评分器 success=0（live_success 0）。agent 自述（log step 79）该局六件入箕、簸箕抬高 8 cm，但评分器从未报告成功，原因未查明。推断：所有可见节点均已达成，终态验收的某个不可见条件（如逐件刷毛接触、方块叠压或停在斜坡上）未满足。" + }, + "unmet": { + "orange_package_in_pan": true, + "red_cap_in_pan": true, + "wood_chip_in_pan": true, + "blue_package_in_pan": true, + "paper_ball_in_pan": true, + "yellow_cap_in_pan": true, + "pan_raised": true + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "没有状态日志，评分器未给出具体未满足的条件，视频看不到逐件刷毛接触历史、毫米级入箕边界和速度。agent 的猜测（log step 79）只是猜测，没有证据，所以不给现象和根因。可能是任务设计问题（检查器要求每件被刷毛接触，而蓝/橙方块一线排列，可能互相推入），但无证据，不下结论。native_metrics 评分器未报告。" + }, + "summary_zh": "观察：视频 4.2 s（仿真 16.66 s，4 倍速重放，之后定格）内，右手扫帚把六件碎屑扫入簸箕（约视频 2.4 s 达成），左手在视频约 3.0-3.6 s 把簸箕抬起，七个节点按画面都达成，但评分器判 success=0。断点记在终态验收（pan_raised），未查明哪个验收条件未满足，故现象和根因留空。主要证据缺口：无状态日志，逐件刷毛接触和 2000 步共同保持窗口无法核对。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "七个节点的时间与画面一致（HUD 在仿真 8.8 s＝视频 2.2 s 变为 6/6，簸箕于视频约 2.9-3.0 s 抬起），契约校验通过；终态验收断点、空现象/根因加 gap_zh 符合证据，没有状态日志无法判断未满足的验收条件。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:38Z", + "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/dexhand-sweep-dustpan-i00-standard--f9yjrgh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--f9yjrgh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d93ccf0486947eff4544bcaa56162475c5a88758f6a669b7ec744f317c905892", + "video_sha256": "fbed992b0c768e83a31cb8819d2b6b1f125bae488f4c011399545d440552f56d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--gx6brqj.json b/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--gx6brqj.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ce0908acb6590bfee039b4b2d7eda0b72b4a71 --- /dev/null +++ b/phaseR/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--gx6brqj.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-sweep-dustpan-i00-standard--gx6brqj", + "taskKey": "dexhand/sweep_dustpan", + "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 13, + "control_steps_total": 28282, + "elapsed_s": 3612.24, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 16451, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 16451, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.431, + "peak_processes": 9, + "peak_disk_gb": 0.284, + "peak_cpus": 2.4, + "peak_pids": 106, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-sweep-dustpan-i00-standard--gx6brqj.mp4", + "duration_s": 4.1, + "fps": 10.0, + "frames": 41, + "sha256": "e6c49c1b841a1501aa35ac1e7909613f3d54f4f621de9ad42726e382cec3e187" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 7, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "orange_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0-4.1 s 该碎屑未完整进入簸箕（末帧在簸箕入口斜坡边缘或被扫帚遮挡）；HUD 仅计 2/6 入箕" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛把碎屑从地面向簸箕入口推扫；左手握簸箕接料" + } + ] + }, + "red_cap_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0-4.1 s 该碎屑未入簸箕（位置基本不动，留在入口斜坡边缘附近）；HUD 仅计 2/6 入箕，视频 1.8 s 时白纸团虽在绿底上也未计入" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛把碎屑从地面向簸箕入口推扫；左手握簸箕接料" + } + ] + }, + "wood_chip_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：HUD 在视频 1.8 s 为 0/6、2.0 s 为 2/6（仿真 8.0 s）；2.0-2.1 s 红、白、橙、蓝四件位置不变，黄瓶盖与木屑被扫帚头推向簸箕内侧并被遮住。推断：新计入的两件更可能是黄瓶盖和木屑（身份靠推断，精度有限，约 0.2 s）" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛把碎屑从地面向簸箕入口推扫；左手握簸箕接料" + } + ] + }, + "blue_package_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0-4.1 s 该碎屑未完整进入簸箕（末帧在簸箕入口斜坡边缘或被扫帚遮挡）；HUD 仅计 2/6 入箕" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛把碎屑从地面向簸箕入口推扫；左手握簸箕接料" + } + ] + }, + "paper_ball_in_pan": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0-4.1 s 该碎屑未入簸箕（位置基本不动，留在入口斜坡边缘附近）；HUD 仅计 2/6 入箕，视频 1.8 s 时白纸团虽在绿底上也未计入" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛把碎屑从地面向簸箕入口推扫；左手握簸箕接料" + } + ] + }, + "yellow_cap_in_pan": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：HUD 在视频 1.8 s 为 0/6、2.0 s 为 2/6（仿真 8.0 s）；2.0-2.1 s 红、白、橙、蓝四件位置不变，黄瓶盖与木屑被扫帚头推向簸箕内侧并被遮住。推断：新计入的两件更可能是黄瓶盖和木屑（身份靠推断，精度有限，约 0.2 s）" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "推/扫", + "note_zh": "右手握扫帚，刷毛把碎屑从地面向簸箕入口推扫；左手握簸箕接料" + } + ] + }, + "pan_raised": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0-2.1 s 簸箕始终贴在灰色地面，未抬起；视频 2.1 s 起评分器 HUD 显示 FAIL: robot_self_collision，画面定格到 4.1 s" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pan_lift_m", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "higher_better" + }, + { + "name": "linear_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "lower_better" + }, + { + "name": "angular_speed_rad_s", + "value": null, + "unit": "rad/s", + "threshold": 0.8, + "direction": "lower_better" + }, + { + "name": "terminal_run", + "value": null, + "unit": "physics_steps", + "threshold": 2000, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "orange_package_in_pan", + "t": 2.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 0-2.0 s 右手扫帚把碎屑推向簸箕，视频 2.0 s HUD 显示 in pan 2/6，其余四件（橙包装、蓝包装、红瓶盖、白纸团）停在入口斜坡边缘附近；视频 2.1 s HUD 出现 FAIL: robot_self_collision，画面定格。推断：未入箕的四件中橙包装是最先未完成的一件，断点取这一步；评分器结束规则（自碰撞）本身不是断点。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.0, + "log_step": null, + "evidence_zh": "观察：视频 2.0 s 扫帚刷毛只把两件（推断为黄瓶盖、木屑）推入，其余四件停在簸箕入口边缘，扫帚在 2.1 s 随自碰撞失败而终止。推断：扫程未把四件完整送入簸箕。" + } + ], + "root_causes": [], + "gap_zh": "视频仅 4.1 s（仿真 8.23 s，4x 回放，视频 2.1 s 起定格），无状态日志；自碰撞的具体链接对和根因在画面中看不出，日志只含 agent 的会话调试，不作为图中本次回放的证据，故根因留空。native_metrics 的数值评分器字段未提供。", + "unmet": { + "orange_package_in_pan": false, + "red_cap_in_pan": false, + "wood_chip_in_pan": true, + "blue_package_in_pan": false, + "paper_ball_in_pan": false, + "yellow_cap_in_pan": true, + "pan_raised": false + } + }, + "summary_zh": "观察：视频 0-2.1 s（仿真 0-8.23 s）右手扫帚推扫，HUD 在视频 2.0 s 计 2/6 入箕（身份不确定，推断更可能是被扫帚遮住的黄瓶盖和木屑），簸箕未抬起；视频 2.1 s 评分器判 robot_self_collision 结束，后面画面定格。7 个节点 2 个达成，断点在橙包装入箕（操作中），现象为位姿不准，根因证据不足留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "时钟、断点和空根因都基本站得住；但“HUD 2/6 就是红瓶盖和白纸团”这个推断被画面反驳：视频 1.8 s 白纸团已在簸箕绿底上而计数仍是 0/6，2.0 s 后红、白、橙、蓝四件原地不动，只有黄瓶盖和木屑被扫帚头推进、被扫帚遮住。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第2轮修正已落实：HUD 2/6 的身份标为推断（黄瓶盖、木屑），时钟用视频与仿真时间且注明映射，断点和空根因（自碰撞链接不可见、无状态日志）站得住。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:51Z", + "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/dexhand-sweep-dustpan-i00-standard--gx6brqj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--gx6brqj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--gx6brqj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dexhand-sweep-dustpan-i00-standard--gx6brqj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2ddc1f439eae3e2b4877f1a42ee00883252e9fdbc01eaf100133e447ef68c1c6", + "video_sha256": "e6c49c1b841a1501aa35ac1e7909613f3d54f4f621de9ad42726e382cec3e187", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--u4n8zh3.json b/phaseR/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--u4n8zh3.json new file mode 100644 index 0000000000000000000000000000000000000000..4a86a79abd189ec2f03d9db5602d6cd507eb6d58 --- /dev/null +++ b/phaseR/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--u4n8zh3.json @@ -0,0 +1,294 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dexhand-usb-plug-insert-i00-standard--u4n8zh3", + "taskKey": "dexhand/usb_plug_insert", + "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "calls": 14, + "control_steps_total": 857, + "elapsed_s": 3617.644, + "finalized": 1, + "gave_up": 0, + "graded_by_live": 1, + "grader_error": 0, + "hand_wuji": 0, + "infra_error": 0, + "instance_mismatch": 0, + "live_success": 0, + "missing_log": 0, + "n_actions": 672, + "no_verdict": 0, + "replays": 0, + "reset_budget": 20, + "resets": 1, + "resume_state_mismatch": 0, + "resumes": 0, + "sim_error": 0, + "sim_startups": 1, + "sim_steps": 672, + "success": 0, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.628, + "peak_processes": 9, + "peak_disk_gb": 0.258, + "peak_cpus": 2.36, + "peak_pids": 107, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_cpus": 1 + } + }, + "video": { + "kind": "media", + "url": "media:dexhand-usb-plug-insert-i00-standard--u4n8zh3.mp4", + "duration_s": 15.6, + "fps": 5.0, + "frames": 78, + "sha256": "e3acaec662b970a3f1d4e1c0a2a69367c4f58ea761bed84bb108b77ebd974650" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "plug_lifted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": 94, + "text_zh": "观察：视频 3.0 s 叠字 Stage 0/3，右手在桌面插头上方，插头仍侧躺桌面。" + }, + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频 1-7 s 右手多次用指尖在插头附近点触（仅单指绿色接触点），插头仍在桌沿附近、仅被碰动约 1 cm（port-4 depth 85→97.5 mm）；约 7-8 s 起手空手移到集线器右端并停住至 15.6 s，插头未随手移动；叠字始终 Stage 0/3、axis error ≈103.5°、released hold 0/50，全程无抬离。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 1-7 s 右手指尖在插头附近点触，仅单指接触，未见拇指与另一指夹住抬起；推断：为点触/轻推而非抓握。" + } + ] + }, + "plug_seated_port4": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.4, + "log_step": null, + "text_zh": "观察：视频末帧叠字 port-4 depth 97.51/12.00 mm、released hold 0/50，插头未进入第4口，仍躺在桌面上，未满足插入。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 8-15.6 s 右手空手停在集线器右端，插头不在手中（仍在桌沿），无有效接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "plug_tip_z_at_lift", + "value": null, + "unit": "m", + "threshold": 0.73, + "direction": "higher_better" + }, + { + "name": "target_depth_fraction", + "value": null, + "unit": "", + "threshold": 0.9, + "direction": "higher_better" + }, + { + "name": "abs_target_lateral_m", + "value": null, + "unit": "m", + "threshold": 0.0006, + "direction": "lower_better" + }, + { + "name": "abs_target_vertical_m", + "value": null, + "unit": "m", + "threshold": 0.0005, + "direction": "lower_better" + }, + { + "name": "axis_error_deg", + "value": 103.4, + "unit": "deg", + "threshold": 5, + "direction": "lower_better" + }, + { + "name": "polarity_error_deg", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + }, + { + "name": "plug_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.01, + "direction": "lower_better" + }, + { + "name": "released_hold_controls", + "value": null, + "unit": "control", + "threshold": 50, + "direction": "higher_better" + }, + { + "name": "hub_displacement_m", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "hub_tilt_deg", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "plug_lifted", + "where": "操作中", + "t": 3.0, + "log_step": 94, + "evidence_zh": "观察：视频 3-15.6 s 叠字始终 Stage 0/3，插头从未抬离桌面，axis error 约 103.5°（极性方向错）。" + }, + "phenomena": [ + { + "t": 8.0, + "log_step": 94, + "evidence_zh": "观察：视频 1-7 s 右手仅用指尖点触插头（单指接触），约 8 s 后空手移到集线器右端；叠字始终 Stage 0/3，插头始终在桌沿，未见拇指与另一指夹住。推断：夹持接触从未建立。", + "cat": "接触", + "item": "没建立接触" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；agent 的脚本 gen.py 在 log step 93-94 启动后无输出，无法确认夹取失败的具体原因（控制或感知），故根因留空。", + "unmet": { + "plug_lifted": false, + "plug_seated_port4": false + } + }, + "summary_zh": "观察：graded 视频 15.6 s 内叠字始终 Stage 0/3，右手只在桌沿用指尖点触插头，约 8 s 后空手移到集线器右端，插头未被夹起也未进第4口。两节点均未达成，断点为拿起插头。根因无证据，未标注；无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点值(两节点均未达成)、断点 plug_lifted 与时间锚均可接受；但证据文字与画面不符：插头并未被拖向集线器，而是留在桌沿附近，右手在约 7-8 s 后空手移到集线器右端。需改写 evidence 与 contact_actual 说明。", + "n_issues": 2, + "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 plug_lifted、没建立接触与证据文字均与帧一致（插头留在桌沿，手后来空手移到集线器右端）；第1轮问题已改。根因留空有 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + 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"round": 2, + "ok": true, + "space": "work/runs/dexhand-usb-plug-insert-i00-standard--u4n8zh3/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2efed6af8232d54f7762249dad30ee7895aaa8b21290850f349a38f5babcd16e", + "video_sha256": "e3acaec662b970a3f1d4e1c0a2a69367c4f58ea761bed84bb108b77ebd974650", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/brush_blue_brush_sweep_forward/trajectories/dextoolbench_brush_blue_brush_sweep_forward-standard--qignu7s.json b/phaseR/dextoolbench/brush_blue_brush_sweep_forward/trajectories/dextoolbench_brush_blue_brush_sweep_forward-standard--qignu7s.json new file mode 100644 index 0000000000000000000000000000000000000000..3bb95519e5415bece4ec0ac7c1296d1989f5e20b --- /dev/null +++ b/phaseR/dextoolbench/brush_blue_brush_sweep_forward/trajectories/dextoolbench_brush_blue_brush_sweep_forward-standard--qignu7s.json @@ -0,0 +1,654 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_brush_blue_brush_sweep_forward-standard--qignu7s", + "taskKey": "dextoolbench/brush_blue_brush_sweep_forward", + "dag_sha256": "204f00e8a050b366a3db9edd5334fe7d6fb6682346eeea285ec9f68a31f86bc8", + "outcome": { + "success": 0, + "reward": 0.0882, + "source": "catalog", + "raw": { + 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"观察：视频末帧绿色虚影仍在，刷子未与之贴合；评分器 goals_reached=3/34，第4目标起未通过。" + } + ] + }, + "brush_goal_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频末帧绿色虚影仍在，刷子未与之贴合；评分器 goals_reached=3/34，第4目标起未通过。" + } + ] + }, + "brush_goal_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频末帧绿色虚影仍在，刷子未与之贴合；评分器 goals_reached=3/34，第4目标起未通过。" + } + ] + }, + "brush_goal_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频末帧绿色虚影仍在，刷子未与之贴合；评分器 goals_reached=3/34，第4目标起未通过。" + } + ] + }, + "brush_goal_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频末帧绿色虚影仍在，刷子未与之贴合；评分器 goals_reached=3/34，第4目标起未通过。" + } + ] + }, + "brush_goal_31_reached": { + 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0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.0882, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brush_goal_04_reached", + "where": "操作中", + "t": 24.0, + "evidence_zh": "观察：视频末帧（约 24 s）手仍握刷子，但刷子未贴合当前绿色目标；评分器 goal_index=3，goals_reached=3/34（log step 92/98/107 的服务输出）。", + "log_step": 107 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 24.0, + "log_step": 107, + "evidence_zh": "观察：视频末帧刷子朝向/位置与绿色虚影有偏差；agent 在 log step 85-107 多次微调（平移、ICP 对齐）仍停在 goal_index 3。推断：位姿未达 1.5 cm 角点容差。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足（未见状态日志，无法区分控制或感知）。agent 会话在 log step 110 起被 Gemini 过滤器拦截（4 次），但此前已有实时评分的回合，视为已评分结果，不作外部因素。节点时间由虚影切换估计。", + "unmet": { + "brush_goal_01_reached": true, + "brush_goal_02_reached": true, + "brush_goal_03_reached": true, + "brush_goal_04_reached": false, + "brush_goal_05_reached": false, + "brush_goal_06_reached": false, + 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goals_reached=3/34；前3个目标通过时间依虚影切换估计（约视频 5.5/8/10 s），第4目标起未达。推断：卡在第4个目标的位姿精度；无状态日志、无成功参照。log step 110 后 agent 请求被模型过滤器拦截，发生在评分回合之后。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "节点 goals_reached=3 与评分器一致，断点 brush_goal_04_reached（视频约 24 s）、位姿不准现象及空根因加 gap_zh 均有证据支持；前3个目标的具体时刻依虚影切换估计（±1.5 s），我的抽帧无法更精确地推翻。未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_brush_blue_brush_sweep_forward-standard--qignu7s/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_brush_blue_brush_sweep_forward-standard--qignu7s/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "708d4b4f2778039d89bf766875b1acf7124001ba6060ab63dff046fa1b931902", + "video_sha256": "55c72219af3327a14e9d08f683d184a6d12eec2f412c9504fe1e281e6000d0d2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/brush_red_brush_sweep_forward/trajectories/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu.json b/phaseR/dextoolbench/brush_red_brush_sweep_forward/trajectories/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu.json new file mode 100644 index 0000000000000000000000000000000000000000..410c55081a83cd10fedbb1d93be5a48c67926dc4 --- /dev/null +++ b/phaseR/dextoolbench/brush_red_brush_sweep_forward/trajectories/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu.json @@ -0,0 +1,1109 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu", + "taskKey": "dextoolbench/brush_red_brush_sweep_forward", + "dag_sha256": "6425ae0c1619cb8d2636e96ce5070223f446188f5f3e75956fa74d57134731f4", + "outcome": { + "success": 0, + "reward": 0.8421, + "source": "catalog", + "raw": { + 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次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_09_reached": { + "method": "visual", + "intervals": [ + [ + 3.26, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.26, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第9目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_10_reached": { + "method": "visual", + "intervals": [ + [ + 3.63, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.63, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第10目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_11_reached": { + "method": "visual", + "intervals": [ + [ + 4.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第11目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_12_reached": { + "method": "visual", + "intervals": [ + [ + 4.37, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.37, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第12目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", 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灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_15_reached": { + "method": "visual", + "intervals": [ + [ + 5.48, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.48, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第15目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_16_reached": { + "method": "visual", + "intervals": [ + [ + 5.85, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.85, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第16目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + 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+ "final": true, + "evidence": [ + { + "t": 7.7, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第21目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_22_reached": { + "method": "visual", + "intervals": [ + [ + 8.07, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.07, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第22目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_23_reached": { + "method": "visual", + "intervals": [ + [ + 8.44, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.44, + "log_step": null, + "text_zh": "观察：视频 12.4 s 为加速回放，画面中绿色目标虚影随刷子到位依次切换，无屏显计数；推断：评分器 goals_reached=32/38（视频 12.4 s 全程），第23目标按序通过；到达时间由 32 次切换在视频上均匀估算，约 ±0.5 s 以上不确定。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_24_reached": { + "method": "visual", + "intervals": [ + [ + 11.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.1, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第24目标在 4320 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4320×12.4/4827=11.1 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_25_reached": { + "method": "visual", + "intervals": [ + [ + 11.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.3, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第25目标在 4399 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4399×12.4/4827=11.3 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_26_reached": { + "method": "visual", + "intervals": [ + [ + 11.39, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.39, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第26目标在 4432 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4432×12.4/4827=11.39 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_27_reached": { + "method": "visual", + "intervals": [ + [ + 11.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.4, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第27目标在 4436 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4436×12.4/4827=11.4 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_28_reached": { + "method": "visual", + "intervals": [ + [ + 11.55, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.55, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第28目标在 4497 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4497×12.4/4827=11.55 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_29_reached": { + "method": "visual", + "intervals": [ + [ + 11.99, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.99, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第29目标在 4666 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4666×12.4/4827=11.99 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_30_reached": { + "method": "visual", + "intervals": [ + [ + 12.13, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.13, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第30目标在 4722 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4722×12.4/4827=12.13 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_31_reached": { + "method": "visual", + "intervals": [ + [ + 12.22, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.22, + "log_step": null, + "text_zh": "推断：会话回放日志（run.json，agent 会话读数，非图像证据）记第31目标在 4757 控制步通过；按视频 372 帧对应 n_actions 4827 的线性映射（假设均匀回放）t≈4757×12.4/4827=12.22 s；映射未在视频上逐帧核对，不确定度约 ±1 s 以上（步数来自会话中间版本 4497/4757 步，前缀未必与 4827 步最终版本一致，且未在视频可见切换上核对）。评分器 goals_reached=32/38 为总数依据。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_32_reached": { + "method": "visual", + "intervals": [ + [ + 12.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 12.4, + "log_step": null, + "text_zh": "推断：评分器 goals_reached=32/38，log step 162/164 'Updated 32' 对应 4827 步最终轨迹；第32目标在末段通过，具体步数无日志，取视频末尾 12.4 s 为上界（会话/评分器推断，非图像证据）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左侧 Sharpa HA4 灵巧手握住刷柄带动实体刷（视频全程可见手持刷子移动）；log step 27 自述多指抓握。" + } + ] + }, + "brush_goal_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": 168, + "text_zh": "观察：评分器 goals_reached=32，按序第33及之后目标未通过；视频最后一帧（12.4 s）绿色虚影仍在刷子附近但未对齐。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频末段手仍握刷，继续追第33目标。" + } + ] + }, + "brush_goal_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": 168, + "text_zh": "观察：评分器 goals_reached=32，按序第33及之后目标未通过；视频最后一帧（12.4 s）绿色虚影仍在刷子附近但未对齐。" + } + ] + }, + "brush_goal_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": 168, + "text_zh": "观察：评分器 goals_reached=32，按序第33及之后目标未通过；视频最后一帧（12.4 s）绿色虚影仍在刷子附近但未对齐。" + } + ] + }, + "brush_goal_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": 168, + "text_zh": "观察：评分器 goals_reached=32，按序第33及之后目标未通过；视频最后一帧（12.4 s）绿色虚影仍在刷子附近但未对齐。" + } + ] + }, + "brush_goal_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": 168, + "text_zh": "观察：评分器 goals_reached=32，按序第33及之后目标未通过；视频最后一帧（12.4 s）绿色虚影仍在刷子附近但未对齐。" + } + ] + }, + "brush_goal_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 12.4, + "log_step": 168, + "text_zh": "观察：评分器 goals_reached=32，按序第33及之后目标未通过；视频最后一帧（12.4 s）绿色虚影仍在刷子附近但未对齐。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.8421, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brush_goal_33_reached", + "t": 12.0, + "log_step": 168, + "where": "操作中", + "evidence_zh": "观察：评分器 goals_reached=32/38，视频 12.4 s 结束时手仍握刷，第33个目标未通过；推断：断点为按序第一个未通过目标。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 12.0, + "log_step": 162, + "evidence_zh": "观察：视频 12.4 s 末帧刷子未与绿色目标虚影对齐（仅图像层面）；推断：评分器 goals_reached=32/38，第33目标未通过（阈值 0.015 m）。会话 greedy 日志（log step 162/164）显示 goal 32 残差约 0.017–0.022 m（会话读数，非图像证据，且属中间版本，不能当作第33目标残差）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断（弱）：agent 会话自述刷子在换向和抬起时滑转（log step 151, 102），step 54 的碰桌边只是会话测试，不属被评分轨迹；视频与评分器均不能确认。另一种可能：末段开环 greedy 搜索残差停滞在约 0.017–0.022 m（log step 162，会话读数）即轨迹搜索未收敛。控制层归因为推断，不能确定。", + "source_zh": "agent 自述 + 会话日志（推断）" + } + ], + "gap_zh": "视频为 12.4 s 加速回放，无屏显目标计数，无状态日志；各节点到达时间为均匀估算，仅 32/38 总数来自评分器。根因只来自 agent 自述。 根因为弱推断：滑转（自述）与开环搜索未收敛（step 162 残差停滞）无法区分。", + "unmet": { + "brush_goal_01_reached": true, + "brush_goal_02_reached": true, + "brush_goal_03_reached": true, + "brush_goal_04_reached": true, + "brush_goal_05_reached": true, + "brush_goal_06_reached": true, + "brush_goal_07_reached": true, + "brush_goal_08_reached": true, + "brush_goal_09_reached": true, + "brush_goal_10_reached": true, + "brush_goal_11_reached": true, + "brush_goal_12_reached": true, + "brush_goal_13_reached": true, + "brush_goal_14_reached": true, + "brush_goal_15_reached": true, + "brush_goal_16_reached": true, + "brush_goal_17_reached": true, + "brush_goal_18_reached": true, + "brush_goal_19_reached": true, + "brush_goal_20_reached": true, + "brush_goal_21_reached": true, + "brush_goal_22_reached": true, + "brush_goal_23_reached": true, + "brush_goal_24_reached": true, + "brush_goal_25_reached": true, + "brush_goal_26_reached": true, + "brush_goal_27_reached": true, + "brush_goal_28_reached": true, + "brush_goal_29_reached": true, + "brush_goal_30_reached": true, + "brush_goal_31_reached": true, + "brush_goal_32_reached": true, + "brush_goal_33_reached": false, + "brush_goal_34_reached": false, + "brush_goal_35_reached": false, + "brush_goal_36_reached": false, + "brush_goal_37_reached": false, + "brush_goal_38_reached": false + } + }, + "summary_zh": "观察：评分器 goals_reached=32/38（视频 12.4 s），握刷的灵巧手依次通过前32个目标；第33个目标未通过，断点在该步操作中。推断：抓握在换向时滑转或臂姿受限（agent 自述，会话证据）。证据缺口：视频加速、无状态日志，第24–31目标时间按日志步数线性映射估算（±1 s 以上），其余为均匀估算。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "断点（goal_33）与 32/38 总数无误，但位姿不准的证据引用了另一条（31 目标）轨迹的读数，且各目标到达时间按均匀估算，与 log 里的步数锚点相差约 1 秒以上。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 5, + "summary_zh": "断点（goal_33）和 32/38 总数无误；但 goal_24–31 的时间由会话中间版本（4497/4757 步）线性换算，未按 N6 在视频可见事件上核对，且这些读数不属于被评分的 4827 步最终版本；根因“控制”只来自 agent 自述。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两条 partial 回应均已落实：goal_24–31 的不确定度改为 ±1 s 以上并注明步数来自会话中间版本；根因降为弱推断并加入 step 162 残差停滞的替代解释。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两条 partial 回应均已落实：goal_24–31 的不确定度改为 ±1 s 以上并注明步数来自会话中间版本；根因降为弱推断并加入 step 162 残差停滞的替代解释。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:56:00Z", + "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/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_forward-privileged--shyymmu/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": "8f4667de1ce6c0ed614e0ffc64c4dbafd4529299585441d08724ab25aed06509", + "video_sha256": "f4af3b4aaff9887a921d1956e68a0257ee6c71b2785ab2983c2b8a375923878a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "gap_zh": "视频为 12.4 s 加速回放，无屏显目标计数，无状态日志；仅 32/38 总数来自评分器。第24–31目标到达时间由会话日志步数按 372 帧↔4827 步线性映射估算（未逐帧核对，±1 s 以上，步数来自会话中间版本），第1–23目标仍为均匀估算（±0.5 s 以上），第32目标取末尾上界。位姿不准现象的量化残差无最终版本读数，只有视觉对齐观察。根因为弱推断（自述滑转 vs 开环搜索未收敛无法区分）。", + "conf_reason_zh": " 第24–31目标时间不确定度 ±1 s 以上；根因仅为推断。" +} diff --git a/phaseR/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-standard--n9r444d.json b/phaseR/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-standard--n9r444d.json new file mode 100644 index 0000000000000000000000000000000000000000..86281760e579fffdf7d9802cba068c360eb82714 --- /dev/null +++ b/phaseR/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-standard--n9r444d.json @@ -0,0 +1,677 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_brush_red_brush_sweep_right-standard--n9r444d", + "taskKey": "dextoolbench/brush_red_brush_sweep_right", + "dag_sha256": "ecd315bdedfe165f67df5c8fb6ff6cb831da321ad7c1394e78085f12c5382b46", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 4572, + "calls": 1369, + "elapsed_s": 1399.4, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 20, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 38, + "failed_on_timeout": 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:dextoolbench_brush_red_brush_sweep_right-standard--n9r444d.mp4", + "duration_s": 26.16, + "fps": 25.0, + "frames": 654, + "sha256": "0591362db9e7cf7642b4e53300d298bf76674cc3e6879ab94733f51c40b2d6c6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 38, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "brush_pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：视频 25.9 s 四个视角中灰色实体刷平躺在桌面上，绿色目标刷悬在桌面上方，二者不重合；评分器 goals_reached=0/38（run.json reward）。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：视频 0-26 s 灵巧手在刷子附近，未见握住并抬起；是否发生触碰/推动，画面分辨率不足以判定。" + } + ] + }, + "brush_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + }, + "brush_pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 254, + "text_zh": "观察：第1位姿未达成，按序门控，本节点未达成；评分器 goals_reached=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "brush_pose_01_reached", + "where": "操作中", + "t": 13.0, + "evidence_zh": "观察：全程视频 0-26.16 s 中灰色刷始终在桌面，手未将其抬至空中的绿色目标；末帧视频 25.9 s 仍如此。", + "log_step": null + }, + "phenomena": [ + { + "cat": "接触", + "t": 13.0, + "log_step": 254, + "evidence_zh": "观察：视频中灵巧手从未握住刷柄（末帧手在刷子旁，刷子在桌面）；agent 自述“every early attempt closed on air”（log step 254）。", + "item": "没建立接触" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述手指落在刷柄旁而闭合于空气、20 次重置用尽仍未调好抓握（log step 254）；视频未见手握住刷子。具体子类型不明。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志，无法给出逐帧接触对；现象名称与根因子类依据视频和 agent 自述，子类未细分。", + "unmet": { + "brush_pose_01_reached": false, + "brush_pose_02_reached": false, + "brush_pose_03_reached": false, + "brush_pose_04_reached": false, + "brush_pose_05_reached": false, + "brush_pose_06_reached": false, + "brush_pose_07_reached": false, + "brush_pose_08_reached": false, + "brush_pose_09_reached": false, + "brush_pose_10_reached": false, + "brush_pose_11_reached": false, + "brush_pose_12_reached": false, + "brush_pose_13_reached": false, + "brush_pose_14_reached": false, + "brush_pose_15_reached": false, + "brush_pose_16_reached": false, + "brush_pose_17_reached": false, + "brush_pose_18_reached": false, + "brush_pose_19_reached": false, + "brush_pose_20_reached": false, + "brush_pose_21_reached": false, + "brush_pose_22_reached": false, + "brush_pose_23_reached": false, + "brush_pose_24_reached": false, + "brush_pose_25_reached": false, + "brush_pose_26_reached": false, + "brush_pose_27_reached": false, + "brush_pose_28_reached": false, + "brush_pose_29_reached": false, + "brush_pose_30_reached": false, + "brush_pose_31_reached": false, + "brush_pose_32_reached": false, + "brush_pose_33_reached": false, + "brush_pose_34_reached": false, + "brush_pose_35_reached": false, + "brush_pose_36_reached": false, + "brush_pose_37_reached": false, + "brush_pose_38_reached": false + } + }, + "summary_zh": "观察：该次评分 episode 中机械臂/灵巧手始终未抓起灰色刷子，38 个目标位姿一个都没达成（goals_reached=0）。断点在第1位姿（抓刷并移到首个空中目标），现象为没建立接触，根因仅能定到控制层（agent 自述指尖落在刷柄旁、重置次数耗尽）。缺状态日志，接触细节仅凭视频。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "全部38个位姿未达成与 goals_reached=0 一致；视频 12–25.5 s 灰刷始终在桌面、手在刷旁未抬起，断点在第1位姿、没建立接触、根因停在控制层均有视频与 agent 末步自述支持。接触细节缺状态日志，用未知处理合理。", + "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": "2026-11-08T21:37:55Z", + "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_rerun1/runs/dextoolbench_brush_red_brush_sweep_right-standard--n9r444d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/dextoolbench_brush_red_brush_sweep_right-standard--n9r444d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "79396984532d93a3f2604a884f33ab9f1a58320dc5ee71176773efbfc82964ae", + "video_sha256": "0591362db9e7cf7642b4e53300d298bf76674cc3e6879ab94733f51c40b2d6c6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/eraser_handle_eraser_wipe_c/trajectories/dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv.json b/phaseR/dextoolbench/eraser_handle_eraser_wipe_c/trajectories/dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv.json new file mode 100644 index 0000000000000000000000000000000000000000..869afe3535baf7509f156504503d759312e0b9af --- /dev/null +++ b/phaseR/dextoolbench/eraser_handle_eraser_wipe_c/trajectories/dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv.json @@ -0,0 +1,881 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv", + "taskKey": "dextoolbench/eraser_handle_eraser_wipe_c", + "dag_sha256": "8b93fd8b8b643518850942ab5b79ea3d17adc3f50dabc16afe65184c2e3913f5", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "progress": 1.0, + "goals_reached": 31, + "n_goals": 31, + "failed_on_timeout": 0, + "deterministic": 1, + "n_actions": 1036, + "control_steps_used": 1036, + "video_rendered": 1, + "grader_error": 0, + "agent_sessions": 87, + "agent_resets": 184, + "agent_control_steps": 32399, + "agent_cost_self_reported": 1, + "agent_traces": 60, + "agent_trace_videos": 6, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.153, + "peak_memory_gb": 1.102, + "peak_processes": 7, + "peak_disk_gb": 0.255, + "resource_emergency_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv/replay.mp4", + "duration_s": 11.567, + "fps": 30.0, + "frames": 347, + "sha256": "fd7d3594fc5eac0274223277cdae45e8d5d1dd49ddf2b404e52f6b04b711db3e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 31, + "base": 0, + "peak": 31, + "final": 31, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [ + [ + 0.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.7, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 0.7 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 1.0 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [ + [ + 1.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.4, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 1.4 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [ + [ + 1.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.7, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 1.7 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [ + [ + 2.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.1, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 2.1 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [ + [ + 2.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.5, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 2.5 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [ + [ + 2.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.8, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 2.8 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [ + [ + 3.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.2, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 3.2 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [ + [ + 3.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.6, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 3.6 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [ + [ + 3.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.9, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 3.9 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [ + [ + 4.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.3, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 4.3 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [ + [ + 4.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.6, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 4.6 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 5.0 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [ + [ + 5.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.4, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 5.4 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [ + [ + 5.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.7, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 5.7 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [ + [ + 6.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.1, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 6.1 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [ + [ + 6.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.4, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 6.4 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [ + [ + 6.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.8, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 6.8 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [ + [ + 7.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.2, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 7.2 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [ + [ + 7.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 7.5 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [ + [ + 7.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.9, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 7.9 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [ + [ + 8.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.2, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 8.2 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [ + [ + 8.6, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.6, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 8.6 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [ + [ + 9.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.0, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 9.0 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [ + [ + 9.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.3, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 9.3 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [ + [ + 9.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.7, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 9.7 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [ + [ + 10.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.1, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 10.1 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [ + [ + 10.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.4, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 10.4 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [ + [ + 10.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 10.8, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 10.8 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [ + [ + 11.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.1, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 11.1 s，误差可达 ±1 s）。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.5, + "log_step": 144, + "text_zh": "观察：视频中绿色目标影像沿C形轨迹依次切换，带柄板擦由灵巧手持着跟随（灰色板擦在小图中难以逐帧分辨）。评分器 goals_reached=31/31、success=1，故该目标判定到达。推断：到达时间按31个目标在视频 0-11.5 s 内近似等间隔估计（约 11.5 s，误差可达 ±1 s）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "goals_reached", + "value": 31, + "unit": "count", + "threshold": 31, + "direction": "higher_better" + }, + { + "name": "progress", + "value": 1.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：评分器报告 goals_reached 31/31、success 1，视频 11.6 s 内左手持板擦依次跟随31个绿色目标影像。全部节点判为到达；推断：各节点到达时间由等间隔估计，灰色板擦在视频中难以逐帧分辨，这是主要的证据缺口。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "评分器 31/31、success=1，全部节点到达、无失败/断点，标注与之一致；到达时间标为等间隔推断，接触（左手抓握把手）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": "2026-11-08T20:50:53Z", + "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/dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_eraser_handle_eraser_wipe_c-privileged--jn6mpsv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8b1f8c5b8381bff190a8e6052e131191ed0f8ddfbdc5eb5ac2a26a04e0106a0a", + "video_sha256": "fd7d3594fc5eac0274223277cdae45e8d5d1dd49ddf2b404e52f6b04b711db3e", + "states_sha256": null, + "video_choice": "HF replay.mp4" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + }, + "contact_actual": { + "goal_pose_01_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_02_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_03_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_04_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_05_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_06_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_07_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_08_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_09_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_10_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_11_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_12_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_13_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_14_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_15_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_16_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_17_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_18_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_19_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_20_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_21_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_22_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_23_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_24_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_25_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_26_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_27_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_28_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_29_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_30_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ], + "goal_pose_31_reached": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：Sharpa 左手握持带柄板擦的把手，由机械臂带动沿轨迹移动（视频全程手与板擦同动）。" + } + ] + } +} diff --git a/phaseR/dextoolbench/hammer_claw_hammer_swing_side/trajectories/dextoolbench_hammer_claw_hammer_swing_side-standard--ikx9meo.json b/phaseR/dextoolbench/hammer_claw_hammer_swing_side/trajectories/dextoolbench_hammer_claw_hammer_swing_side-standard--ikx9meo.json new file mode 100644 index 0000000000000000000000000000000000000000..f81dffc0a9610404e265f23c19fb0f74d4e7163e --- /dev/null +++ b/phaseR/dextoolbench/hammer_claw_hammer_swing_side/trajectories/dextoolbench_hammer_claw_hammer_swing_side-standard--ikx9meo.json @@ -0,0 +1,703 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_hammer_claw_hammer_swing_side-standard--ikx9meo", + "taskKey": "dextoolbench/hammer_claw_hammer_swing_side", + "dag_sha256": "3aa3f1cf932df1ad59c1dc86f239279404a0108a06242cbd1fe6defb3adcd0d7", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 1236, + "calls": 107, + "elapsed_s": 3607.9, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 8, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 40, + "failed_on_timeout": 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, + 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goals_reached=0/40。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 4–24 s 灵巧手把灰色锤子举离桌面并带着移动（锤子在手附近随手臂运动），未到虚影位姿；握持细节被手遮挡。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_39_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + }, + "goal_pose_40_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.6, + "log_step": 130, + "text_zh": "观察：第1目标未通过，按序不能轮到本目标；评分器 goals_reached=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goals_reached", + "value": 0, + "unit": "count", + "threshold": 40, + "direction": "higher_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + }, + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "t": 8.0, + "log_step": 130, + "where": "操作中", + "evidence_zh": "观察：视频 0 s 锤子在桌面，之后 4–24.6 s 机械臂带着锤子在虚影附近移动，从未与第1个绿色虚影重合（视频 24.6 s 仍错位）；评分器 goals_reached=0。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 24.6, + "log_step": 130, + "evidence_zh": "观察：视频 8 s 与 24.6 s 四视图中锤子在手中，位置/朝向与绿色虚影有明显偏差，未进入 1.5 cm 容差。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：无状态日志，锤子在手中的抓握位姿因遮挡看不清；日志 step 123-127 有 Gemini 过滤拦截，但随后 step 129-130 仍交付并运行了 gen.py，故不按外部因素处理；位姿不准的具体原因未能从视频判定。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false, + "goal_pose_39_reached": false, + "goal_pose_40_reached": false + } + }, + "summary_zh": "观察：40个目标一个都没通过（goals_reached=0），锤子被灵巧手举起并在目标虚影附近移动，但始终未与第1个虚影重合。断点在第1目标（操作中），现象为位姿不准；无状态日志且手部遮挡，根因未能判定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "40个目标全未通过（goals_reached=0），第1目标断点、操作中、位姿不准与视频一致（0 s 锤子在桌面，8 s 和 24.6 s 锤子在手中且与绿色虚影错位）；根因留空并给出 gap_zh 合理，未见时钟或接触标注错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:17Z", + "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/dextoolbench_hammer_claw_hammer_swing_side-standard--ikx9meo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_side-standard--ikx9meo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f2b513e0d0c9dc759487a7d85757378a0f7493a316e69651610f61b1c05bc6fa", + "video_sha256": "a0941bc6cadb96f1db5b79080ce26b679eaf24866646f4992e3ec78d7f8ec603", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/hammer_mallet_hammer_swing_side/trajectories/dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8.json b/phaseR/dextoolbench/hammer_mallet_hammer_swing_side/trajectories/dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8.json new file mode 100644 index 0000000000000000000000000000000000000000..063a199fd9a416f39ac69d11ab245c3df286e948 --- /dev/null +++ b/phaseR/dextoolbench/hammer_mallet_hammer_swing_side/trajectories/dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8.json @@ -0,0 +1,599 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8", + "taskKey": "dextoolbench/hammer_mallet_hammer_swing_side", + "dag_sha256": "1b4953334f59b04918d63eec93271bbf98e9f071d6cb3516fcc1b176027cd459", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + 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"resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8.mp4", + "duration_s": 24.04, + "fps": 25.0, + "frames": 601, + "sha256": "d60c01e3ea88784a603ab74c482b8a185b44cff9503c4a69d5072a48b5001a9f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 32, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：手悬停在木槌上方/旁边，未见手指包住木槌柄，木槌未被抬起；无状态日志，是否有触碰无法确认。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 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全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 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全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 23.9, + "log_step": 433, + "text_zh": "观察：视频 0–24 s 全程，灰色木槌始终留在白色桌面上，机械臂手悬在木槌附近、几乎不动，绿色目标木槌不变；没有任何一帧显示木槌被抬起或与绿色目标重合。log step 433 中 agent 脚本输出“Goals reached: 0”，评分器 goals_reached=0/32。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goals_reached", + "value": 0, + "unit": "个", + "threshold": 32, + "direction": "higher_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "比例", + "threshold": 1.0, + "direction": "higher_better" + }, + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "where": "操作中", + "t": 4.0, + "log_step": 433, + "evidence_zh": "观察：视频 4–24 s 手停在木槌上方，木槌始终在桌面，第1位姿从未达成（goals_reached=0，log step 433 脚本输出“Tracking Goal 0/32 … goals reached: 0”）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 12.0, + "log_step": 433, + "evidence_zh": "观察：视频 12.0 s 与 23.9 s 两帧一致，木槌仍躺在桌上，手没有包住木槌柄，未形成抓握。" + } + ], + "root_causes": [], + "gap_zh": "根因层留空：视频只显示手停在木槌旁、木槌未被抓起，agent 的脚本（log step 431 自述‘合拢手指抓握后抬起’）未显示出错原因，也无状态日志；无法区分是抓取几何、逆解还是脚本问题。无状态日志，节点按视频判断。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false + } + }, + "summary_zh": "观察：被评分的 24 s 视频中木槌始终留在桌面，机械臂手悬在其附近，32 个目标位姿一个都没达成（评分器 goals_reached=0）。断点在第1位姿（抓起木槌并移到目标），现象为没建立接触；缺少状态日志，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": 6, + "summary_zh": "视频全程木槌留在桌面，手停在目标高度附近未下降抓握，评分器 goals_reached=0/32，32 个节点均未达成、断点第1位姿、现象「没建立接触」、根因留空并写 gap_zh，均与证据一致；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": "2026-11-08T20:52:24Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_hammer_mallet_hammer_swing_side-standard--setm7g8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "675d7393360c4a28bec55dfcb266dc5a242acf60cd7af74e60ad42783650ca46", + "video_sha256": "d60c01e3ea88784a603ab74c482b8a185b44cff9503c4a69d5072a48b5001a9f", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/marker_sharpie_marker_draw_smile/trajectories/dextoolbench_marker_sharpie_marker_draw_smile-privileged--xpjjexf.json b/phaseR/dextoolbench/marker_sharpie_marker_draw_smile/trajectories/dextoolbench_marker_sharpie_marker_draw_smile-privileged--xpjjexf.json new file mode 100644 index 0000000000000000000000000000000000000000..189097e56d174b0e044414beda45781ddea8e203 --- /dev/null +++ b/phaseR/dextoolbench/marker_sharpie_marker_draw_smile/trajectories/dextoolbench_marker_sharpie_marker_draw_smile-privileged--xpjjexf.json @@ -0,0 +1,1034 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_marker_sharpie_marker_draw_smile-privileged--xpjjexf", + "taskKey": "dextoolbench/marker_sharpie_marker_draw_smile", + "dag_sha256": "c5186bb5b4270cd95efad89522ef26808821605b3f3c03fd8a3bb5abcd48d899", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "progress": 1.0, + "goals_reached": 36, + "n_goals": 36, + "failed_on_timeout": 0, + "deterministic": 1, + "n_actions": 6460, + "control_steps_used": 6460, + "video_rendered": 1, + "grader_error": 0, + "agent_sessions": 502, + "agent_resets": 510, + "agent_control_steps": 535432, + "agent_cost_self_reported": 1, + "agent_traces": 70, + "agent_trace_videos": 6, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.21, + "peak_memory_gb": 9.817, + "peak_processes": 14, + "peak_disk_gb": 1.007, + "peak_cpus": 2.13, + "peak_pids": 38, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dextoolbench_marker_sharpie_marker_draw_smile-privileged--xpjjexf.mp4", + "duration_s": 12.7, + "fps": 30.0, + "frames": 381, + "sha256": "75810a2184a17cb9314f17c3f13f93ca2b112824be2b58cf0c8aefa820522aa4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 36, + "base": 0, + "peak": 36, + "final": 36, + "nodes": { + "goal_01_reached": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 1088 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_02_reached": { + "method": "visual", + "intervals": [ + [ + 2.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 1274 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_03_reached": { + "method": "visual", + "intervals": [ + [ + 3.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 1427 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_04_reached": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 2571 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_05_reached": { + "method": "visual", + "intervals": [ + [ + 7.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 3814 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_06_reached": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 3993 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_07_reached": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 4080 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_08_reached": { + "method": "visual", + "intervals": [ + [ + 8.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.0, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 目标按序达成（success=1）；机械臂左手持绿色记号笔依次移到各影子位姿。视频无逐目标计数，本节点时间由 agent 最终脚本回放的每目标控制步数（约 4178 步，按 6460 步对应视频 12.7 s 线性换算，另设首个目标前约 330 步为稳定/预抓取）粗略估计，未在任何可见事件处核对步数→视频映射（N6），时间已取整到 0.5 s，误差可达 1 s 以上；终帧（视频 12.5 s）可见笔在手中靠近白板。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：左型灵巧手的拇指与其他手指握住记号笔笔身，带动其沿示范轨迹运动（视频各视角均见笔在手中）。" + } + ] + }, + "goal_09_reached": { + "method": "visual", + "intervals": [ + [ + 8.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 8.5, + "log_step": null, + "text_zh": "推断：评分器报告 36/36 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四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.6, + "log_step": null, + "text_zh": "观察：视频 0-3.64 s 四视角中灰色记号笔始终留在白桌上，未离开桌面，也未到达绿色幽灵位姿；评分字段 goals_reached=0/25。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "goals_reached", + "value": 0, + "unit": "count", + "threshold": 25, + "direction": "higher_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "where": "操作中", + "t": 3.0, + "evidence_zh": "观察：视频 2.4 s 起灵巧手下到记号笔上方，约 3.6 s 抬手，记号笔始终在白桌上（视频 3.64 s 末帧仍在桌面）。", + "log_step": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.0, + "log_step": null, + "evidence_zh": "观察：笔在 0–3.64 s 始终留在桌面、未随手抬起；推断：手没有夹住笔（该分辨率下指尖接触不可见），故判为没建立接触。" + } + ], + "root_causes": [], + "gap_zh": "视频仅 3.64 s（180 个控制步），无接触细节，根因无法从视频判断，故根因留空。agent 日志在评分回合（log step 131，agent 时间 3336 s）之后于 log step 135/137 被 Gemini 过滤器拦截，无后续动作；该回合已完整给出，按常规标注。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false + } + }, + "summary_zh": "观察：被评分的视频仅 3.64 s，灰色记号笔始终在桌上，25 个目标 0 个达成（goals_reached=0）。断点在第1个位姿（操作中），现象为没建立接触（由笔未被带起推断）；根因证据不足。agent 在评分回合之后被模型过滤器拦截，无后续动作，该回合按常规标注。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（25 个全 false）、断点（goal_pose_01，操作中）基本与视频一致；问题在于把 Gemini 过滤器拦截写成“外因中断、结果可靠性有限”（被评分回合已在 log step 131–132 前完成），以及“没建立接触”被当作观察而 contact_actual 却写未知，前后不一致。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频一致：0–3.64 s 笔始终在桌面，0/25 目标，断点在第1位姿，没建立接触作为推断标注，根因留空并有 gap_zh。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:38Z", + "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/dextoolbench_marker_sharpie_marker_write_c-standard--cfmbiht/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_marker_sharpie_marker_write_c-standard--cfmbiht/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_marker_sharpie_marker_write_c-standard--cfmbiht/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_marker_sharpie_marker_write_c-standard--cfmbiht/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "df03a4907417593151f6396d1ba3ca1a4212e3d60213565ff7ed66816382051e", + "video_sha256": "437f14f2045786f3fb5ab66ed5a47ae88b8a24f25740c7526aa99ebc23592495", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/marker_staples_marker_draw_smile/trajectories/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn.json b/phaseR/dextoolbench/marker_staples_marker_draw_smile/trajectories/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn.json new file mode 100644 index 0000000000000000000000000000000000000000..ceb3ad7e050d6c8a9e2d58c92d539ec0bbc42c73 --- /dev/null +++ b/phaseR/dextoolbench/marker_staples_marker_draw_smile/trajectories/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn.json @@ -0,0 +1,872 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn", + "taskKey": "dextoolbench/marker_staples_marker_draw_smile", + "dag_sha256": "22daaad122fbf27e9bceb5ec530907837db0d7f17c66a84b55a310d50da88110", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 84, + "calls": 61, + "elapsed_s": 3606.3, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 8, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 49, + "failed_on_timeout": 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:dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn.mp4", + "duration_s": 1.72, + "fps": 25.0, + "frames": 43, + "sha256": "fc5954bd910128e1e1b4ff6af4cb8d3dfaacf09341d559bfe14fb8fada19b0bf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 49, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：视频 0.8-1.72 s 灵巧手落到桌面记号笔附近，末帧灰色笔被挤到桌面右侧斜躺，手未围住笔身（未形成抓握）。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_39_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_40_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_41_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_42_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_43_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_44_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_45_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_46_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_47_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_48_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + }, + "goal_pose_49_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频 0-1.72 s 四个视角中灰色记号笔始终未被抓起，也未与绿色目标笔重合；评分器 goals_reached=0/49（评分器字段）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "goals_reached", + "value": 0, + "unit": "count", + "threshold": 49, + "direction": "higher_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "ratio", + "threshold": 1, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "t": 1.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 0-1.72 s 机械臂把手压向桌面，记号笔未被抓起，末帧(视频 1.72 s)笔斜躺在桌面右侧，远离绿色目标笔；第1个目标从未到达。" + }, + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false, + "goal_pose_39_reached": false, + "goal_pose_40_reached": false, + "goal_pose_41_reached": false, + "goal_pose_42_reached": false, + "goal_pose_43_reached": false, + "goal_pose_44_reached": false, + "goal_pose_45_reached": false, + "goal_pose_46_reached": false, + "goal_pose_47_reached": false, + "goal_pose_48_reached": false, + "goal_pose_49_reached": false + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.2, + "log_step": null, + "evidence_zh": "观察：视频 1.0-1.72 s 灵巧手未围住记号笔，手指没有形成对向夹持，笔被推开。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；视频仅 1.72 s（84 控制步）。log step 150 agent 被 Gemini 过滤器截断，无法确认被评分 episode 与哪次尝试对应；按视频标注。视频仅显示手压到笔上把笔推开，看不出指令与实际轨迹的偏差，根因无法判定（alt_feasible 不适用），root_causes 留空。" + }, + "summary_zh": "观察：被评分的视频(1.72 s)中手未抓起记号笔，49 个目标位姿一个也没到达（评分器 goals_reached=0）。断在第1个位姿（抓取笔/移到目标1），现象为没建立接触，笔被推到桌面一侧；根因无法判定。视频极短、无状态日志，证据有限。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（49 个目标均未到达）、断点（goal_pose_01，操作中）和「没建立接触」与视频一致；但根因「控制」只依据 agent 会话测试 grasp_try4 的位移读数，不能当作被评分 episode 的事实，且证据本身也不能区分控制误差与其他原因。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点（49 个目标均未到达）、断点 goal_pose_01/操作中、现象「没建立接触」与视频一致；但根因「控制」仅依据 agent 会话中 grasp_try4 的读数，不是被评分 episode 的事实，仍应删除，summary 里的相关句也要改。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "两项 accept 都已在 prev/trajectory.json 中落实：root_causes 为空，gap_zh 说明根因无法判定，summary_zh 不再引用会话读数。", + "n_issues": 0, + "n_checks": 2 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "两项 accept 都已在 prev/trajectory.json 中落实：root_causes 为空，gap_zh 说明根因无法判定，summary_zh 不再引用会话读数。", + "checks_ok": "2/2", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:30Z", + "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/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/dextoolbench_marker_staples_marker_draw_smile-standard--znpqprn/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": "24b3e96ae19cbcabf06e38520b330ce4aa147c6244387a556f505f838650f36d", + "video_sha256": "fc5954bd910128e1e1b4ff6af4cb8d3dfaacf09341d559bfe14fb8fada19b0bf", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/screwdriver_long_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv.json b/phaseR/dextoolbench/screwdriver_long_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv.json new file mode 100644 index 0000000000000000000000000000000000000000..5c42841f8e57269ce47b36eb4ea8ac35abf39415 --- /dev/null +++ b/phaseR/dextoolbench/screwdriver_long_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv.json @@ -0,0 +1,1469 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv", + "taskKey": "dextoolbench/screwdriver_long_screwdriver_spin_vertical", + "dag_sha256": "0a646242fb4dc7eee76c89b55579cb3bf93170430ec2704bcb94e6397bd9f322", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 120579, + "calls": 15431, + "elapsed_s": 3576.8, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 12, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 100, + "failed_on_timeout": 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:dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv.mp4", + "duration_s": 24.12, + "fps": 25.0, + "frames": 603, + "sha256": "fdd6e8ba7df04c0abe24309f0d9ad904180b59bfebd3f6f0014f8268232b5ab8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 100, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "goal_pose_001_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "推/扫", + "note_zh": "观察：机械臂的灵巧手下压到台面上的螺丝刀附近，合拢时把杆向一侧扫开，没有包住杆；agent 自述 closing curl 把杆扫出手外（log step 133）。" + } + ] + }, + "goal_pose_002_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_003_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_004_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_005_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_006_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_007_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_008_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_009_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_010_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_011_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_012_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_013_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_014_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_015_reached": { + 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+ { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_090_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_091_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_092_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_093_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_094_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_095_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_096_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_097_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_098_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_099_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + }, + "goal_pose_100_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.0, + "log_step": 133, + "text_zh": "观察：视频 0-24.1 s 四个视角中灰色螺丝刀始终躺在白色台面上（约 3 s 间隔的拼图及视频 24.0 s 末帧），从未被抬起，也未与绿色虚影重合；agent 自述 0/100（log step 133），评分器 goals_reached=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "goal_pose_001_reached", + "t": 3.0, + "log_step": 133, + "where": "操作中", + "evidence_zh": "观察：视频全程螺丝刀都在台面上，手在其附近多次下压/抬起，工具从未离桌；第 1 个目标从未达成。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 3.0, + "log_step": 133, + "evidence_zh": "观察：视频 0-24.1 s 手指从未形成包住螺丝刀的抓握，杆始终留在台面上；agent 自述 13 个 episode 约 12 次抓取都未离桌（log step 133）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述：合拢手指时杆被扫向 +y 而不是被夹在手指与掌之间，抓取位置沿 y 的放置不当（log step 133）；视频显示杆在台面上被推动而未被抓起。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志，接触细节仅来自视频与 agent 自述；视频仅 24 s，根因子类型较不确定。", + "unmet": { + "goal_pose_001_reached": false, + "goal_pose_002_reached": false, + "goal_pose_003_reached": false, + "goal_pose_004_reached": false, + "goal_pose_005_reached": false, + "goal_pose_006_reached": false, + "goal_pose_007_reached": false, + "goal_pose_008_reached": false, + "goal_pose_009_reached": false, + "goal_pose_010_reached": false, + "goal_pose_011_reached": false, + "goal_pose_012_reached": false, + "goal_pose_013_reached": false, + "goal_pose_014_reached": false, + "goal_pose_015_reached": false, + "goal_pose_016_reached": false, + "goal_pose_017_reached": false, + "goal_pose_018_reached": false, + "goal_pose_019_reached": false, + "goal_pose_020_reached": false, + "goal_pose_021_reached": false, + "goal_pose_022_reached": false, + "goal_pose_023_reached": false, + "goal_pose_024_reached": 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四视角中螺丝刀始终躺在台面上，未与绿色虚影重合，100 个目标均未达成，与 goals_reached=0 一致；断点在第 1 个目标的抓取阶段，没建立接触 + 抓取和接触设计 有视频支撑，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:26Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_long_screwdriver_spin_vertical-standard--eye9dyv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c0dfdecdc362b46905c67ac367068a5f2d2600f2216e9eb6d44a46b4562e8a23", + "video_sha256": "fdd6e8ba7df04c0abe24309f0d9ad904180b59bfebd3f6f0014f8268232b5ab8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--3qqgnk9.json b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--3qqgnk9.json new file mode 100644 index 0000000000000000000000000000000000000000..8ed7d210be4231b3774c50ff28b56e6080d5f036 --- /dev/null +++ b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--3qqgnk9.json @@ -0,0 +1,814 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--3qqgnk9", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_horizontal", + "dag_sha256": 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0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": null, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_13_reached", + "where": "操作中", + "t": 19, + "log_step": 203, + "evidence_zh": "观察：视频约 19-20 s 工具离手，之后各帧只剩绿色虚影、工具在桌外；agent 自述“换握时工具滑落，掉到桌边地面”（log step 203，其声明）；评分器 goals_reached=12。" + }, + "phenomena": [ + { + "t": 19, + "log_step": 203, + "evidence_zh": "观察：视频约 18-20 s 工具由手中掉落到桌外；此前持握完成 12 个目标。", + "cat": "接触", + "item": "没保持住" + } + ], + "root_causes": [], + "gap_zh": "视频为多视角剪辑，未逐目标定位时间；根因缺乏足够证据（仅 agent 自述换握滑落），故留空。", + "unmet": { + "goal_pose_01_reached": true, + "goal_pose_02_reached": true, + "goal_pose_03_reached": true, + "goal_pose_04_reached": true, + "goal_pose_05_reached": true, + "goal_pose_06_reached": true, + "goal_pose_07_reached": true, + "goal_pose_08_reached": true, + "goal_pose_09_reached": true, + "goal_pose_10_reached": true, + "goal_pose_11_reached": true, + "goal_pose_12_reached": true, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false + } + }, + "summary_zh": "观察：评分器 12/38 目标达成，前 12 个节点按评分器计为达成（时间为视频估计）；约视频 19 s 换握时工具滑落到桌外，之后恢复尝试未成功，断点为第13个位姿（操作中，没保持住）。证据缺口：各目标达成的精确视频时间、滑落的根因。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "断点 goal_pose_13（操作中，没保持住）与视频一致：约视频19 s 工具仍在手中，20 s 起工具落在桌外地面，之后只剩绿色虚影；评分器 12/38 约束了 final。前12个节点时间为均匀估计但已明确标注，根因留空并给出 gap_zh 可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:25Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--4i7linh.json b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--4i7linh.json new file mode 100644 index 0000000000000000000000000000000000000000..888d4d1f4fc2ac2efbee6da1c3ee1c53d1e5931a --- /dev/null +++ b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--4i7linh.json @@ -0,0 +1,662 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--4i7linh", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_horizontal", + "dag_sha256": 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"四宫格中手靠近目标虚影，但视频 0.5-17.9 s 看不清灰色螺丝刀是否被抓握。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 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"final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + }, + "goal_pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 17.9, + "log_step": null, + "text_zh": "观察：视频 0.5 / 6 / 17.9 s 四宫格中绿色目标虚影始终在灰手上方悬空，未见灰色螺丝刀与其对齐；评分器 goals_reached=0/38（progress 0.0）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "where": "操作中", + "t": 6.0, + "evidence_zh": "观察：视频 0.5-17.9 s 机械手始终在绿色目标虚影附近活动，但螺丝刀从未与第1个目标对齐；评分器 goals_reached=0（control_steps 906）。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；视频中灰色螺丝刀几乎看不清（仅见阴影/手），无法判断是没抓起还是位姿偏差，故不给现象与根因。agent 日志末尾 log step 127、129 被 Gemini 过滤器拦截，但评分结果已由 live 回合给出（graded_by_live=1），按正常失败标注。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false + } + }, + "summary_zh": "观察：38个目标一个都没达成（goals_reached=0），第1个目标未完成，断点在第1个位姿的操作中。视频中螺丝刀难以分辨，现象与根因无法确定；agent 末尾两步被模型过滤器拦截，但在评分之后。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "进度全 false 与评分器 goals_reached=0/38 一致；断点 goal_pose_01 操作中合理。视频中灰色螺丝刀几乎不可见（桌面只有阴影，手在目标虚影附近），无状态日志，现象/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": "2026-11-08T20:52:03Z", + "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/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--4i7linh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--4i7linh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "673546ae145d47c42ab9ee45c0ef9a78bc99eda85c63a453dbd893ccb2fd47ff", + "video_sha256": "92bc9bf9dd62c2d9e28d4b2eb1219d663ff7baab668587fadaf6596df0790d06", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx.json b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx.json new file mode 100644 index 0000000000000000000000000000000000000000..2deb114525b6e8cb1b8fcb2aef4e9550e3fade88 --- /dev/null +++ b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx.json @@ -0,0 +1,678 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_horizontal", + "dag_sha256": "f8f3f8ae4dc501fd370dc6fc1212ed16666def60ca6937a9c6f6712b2e429a48", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 1026, + "calls": 17701, + "elapsed_s": 3102.1, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 20, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 38, + "failed_on_timeout": 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:dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx.mp4", + "duration_s": 20.56, + "fps": 25.0, + "frames": 514, + "sha256": "caa366c44de53c80b36b6be899a1111efe36bd22f6c07185d2d07977cae5e356" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 38, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：视频 20.4 s 末帧四视图中灰色短螺丝刀仍躺在桌面，手悬在空中，绿色目标虚影在桌面上方，未对齐；评分器 goals_reached=0/38。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频 0-20 s 灵巧手在螺丝刀上方/旁边下探并合拢，未包住工具（推断：握拳落在工具旁，agent 自述 log step 142 工具被推开而未抓住）；工具始终在桌面。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 20.4, + "log_step": 142, + "text_zh": "观察：第1个目标未达成，按序门控，本节点未达成（评分器 goals_reached=0）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "t": 10.0, + "log_step": 142, + "where": "操作中", + "evidence_zh": "观察：视频全程手在桌面上方下探、合拢，工具始终躺在桌上，末帧（视频 20.5 s）仍未被拿起；评分器 goals_reached=0/38。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 10.0, + "log_step": 142, + "evidence_zh": "观察：视频 8-20 s 手合拢于工具旁/上方，工具位置基本不变，从未被握住抬起；agent 自述拳总是落在工具旁（log step 142）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "agent 自述约8次抓取尝试拳均落在工具旁，下降受阻于手背 z≈0.65，闭合时把工具推开（log step 107-142）；视频显示工具未被包住。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志，手-工具接触只能从四视图判断；根因子类型（视觉伺服标定偏差 vs 抓取设计）无法区分。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false + } + }, + "summary_zh": "观察：视频 20.56 s 内灵巧手在螺丝刀上方下探合拢，工具始终躺在桌面，0/38 个目标位姿达成。断点在第1个位姿（先要抓起工具），现象为没建立接触，推断为手-工具抓取几何/伺服对位问题（agent 自述）。无状态日志，证据为视频与 agent 自述。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 0-20.5 s 工具始终躺在桌面，手在其上方/旁边下探，评分器 goals_reached=0/38，节点全未达成、断点 goal_pose_01、没建立接触均与证据一致；根因依赖 agent 自述但已标明来源且 alt_feasible=未知，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": "2026-11-08T20:52:00Z", + "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/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--8id2qgx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ea15afb72ec62a751885d74168467860ed5224fb5a17a9a526d0842585d7178f", + "video_sha256": "caa366c44de53c80b36b6be899a1111efe36bd22f6c07185d2d07977cae5e356", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--p6escgg.json b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--p6escgg.json new file mode 100644 index 0000000000000000000000000000000000000000..429211bff7b8986f747578640e1595286cef3dfd --- /dev/null +++ b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--p6escgg.json @@ -0,0 +1,1188 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--p6escgg", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_vertical", + "dag_sha256": "f0d93aace30e9a74147178d22ab706b8f21e5571b195e1461671522b5d374e76", + "outcome": { + "success": 0, + "reward": 0.0263, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 1629, + "calls": 187, + "elapsed_s": 3613.1, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 5, + "reset_budget": 20, + "progress": 0.0263, + "goals_reached": 2, + "n_goals": 76, + "failed_on_timeout": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.308, + "peak_processes": 8, + "peak_disk_gb": 0.437, + "peak_cpus": 1.17, + "peak_pids": 142, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + 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"观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_63_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_64_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_65_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_66_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_67_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_68_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_69_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_70_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_71_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_72_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_73_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_74_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_75_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + }, + "goal_pose_76_reached": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 32, + "log_step": null, + "text_zh": "观察：螺丝刀始终在桌外，该目标未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.0263, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_03_reached", + "t": 8.5, + "where": "操作中", + "evidence_zh": "观察：视频约 8-9 s 灰色螺丝刀从手中飞出桌面右侧，之后一直躺在桌外（视频 9-32 s），目标3起不再可能达成。", + "log_step": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": 8.5, + "log_step": null, + "evidence_zh": "观察：视频约 8-9 s 螺丝刀从灵巧手脱出并飞出桌面；此前被握持。" + } + ], + "root_causes": [], + "gap_zh": "视频中灰色螺丝刀难辨，无状态日志；根因无证据（日志中仅有 Gemini 过滤拦截，约 log step 118 起，为 agent 侧会话信息）；目标1、2的精确时刻不确定。", + "unmet": { + "goal_pose_01_reached": true, + "goal_pose_02_reached": true, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false, + "goal_pose_39_reached": false, + "goal_pose_40_reached": false, + "goal_pose_41_reached": false, + "goal_pose_42_reached": false, + "goal_pose_43_reached": false, + "goal_pose_44_reached": false, + "goal_pose_45_reached": false, + "goal_pose_46_reached": false, + "goal_pose_47_reached": false, + "goal_pose_48_reached": false, + "goal_pose_49_reached": false, + "goal_pose_50_reached": false, + "goal_pose_51_reached": false, + "goal_pose_52_reached": false, + "goal_pose_53_reached": false, + "goal_pose_54_reached": false, + "goal_pose_55_reached": false, + "goal_pose_56_reached": false, + "goal_pose_57_reached": false, + "goal_pose_58_reached": false, + "goal_pose_59_reached": false, + "goal_pose_60_reached": false, + "goal_pose_61_reached": false, + "goal_pose_62_reached": false, + "goal_pose_63_reached": false, + "goal_pose_64_reached": false, + "goal_pose_65_reached": false, + "goal_pose_66_reached": false, + "goal_pose_67_reached": false, + "goal_pose_68_reached": false, + "goal_pose_69_reached": false, + "goal_pose_70_reached": false, + "goal_pose_71_reached": false, + "goal_pose_72_reached": false, + "goal_pose_73_reached": false, + "goal_pose_74_reached": false, + "goal_pose_75_reached": false, + "goal_pose_76_reached": false + } + }, + "summary_zh": "观察：评分器 goals_reached=2/76，控制步1629。目标1、2在视频开头达成；视频约8-9 s 螺丝刀脱手飞出桌面，其后无法继续，断点为目标3（操作中），现象为没保持住，根因证据不足。无状态日志，时刻为视觉估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "抽查视频帧：开头绿色目标快速切换、手持螺丝刀，约9 s后俯视画面桌外出现细长物体，与标签的脱手飞出一致；评分器 goals_reached=2/76 支持 final=2，断点、现象与空根因（带 gap_zh）可接受。螺丝刀灰色难辨，未能独立证实飞出时刻。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:09Z", + "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/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--p6escgg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--p6escgg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cfbfab7fe0045481436a313b63ec8e550b11fb39274af9dbf2d1bd50260449f0", + "video_sha256": "573da997749820c1fda5a2b96f5dc04b1d86bdca815f69074d2a21d6f6f5abc2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu.json b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu.json new file mode 100644 index 0000000000000000000000000000000000000000..565cc902ec8d74f7805d5c74a83bf5607a1bc0d5 --- /dev/null +++ b/phaseR/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu.json @@ -0,0 +1,1179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_vertical", + "dag_sha256": "f0d93aace30e9a74147178d22ab706b8f21e5571b195e1461671522b5d374e76", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 6480, + "calls": 302, + "elapsed_s": 3612.4, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 20, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 76, + "failed_on_timeout": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 3.088, + "peak_processes": 45, + "peak_disk_gb": 2.542, + "peak_cpus": 3.0, + "peak_pids": 109, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu.mp4", + "duration_s": 25.96, + "fps": 25.0, + "frames": 649, + "sha256": "e9787c939b45ea5da4e85d6b12320c69ca675dfa6b3bc37923b2a1f090c7f87a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 76, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "观察：视频 0-25.96 s 全程灰色短螺丝刀在桌面附近，绿色目标在其上方，从未重合；评分器 goals_reached=0/76。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "推断/agent 自述（log step 175：曾短暂抬起但转动时滑落，涉及整个会话多次 reset，非被评分 episode）；视频 1–24 s 帧上工具始终在桌面，未见抬起，无法确认被评分 episode 的接触情况。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": 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"goal_pose_76_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.0, + "log_step": 175, + "text_zh": "推断：目标1未达成，后续目标按顺序门控，均未达成（评分器 goals_reached=0）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "where": "操作中", + "t": null, + "evidence_zh": "观察：视频 0-25.96 s 内灰色螺丝刀始终未到达绿色目标位姿（评分器 goals_reached=0/76）；agent 自述（log step 175）工具转动时滑落，属推断/自述。", + "log_step": 175 + }, + "phenomena": [ + { + "cat": "接触", + "item": "没保持住", + "t": null, + "log_step": 175, + "evidence_zh": "推断：仅据 agent 最终总结（log step 175，跨多次 reset 的会话叙述），视频帧未显示捏起后掉落；不能排除被评分 episode 根本没建立有效抓握，证据不足以区分。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：仅据 agent 自述（log step 175）工具在转动时滑落；log step 160 显示仍在拟合工具位姿（感知/反馈控制不能排除），帧上无法验证。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "被评分 episode 视频帧中未见抬起，无法区分“没建立接触”与“没保持住”；无状态日志；现象与根因仅依据 agent 自述（log step 175），为保守推断。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false, + "goal_pose_39_reached": false, + "goal_pose_40_reached": false, + "goal_pose_41_reached": false, + "goal_pose_42_reached": false, + "goal_pose_43_reached": false, + "goal_pose_44_reached": false, + "goal_pose_45_reached": false, + "goal_pose_46_reached": false, + "goal_pose_47_reached": false, + "goal_pose_48_reached": false, + "goal_pose_49_reached": false, + "goal_pose_50_reached": false, + "goal_pose_51_reached": false, + "goal_pose_52_reached": false, + "goal_pose_53_reached": false, + "goal_pose_54_reached": false, + "goal_pose_55_reached": false, + "goal_pose_56_reached": false, + "goal_pose_57_reached": false, + "goal_pose_58_reached": false, + "goal_pose_59_reached": false, + "goal_pose_60_reached": false, + "goal_pose_61_reached": false, + "goal_pose_62_reached": false, + "goal_pose_63_reached": false, + "goal_pose_64_reached": false, + "goal_pose_65_reached": false, + "goal_pose_66_reached": false, + "goal_pose_67_reached": false, + "goal_pose_68_reached": false, + "goal_pose_69_reached": false, + "goal_pose_70_reached": false, + "goal_pose_71_reached": false, + "goal_pose_72_reached": false, + "goal_pose_73_reached": false, + "goal_pose_74_reached": false, + "goal_pose_75_reached": false, + "goal_pose_76_reached": false + } + }, + "summary_zh": "观察：76个目标均未到达（0/76），灰色螺丝刀在视频 0-25.96 s 内始终未与绿色目标重合。推断（agent 自述）：卡在目标1的拿起并对准阶段，可能捏取后滑落，但帧上未见抬起，也可能未建立有效抓握；无状态日志，证据较粗。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "0/76 目标未达成（评分器 goals_reached=0）与视频一致，节点与断点 ref 无误；但接触与现象/根因的证据主要来自 agent 自述（跨 20 次 reset 的会话叙述），被标为“观察”，而视频帧并未显示捏起后滑落；log step 162 也不含所引的“滑落”内容。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "0/76 与评分器 goals_reached=0 及视频一致；第1轮问题已修正，接触/现象/根因均明示为推断并在 gap_zh 说明，保守合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:41Z", + "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/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--z2rdpyu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bda8654371d8a413145aa2f3f5f69627ed4e20addec0178a21066a8281aff5d3", + "video_sha256": "e9787c939b45ea5da4e85d6b12320c69ca675dfa6b3bc37923b2a1f090c7f87a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt.json b/phaseR/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt.json new file mode 100644 index 0000000000000000000000000000000000000000..6c70fd3847ab0b8821f122af58462b2de54693f1 --- /dev/null +++ b/phaseR/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt.json @@ -0,0 +1,597 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt", + "taskKey": "dextoolbench/spatula_flat_spatula_serve_plate", + "dag_sha256": "58b7a3c771f5a76478de0ddad7d41b49219e4a0269ff5d27be7b032cbd024daa", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + 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"resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt.mp4", + "duration_s": 24.6, + "fps": 25.0, + "frames": 615, + "sha256": "2fd8a9a61de5974f89842cb06a68d88d580848f76afbc456012b941c60c6c11e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "压/擦", + "note_zh": "观察：视频约 20-24 s 手靠近并触碰平铲柄区域，平铲被碰动后位置变化，未见手指包握平铲抬起。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.5, + "log_step": 127, + "text_zh": "观察：视频 0-24.6 s 全程，平铲从未接近绿色目标轮廓，视频末帧平铲仍在桌面上（柄倾倒/散落），与绿色目标位置明显不重合；agent 自述 0/33（log step 127）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "where": "操作中", + "t": 20.0, + "log_step": 118, + "evidence_zh": "观察：视频 20-24.6 s 手在平铲附近，平铲未被抓起，末帧仍在桌面；agent 自述两次抓取都合在空气上（log step 127）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 22.0, + "log_step": 118, + "evidence_zh": "观察：视频 20-24.6 s 手合拢但平铲没有被提离桌面，从未形成握持。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述运动学模型误差 10 cm 以上，抓取落在空处（log step 127）；手到位后抓握未建立。子类型不明。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志；根因仅来自 agent 自述与视频，感知（相机深度）与控制（FK 误差）难以区分，故停在控制。", + "unmet": { + "goal_pose_01_reached": false, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false + } + }, + "summary_zh": "观察：视频 24.6 s 内平铲从未接近 33 个目标位姿中的任何一个，0/33。断点在位姿1的抓取：手靠近平铲但未抓起（视频 20-24.6 s）。无状态日志，根因主要来自 agent 自述。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "0/33、断点（位姿1抓取，操作中）与「没建立接触」符合视频：约20-24 s 手停在目标轮廓高度的空中，平铲仍在桌面，末帧平铲被碰歪；根因停在控制（仅 agent 自述支持，已在 gap_zh 说明）可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:53Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-standard--ba4l3rt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6754378a1c3019c21cb1d5dd8f22fa37719441d8776467e033c274b832794b78", + "video_sha256": "2fd8a9a61de5974f89842cb06a68d88d580848f76afbc456012b941c60c6c11e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe.json b/phaseR/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe.json new file mode 100644 index 0000000000000000000000000000000000000000..5f9e5d43f6aa9f14cae3ed19b3f78423f34d2d5f --- /dev/null +++ b/phaseR/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe.json @@ -0,0 +1,609 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe", + "taskKey": "dextoolbench/spatula_flat_spatula_serve_plate", + "dag_sha256": "58b7a3c771f5a76478de0ddad7d41b49219e4a0269ff5d27be7b032cbd024daa", + "outcome": { + "success": 0, + "reward": 0.0303, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 365, + "calls": 87, + "elapsed_s": 2240.5, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 2, + "reset_budget": 20, + "progress": 0.0303, + "goals_reached": 1, + "n_goals": 33, + "failed_on_timeout": 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:dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe.mp4", + "duration_s": 7.32, + "fps": 25.0, + "frames": 183, + "sha256": "39486af3b00ea2a368df142195580bf081ce04c072396d253618d4132f49acb0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 33, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [ + [ + 6.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.9, + "log_step": null, + "text_zh": "观察：视频 6.75-7.0 s 侧视画面中绿色目标轮廓突然抬高并改变姿态，推断为目标计数由 1 切到第 2 个目标（时间不确定，约 ±0.3 s）。评分器字段 goals_reached=1/33，故第1个位姿已通过。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频中灵巧手下探到桌面平铲处并带着平铲抬起（遮挡严重，抓握为推断）。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 6.9 s 后手仍持平铲，继续朝第2个目标运动，未达成（遮挡，推断）。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.3, + "log_step": null, + "text_zh": "观察：评分器 goals_reached=1/33，视频 7.32 s 内未见第 2 个目标被达到；该节点未完成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + }, + { + "name": "progress", + "value": 0.0303, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_02_reached", + "where": "操作中", + "t": 7.0, + "evidence_zh": "观察：评分器 goals_reached=1，视频 7.32 s 结束时第2个目标未达到；视频 7.0 s 后手仍持平铲。注：standard 模式下仅最后一局评分，视频只有 7.32 s（365 控制步）。", + "log_step": null + }, + "phenomena": [], + "gap_zh": "无状态日志，视频四视角中平铲被手遮挡，无法判断第2个目标处具体位姿误差，故不给现象与根因。日志 log step 69-75 为 Gemini 过滤器拦截（agent 侧中断，位于图像回放之后，未作为根因）。", + "unmet": { + "goal_pose_01_reached": true, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false + }, + "root_causes": [] + }, + "summary_zh": "观察：graded 视频仅 7.32 s，评分器 goals_reached=1/33，仅第1个位姿通过（视频约 6.9 s，推断），第2个目标（断点）未达成。无状态日志且平铲被手遮挡，无法判定具体失败现象与根因，故留空。agent 会话后段多次被 Gemini 过滤器拦截。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "评分器 goals_reached=1/33 与标注一致；第1目标时间约 6.9 s（由目标轮廓变化推断）与帧无矛盾，断点为第2目标，现象/根因因遮挡留空并给出 gap_zh，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:11Z", + "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/dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-standard--hrjqqxe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e599938dc7222e0bccd09af3c06ddea0b2e56b266f9a1fe6965c03d6eee8edf8", + "video_sha256": "39486af3b00ea2a368df142195580bf081ce04c072396d253618d4132f49acb0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/spatula_spoon_spatula_flip_over/trajectories/dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp.json b/phaseR/dextoolbench/spatula_spoon_spatula_flip_over/trajectories/dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp.json new file mode 100644 index 0000000000000000000000000000000000000000..0015e2f9acdd1d2144ac9be968d561298046f55b --- /dev/null +++ b/phaseR/dextoolbench/spatula_spoon_spatula_flip_over/trajectories/dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp.json @@ -0,0 +1,701 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp", + "taskKey": "dextoolbench/spatula_spoon_spatula_flip_over", + "dag_sha256": "ef310e7a39a7f2efac6898958486daf55031599c09abfa2f877c0d038508e29d", + "outcome": { + "success": 0, + "reward": 0.025, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 5177, + "calls": 303, + "elapsed_s": 3607.1, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 3, + "reset_budget": 20, + "progress": 0.025, + "goals_reached": 1, + "n_goals": 40, + "failed_on_timeout": 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:dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp.mp4", + "duration_s": 25.92, + "fps": 25.0, + "frames": 648, + "sha256": "dc1e740dd045c6ab105f86519fbe9c4f112eb3c21c71774109f3d9cdc1dc6912" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 40, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "goal_pose_01_reached": { + "method": "visual", + "intervals": [ + [ + 3.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.5, + "log_step": 131, + "text_zh": "观察：俯视图视频 3.0-3.5 s 灰色锅铲已被灵巧手抓起并与绿色目标轮廓贴合；评分器字段 goals_reached=1（log step 131 之后读数）。推断：目标1约在视频 3.5 s 通过，时间不确定（目标1与2差约2 cm，难以从绿色轮廓切换精确定位）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 2-3.5 s 灵巧手抓住锅铲柄并抬到目标位姿。" + } + ] + }, + "goal_pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：手一直握着锅铲柄，尝试对准目标2但未达到。" + } + ] + }, + "goal_pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_12_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_13_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_14_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_15_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_16_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_17_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_18_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_19_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_20_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_21_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_39_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + }, + "goal_pose_40_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 25.9, + "log_step": 137, + "text_zh": "观察：视频 3.5-25.9 s 绿色目标停在第2个位姿附近，灰色锅铲未再与之贴合；评分器 goals_reached=1/40（log step 137）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "progress", + "value": 0.025, + "unit": "", + "threshold": null, + "direction": "higher" + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_02_reached", + "t": 4.0, + "where": "操作中", + "evidence_zh": "观察：视频 3.5 s 起锅铲握在手中停在目标1附近，直到 25.9 s 绿色目标仍是第2位姿，锅铲未贴合；goals_reached=1/40。", + "log_step": 139 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 10.0, + "log_step": 139, + "evidence_zh": "观察：视频 4-25.9 s 锅铲与第2个绿色目标始终有偏差（俯视图可见朝向/位置错开）。log step 139 agent 自算手腕可达 0.80/0.82 m，接近关节极限，但无直接证据判定够不着。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；根因证据不足（agent 在 log step 130-139 反复重新标定握持偏移，仍无法对准目标2）。log step 140-144 起 Gemini 过滤器拦截了请求，但评分结果在此前已固定（goals_reached=1，视频 25.9 s 为整个图评分轨迹），按正常失败标注，未给根因。", + "unmet": { + "goal_pose_01_reached": true, + "goal_pose_02_reached": false, + "goal_pose_03_reached": false, + "goal_pose_04_reached": false, + "goal_pose_05_reached": false, + "goal_pose_06_reached": false, + "goal_pose_07_reached": false, + "goal_pose_08_reached": false, + "goal_pose_09_reached": false, + "goal_pose_10_reached": false, + "goal_pose_11_reached": false, + "goal_pose_12_reached": false, + "goal_pose_13_reached": false, + "goal_pose_14_reached": false, + "goal_pose_15_reached": false, + "goal_pose_16_reached": false, + "goal_pose_17_reached": false, + "goal_pose_18_reached": false, + "goal_pose_19_reached": false, + "goal_pose_20_reached": false, + "goal_pose_21_reached": false, + "goal_pose_22_reached": false, + "goal_pose_23_reached": false, + "goal_pose_24_reached": false, + "goal_pose_25_reached": false, + "goal_pose_26_reached": false, + "goal_pose_27_reached": false, + "goal_pose_28_reached": false, + "goal_pose_29_reached": false, + "goal_pose_30_reached": false, + "goal_pose_31_reached": false, + "goal_pose_32_reached": false, + "goal_pose_33_reached": false, + "goal_pose_34_reached": false, + "goal_pose_35_reached": false, + "goal_pose_36_reached": false, + "goal_pose_37_reached": false, + "goal_pose_38_reached": false, + "goal_pose_39_reached": false, + "goal_pose_40_reached": false + } + }, + "summary_zh": "观察：40 个目标只通过第1个（约视频 3.5 s，时间不确定），之后锅铲握在手里但始终对不上第2个目标，断点在达成目标2的操作中。无状态日志，根因证据不足故留空；agent 末尾被 Gemini 过滤器拦截。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 5, + "summary_zh": "目标1约视频3.5 s通过、之后锅铲握在手中始终对不上目标2，与帧和评分器 goals_reached=1/40 一致；断点、位姿不准现象、根因留空并附 gap_zh 均可接受。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": "2026-11-08T21:38:07Z", + "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_rerun1/runs/dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/dextoolbench_spatula_spoon_spatula_flip_over-standard--svzbkmp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3e013dd5c923315df62d8d306bfbd2ac84b56766584ea7ab9055c5398504e60e", + "video_sha256": "dc1e740dd045c6ab105f86519fbe9c4f112eb3c21c71774109f3d9cdc1dc6912", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/dextoolbench/spatula_spoon_spatula_serve_plate/trajectories/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf.json b/phaseR/dextoolbench/spatula_spoon_spatula_serve_plate/trajectories/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf.json new file mode 100644 index 0000000000000000000000000000000000000000..b2bbf96283018904f604d7e8cf1093a203b616ab --- /dev/null +++ b/phaseR/dextoolbench/spatula_spoon_spatula_serve_plate/trajectories/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf.json @@ -0,0 +1,829 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf", + "taskKey": "dextoolbench/spatula_spoon_spatula_serve_plate", + "dag_sha256": "bf23bececd8a79f982e7444e8a222ec5b98f94ef671d53ebab378d3aae1c4fb0", + "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, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "control_steps": 347, + "calls": 292, + "elapsed_s": 3617.0, + "video_rendered": 1, + "no_verdict": 0, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "resets": 3, + "reset_budget": 20, + "progress": 0.0, + "goals_reached": 0, + "n_goals": 48, + "failed_on_timeout": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.934, + "peak_processes": 8, + "peak_disk_gb": 0.316, + "peak_cpus": 1.06, + "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:dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf.mp4", + "duration_s": 6.96, + "fps": 25.0, + "frames": 174, + "sha256": "cd2b98c1b2f966df2da9dc84a51fdc3377e70d997e2b1b4d042920c120c71010" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 48, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "pose_01_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.9, + "log_step": null, + "text_zh": "观察：视频 6.9 s 末帧，灰色勺铲被灵巧手提离盘面并握在手中，但勺铲仍明显偏离绿色幽灵位姿（幽灵未切换到第2个目标）；评分器 goals_reached=0/48，goal_distance 未达 0.015 m。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "抓握", + "note_zh": "观察：视频 3.5–6.9 s Sharpa 手包住勺柄并将勺铲提起，未与目标位姿重合。" + } + ] + }, + "pose_02_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_03_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_04_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_05_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_06_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_07_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_08_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_09_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_10_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_11_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_12_reached": { + "method": "visual", 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"pose_22_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_23_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_24_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_25_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_26_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_27_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_28_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_29_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_30_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_31_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_32_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_33_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_34_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_35_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_36_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_37_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_38_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_39_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_40_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_41_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_42_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_43_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_44_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_45_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_46_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_47_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + }, + "pose_48_reached": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：第1位姿未达成，后续目标未轮到；评分器 goals_reached=0。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goals_reached", + "value": 0, + "unit": "count", + "threshold": 48, + "direction": "higher_better" + }, + { + "name": "progress", + "value": 0.0, + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better" + }, + { + "name": "goal_distance_m", + "value": null, + "unit": "m", + "threshold": 0.015, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "pose_01_reached", + "where": "操作中", + "t": 6.9, + "evidence_zh": "观察：视频 0–6.9 s 手抓取勺铲并提起，末帧勺铲仍未与第1个绿色幽灵位姿相合，goals_reached=0。", + "log_step": null + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 6.9, + "log_step": null, + "evidence_zh": "观察：视频 6.9 s 末帧，勺铲在手中被提离盘面，但与绿色幽灵位置/朝向仍有偏差，幽灵未切换，goals_reached=0。" + } + ], + "root_causes": [], + "gap_zh": "视频仅 6.96 s、无状态日志；无视频或状态日志可验证的根因证据，故不给根因。", + "unmet": { + "pose_01_reached": false, + "pose_02_reached": false, + "pose_03_reached": false, + "pose_04_reached": false, + "pose_05_reached": false, + "pose_06_reached": false, + "pose_07_reached": false, + "pose_08_reached": false, + "pose_09_reached": false, + "pose_10_reached": false, + "pose_11_reached": false, + "pose_12_reached": false, + "pose_13_reached": false, + "pose_14_reached": false, + "pose_15_reached": false, + "pose_16_reached": false, + "pose_17_reached": false, + "pose_18_reached": false, + "pose_19_reached": false, + "pose_20_reached": false, + "pose_21_reached": false, + "pose_22_reached": false, + "pose_23_reached": false, + "pose_24_reached": false, + "pose_25_reached": false, + "pose_26_reached": false, + "pose_27_reached": false, + "pose_28_reached": false, + "pose_29_reached": false, + "pose_30_reached": false, + "pose_31_reached": false, + "pose_32_reached": false, + "pose_33_reached": false, + "pose_34_reached": false, + "pose_35_reached": false, + "pose_36_reached": false, + "pose_37_reached": false, + "pose_38_reached": false, + "pose_39_reached": false, + "pose_40_reached": false, + "pose_41_reached": false, + "pose_42_reached": false, + "pose_43_reached": false, + "pose_44_reached": false, + "pose_45_reached": false, + "pose_46_reached": false, + "pose_47_reached": false, + "pose_48_reached": false + } + }, + "summary_zh": "观察：视频 6.96 s 内机械臂抓起勺铲，但始终未到第1个绿色幽灵位姿，goals_reached=0/48，0 个节点达成。断点在第1位姿（操作中），现象为位姿不准；无状态日志，根因证据不足留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点全未达成、断点 pose_01_reached/操作中与 goals_reached=0 与视频一致；但 failure.phenomena[0] 的证据把 agent 在先前会话回合（Episode 2/3 的 stuck_goal 图）里的自述当作被评分回合的事实，应删去，只保留视频观察。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点全未达成、断点 pose_01_reached/操作中、位姿不准与视频及 goals_reached=0 一致；第1轮指出的会话自述已删除，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": "2026-11-08T20:54:43Z", + "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/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_serve_plate-standard--wagzjgf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a6e7678679b0b5b780e8bc935b19cbc6036bcf36dfcb80f50f161eafa979a67e", + "video_sha256": "cd2b98c1b2f966df2da9dc84a51fdc3377e70d997e2b1b4d042920c120c71010", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-realtime--fm7j5wo.json b/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-realtime--fm7j5wo.json new file mode 100644 index 0000000000000000000000000000000000000000..eed11de856a53757f03c176783a23eb16f53a925 --- /dev/null +++ b/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-realtime--fm7j5wo.json @@ -0,0 +1,331 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d01-reciprocal-cup-relay-i00-realtime--fm7j5wo", + "taskKey": "pandadyn/d01_reciprocal_cup_relay", + "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 3, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1539.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 4, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.07, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.17, + "peak_processes": 8, + "peak_disk_gb": 0.25, + "peak_cpus": 0.81, + "peak_pids": 143, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + 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"method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频仅 1 帧（视频 0–0.04 s），为初始场景：橙球在空中，两只方杯均为空；run.json reward 中 n_actions=0、rows=0，未交付任何轨迹。推断：该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用" + } + ] + }, + "loaded_cup_in_second_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频仅 1 帧（视频 0–0.04 s），为初始场景：橙球在空中，两只方杯均为空；run.json reward 中 n_actions=0、rows=0，未交付任何轨迹。推断：该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用" + } + ] + }, + "left_cup_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频仅 1 帧（视频 0–0.04 s），为初始场景：橙球在空中，两只方杯均为空；run.json reward 中 n_actions=0、rows=0，未交付任何轨迹。推断：该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用" + } + ] + }, + "ball_settled_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": null, + "text_zh": "观察：视频仅 1 帧（视频 0–0.04 s），为初始场景：橙球在空中，两只方杯均为空；run.json reward 中 n_actions=0、rows=0，未交付任何轨迹。推断：该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "left_to_right_ball_height", + "value": null, + "unit": "m", + "threshold": 0.3, + "direction": "higher_better" + }, + { + "name": "right_to_left_ball_height", + "value": null, + "unit": "m", + "threshold": 0.31, + "direction": "higher_better" + }, + { + "name": "free_flight_duration", + "value": null, + "unit": "s", + "threshold": 0.045, + "direction": "higher_better" + }, + { + "name": "receiver_entry_horizontal_speed", + "value": null, + "unit": "m/s", + "threshold": 0.15, + "direction": "higher_better" + }, + { + "name": "right_cup_start_displacement", + "value": null, + "unit": "m", + "threshold": 0.04, + "direction": "higher_better" + }, + { + "name": "second_region_distance", + "value": null, + "unit": "m", + "threshold": 0.035, + "direction": "lower_better" + }, + { + "name": "return_release_horizontal_distance", + "value": null, + "unit": "m", + "threshold": 0.035, + "direction": "lower_better" + }, + { + "name": "ball_receiver_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "cup_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "cart_speed_at_delivery", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "cart_delivery_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 50, + "where": "首步前", + "evidence_zh": "观察：agent 在 log step 28、31、33、44、46、48、50 的回复均为“被 Gemini 过滤器拦截”；reward 中 n_actions=0、rows=0、resets=0，未交付任何轨迹；视频仅 1 帧初始场景（视频 0 s）。推断：模型提供方过滤器在图评结果确定前切断了运行，属外部因素。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "运行被模型提供方过滤器切断（log step 28–50），未交付任何轨迹，图评视频只有初始 1 帧（0.04 s）；按外部因素规则不给现象与根因。无状态日志。", + "unmet": { + "left_initial_catch": false, + "right_cup_caught": false, + "loaded_cup_in_second_region": false, + "left_cup_recaught": false, + "ball_settled_in_moving_cart": false + } + }, + "summary_zh": "观察：视频只有初始 1 帧，agent 整个会话只做了运动学/感知分析，多次被 Gemini 过滤器拦截（log step 28–50），n_actions=0，未交付轨迹。推断：5 个节点均未达成（0/5），属提供方过滤器切断的外部因素运行，不归因为机器人失败；最大缺口是没有任何执行画面。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "视频仅1帧初始场景，n_actions=0、rows=0，5个节点均未达成，与日志一致；运行在 log step 50（会话 1541 s，时限 3600 s）被 Gemini 过滤器反复拦截而终止，属外部因素，空现象/根因并附 gap_zh 合理。未发现需修改之处。", + "n_issues": 0, + 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"run_json_sha256": "fc1536084e0803150fa3c9572e553798f414673321d7f583162a748e17de0fa6", + "video_sha256": "75882c7e830c5e154965a9e63fe554da39de98f34ec77ef7300a37b5bc988d54", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9.json b/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9.json new file mode 100644 index 0000000000000000000000000000000000000000..98a724bb2b302a631e9777020719675ccf86d14d --- /dev/null +++ b/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9.json @@ -0,0 +1,325 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9", + "taskKey": "pandadyn/d01_reciprocal_cup_relay", + "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 156, + "sim_steps": 156, + "calls": 9, + "rows": 148, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2311.0, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "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:pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9.mp4", + "duration_s": 1.6, + "fps": 25.0, + "frames": 40, + "sha256": "05f2222d4b37b6fe97add7f7048018988f57efeaf2c1e641eaa35bdeaff27687" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_initial_catch": { + "method": "visual", + "intervals": [ + [ + 0.85, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.64, + "log_step": 65, + "text_zh": "观察：视频 0.56 s 橙球在左杯上方，0.64 s 落入左杯，此后至视频结束（1.56 s）球一直留在杯内滚动不弹出；按验收需再连续 0.18 s，故记 ≈0.85 s 达成（推断）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：左臂固定安装的方杯从下方承接橙球，夹爪不碰球。" + } + ] + }, + "right_cup_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.56, + "log_step": 65, + "text_zh": "观察：视频 0-1.6 s 内右杯从未接球，球一直在左杯里（视频 1.0-1.6 s 左臂开始倾杯准备抛出，球仍在杯内）；未见球在空中传递。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：左臂方杯倾斜准备把球抛向右杯，抛出前回合结束；右杯没有接触球。" + } + ] + }, + "loaded_cup_in_second_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.56, + "log_step": 65, + "text_zh": "观察：视频 0-1.6 s 内右杯从未接球，球一直在左杯里（视频 1.0-1.6 s 左臂开始倾杯准备抛出，球仍在杯内）；未见球在空中传递。" + } + ] + }, + "left_cup_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.56, + "log_step": 65, + "text_zh": "观察：视频 0-1.6 s 内右杯从未接球，球一直在左杯里（视频 1.0-1.6 s 左臂开始倾杯准备抛出，球仍在杯内）；未见球在空中传递。" + } + ] + }, + "ball_settled_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 1.56, + "log_step": 65, + "text_zh": "观察：视频 0-1.6 s 内右杯从未接球，球一直在左杯里（视频 1.0-1.6 s 左臂开始倾杯准备抛出，球仍在杯内）；未见球在空中传递。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "left_to_right_ball_height", + "unit": "m", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "right_to_left_ball_height", + "unit": "m", + "threshold": 0.31, + "direction": "higher_better", + "value": null + }, + { + "name": "free_flight_duration", + "unit": "s", + "threshold": 0.045, + "direction": "higher_better", + "value": null + }, + { + "name": "receiver_entry_horizontal_speed", + "unit": "m/s", + "threshold": 0.15, + "direction": "higher_better", + "value": null + }, + { + "name": "right_cup_start_displacement", + "unit": "m", + "threshold": 0.04, + "direction": "higher_better", + "value": null + }, + { + "name": "second_region_distance", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "return_release_horizontal_distance", + "unit": "m", + "threshold": 0.035, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_receiver_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "cup_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_speed_at_delivery", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_delivery_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_cup_caught", + "t": 1.5, + "log_step": 65, + "where": "操作中", + "evidence_zh": "观察：左杯接住球后，左臂开始抛球动作；服务返回 done=true、reason=failed、why=limit_violation，仿真 1.56 s、control_steps 156（log step 65，服务读数，单回合 live 运行）。视频 1.56 s 球仍在左杯内，未传到右杯。" + }, + "phenomena": [ + { + "cat": "约束", + "item": "违反约束", + "t": 1.56, + "log_step": 65, + "evidence_zh": "观察：服务在仿真 1.56 s 以 limit_violation 终止回合（log step 65）；agent 事后分析（log step 85-89）指向抛球时 TCP 角加速度/线加速度限值（26.25 rad/s²、13.65 m/s²）。具体越限量值未在视频中看到。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断：agent 自己编写的抛球轨迹在执行中触发安全限值（log step 65 的 why=limit_violation；log step 85-89 它回头检查加速度限值并重新搜索抛球曲线），说明轨迹未事先满足限值；子类不能确定。", + "source_zh": "日志" + } + ], + "gap_zh": "视频仅 1.6 s；越限的具体量和时刻无状态日志，只由服务 why 字段和 agent 事后分析推断。", + "unmet": { + "left_initial_catch": true, + "right_cup_caught": false, + "loaded_cup_in_second_region": false, + "left_cup_recaught": false, + "ball_settled_in_moving_cart": false + } + }, + "summary_zh": "观察：视频 0.64 s 左杯接住初始来球并保持到 1.56 s（左杯首次接球达成，1/5）。左臂开始抛球时，服务在仿真 1.56 s 以 limit_violation 终止回合，右杯接球等后续步骤均未达成。推断为 agent 自编的抛球轨迹超出安全限值；主要缺口是无状态日志、视频过短。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "标签与视频、服务读数一致：左杯在约0.64 s接球并保持，服务在仿真1.56 s以limit_violation终止，右杯接球及后续均未达成；断点、现象、根因（控制，子类未知）都有证据支持，未发现需要修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:08Z", + "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/pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--elexqz9/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec3ca547d15c0cb575c95d6c87fda41bf642ea5183660bf3ba474a0a77899421", + "video_sha256": "05f2222d4b37b6fe97add7f7048018988f57efeaf2c1e641eaa35bdeaff27687", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj.json b/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj.json new file mode 100644 index 0000000000000000000000000000000000000000..7b9e4c166d7c92cd57fd7d8f7e2bed56547b8595 --- /dev/null +++ b/phaseR/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj.json @@ -0,0 +1,346 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj", + "taskKey": "pandadyn/d01_reciprocal_cup_relay", + "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 678, + "sim_steps": 1132, + "calls": 28, + "rows": 992, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2323.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "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:pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj.mp4", + "duration_s": 6.84, + "fps": 25.0, + "frames": 171, + "sha256": "52c4b1ece88136f9d312a08cc056ec65c3a3f768edfed1ec4d26741f34dbc07b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_initial_catch": { + "method": "visual", + "intervals": [ + [ + 0.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频约 0.7-1.0 s 橙球落入左臂小蓝杯并随杯移动（粗帧间隔 0.3 s，时间约数）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左臂方杯承接橙球" + } + ] + }, + "right_cup_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.0, + "log_step": 137, + "text_zh": "观察：视频 3.2–6.8 s 放大帧中橙球始终在左臂杯（上方那只）内，右杯空着；约 6.4–6.8 s 左杯倾倒时与右杯碰撞，episode 以 failed 结束（log step 134/137，control_steps=678）。agent 自述也只是“球在倾斜杯沿、右杯在正下方”，未见球入右杯。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "左杯托着球并倾倒，球未进入右杯" + } + ] + }, + "loaded_cup_in_second_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.5, + "log_step": null, + "text_zh": "观察：该节点依赖的右杯接球未发生，未开始；视频约 6.5-6.8 s 左杯倾倒并与右杯相撞。" + } + ] + }, + "left_cup_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频结束前未见球回到左杯；回传步骤未开始。" + } + ] + }, + "ball_settled_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.8, + "log_step": null, + "text_zh": "观察：视频全程球未进入车厢。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "left_to_right_ball_height", + "value": null, + "unit": "m", + "threshold": 0.3, + "direction": "higher_better" + }, + { + "name": "right_to_left_ball_height", + "value": null, + "unit": "m", + "threshold": 0.31, + "direction": "higher_better" + }, + { + "name": "free_flight_duration", + "value": null, + "unit": "s", + "threshold": 0.045, + "direction": "higher_better" + }, + { + "name": "receiver_entry_horizontal_speed", + "value": null, + "unit": "m/s", + "threshold": 0.15, + "direction": "higher_better" + }, + { + "name": "right_cup_start_displacement", + "value": null, + "unit": "m", + "threshold": 0.04, + "direction": "higher_better" + }, + { + "name": "second_region_distance", + "value": null, + "unit": "m", + "threshold": 0.035, + "direction": "lower_better" + }, + { + "name": "return_release_horizontal_distance", + "value": null, + "unit": "m", + "threshold": 0.035, + "direction": "lower_better" + }, + { + "name": "ball_receiver_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "cup_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "cart_speed_at_delivery", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "cart_delivery_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "right_cup_caught", + "where": "操作中", + "t": 6.5, + "log_step": 137, + "evidence_zh": "观察：视频约 6.5-6.8 s 左杯倾倒时与右杯相撞，球仍在左杯，右杯未接球；episode 在 control step 678 以 failed 终止（log step 134）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 6.5, + "log_step": 137, + "evidence_zh": "观察：视频约 6.5 s 左臂倾斜杯下沿与右杯相接触，右杯被撞偏。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "观察：视频见倾倒的左杯与右杯相撞；推断（agent 自述 log step 137）：倾斜杯下沿下探约 4 cm 进入右杯巡游通道，规划未留间隙。", + "source_zh": "视频观察 + agent 自述（推断）" + } + ], + "gap_zh": "无状态日志；球入右杯未发生，故右杯接球速度条件无需核实；分类名称取自 taxonomy 约定，未逐一核对。", + "unmet": { + "left_initial_catch": true, + "right_cup_caught": false, + "loaded_cup_in_second_region": false, + "left_cup_recaught": false, + "ball_settled_in_moving_cart": false + } + }, + "summary_zh": "观察：左杯约视频 1 s 接球，约 4–6 s 球一直在左杯内；约 6.5 s 左杯倾倒传球时与右杯碰撞，球未进入右杯，达 1/5 个节点。推断：断点在左杯倾倒传球（right_cup_caught），原因是倾倒轨迹未避让右杯。证据缺口：无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "right_cup_caught 被误标为已达成：视频 3.2–6.8 s 裁剪放大帧里橙球始终在左臂杯中（左杯倾斜时球在杯沿，右杯在其下方），从未进入右杯；log step 137 里 agent 自己也只说“球在倾斜杯沿、右杯在正下方”。因此 peak/final 应为 1/5，断点应为 right_cup_caught（左杯倾倒传球时与右杯碰撞），不是 loaded_cup_in_second_region。", + "n_issues": 4, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频和日志一致：左杯约1 s接球，末段左杯倾倒与右杯接触导致episode failed，断点right_cup_caught、被挡/碰撞、推理/规划均有视频与服务读数支持；推断已标注。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:20Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-standard--gkibdpj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2f86435934c9795ee87f6f192610f8f691d2c75e42d02ab0d5918947ba3e8e25", + "video_sha256": "52c4b1ece88136f9d312a08cc056ec65c3a3f768edfed1ec4d26741f34dbc07b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx.json b/phaseR/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx.json new file mode 100644 index 0000000000000000000000000000000000000000..39c1bf019515284992b4e4d7e2ff607706629c00 --- /dev/null +++ b/phaseR/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "all_success": 1, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 845, + "executed_rows": 845, + "sim_steps": 845, + "physics_steps": 8450, + "sim_time_s": 8.45, + "phases_done": 4, + "valid": 1, + "replay_wall_s": 35.9, + "replay_timeout_s": 384.5, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 49, + "agent_resets": 24, + "agent_sim_steps": 2535, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.048, + "peak_memory_gb": 0.619, + "peak_processes": 9, + "peak_disk_gb": 0.052, + "resource_emergency_kills": 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": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx/replay.mp4", + "duration_s": 8.52, + "fps": 25.0, + "frames": 213, + "sha256": "ad4502c5a7d2819e134e10eb5281044efcf73f099437e11214a0e2b73be08e7d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：评分器记录 phases_done=4、success=1，四个阶段均通过；视频 640×480 俯视过小，橙色小盘难以辨认，左臂 panda-0 拍板击盘过线的时刻仅为粗略估计（约视频 1.5 s，误差可达 ±1.5 s）。推断：该节点已达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：左臂 panda-0 拍板（刚性安装的蓝色拍板）击打小方盘，候选“击打”；视频中拍板挥动可见，盘细节看不清。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [ + [ + 3.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：评分器记录 phases_done=4、success=1，四个阶段均通过；视频 640×480 俯视过小，橙色小盘难以辨认，右臂 panda-1 拍板击盘过线的时刻仅为粗略估计（约视频 3.0 s，误差可达 ±1.5 s）。推断：该节点已达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：右臂 panda-1 拍板（刚性安装的蓝色拍板）击打小方盘，候选“击打”；视频中拍板挥动可见，盘细节看不清。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [ + [ + 5.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：评分器记录 phases_done=4、success=1，四个阶段均通过；视频 640×480 俯视过小，橙色小盘难以辨认，左臂 panda-0 拍板击盘过线的时刻仅为粗略估计（约视频 5.0 s，误差可达 ±1.5 s）。推断：该节点已达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：左臂 panda-0 拍板（刚性安装的蓝色拍板）击打小方盘，候选“击打”；视频中拍板挥动可见，盘细节看不清。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [ + [ + 7.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：评分器记录 phases_done=4、success=1，四个阶段均通过；视频 640×480 俯视过小，橙色小盘难以辨认，右臂 panda-1 拍板击盘过线的时刻仅为粗略估计（约视频 7.0 s，误差可达 ±1.5 s）。推断：该节点已达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：右臂 panda-1 拍板（刚性安装的蓝色拍板）击打小方盘，候选“击打”；视频中拍板挥动可见，盘细节看不清。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "value": null, + "unit": "m", + "threshold": 0.055, + "direction": "lower_better" + }, + { + "name": "goal_lateral_error", + "value": null, + "unit": "m", + "threshold": 0.05, + "direction": "lower_better" + }, + { + "name": "striking_paddle_linear_speed", + "value": null, + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better" + }, + { + "name": "time_since_registered_strike_at_crossing", + "value": null, + "unit": "s", + "threshold": 0.035, + "direction": "higher_better" + }, + { + "name": "time_between_registered_strikes", + "value": null, + "unit": "s", + "threshold": 0.06, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：评分器 success=1、phases_done=4、deterministic=1，视频 8.52 s 中两臂交替挥拍，四个节点均判达成。节点时刻为从过小的俯视画面粗估（±1.5 s），盘的轨迹未能逐帧确认；无状态日志，原生指标未在评分字段中报告。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分器 success=1、phases_done=4，四个节点均达成与成功结果一致；视频分辨率过小，节点时刻无法逐帧核实，文件已如实标注粗估和 ±1.5 s 误差，conf=4 合理。接触标注（手持工具/其他/击打）符合 S16。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:48Z", + "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/pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--c6hkdzx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6e39e3c21f1c3c7ebddbe1ad332a9fc1cf88d511ee9778a30a1a8c6052b615c2", + "video_sha256": "ad4502c5a7d2819e134e10eb5281044efcf73f099437e11214a0e2b73be08e7d", + "states_sha256": null, + "video_choice": "HF replay.mp4" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu.json b/phaseR/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu.json new file mode 100644 index 0000000000000000000000000000000000000000..cd4105d2bb2f3ade481bb567fc3b737da218bdd9 --- /dev/null +++ b/phaseR/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu.json @@ -0,0 +1,295 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 371, + "sim_steps": 1382, + "calls": 547, + "rows": 51, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3454.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 51.566, + "max_lag_s": 0.5253, + "stalls": 18, + "stalled_s": 9.138, + "stalled_share": 0.1772, + "held_steps": 1331, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 10.436, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.207, + "peak_processes": 10, + "peak_disk_gb": 0.255, + "peak_cpus": 1.04, + "peak_pids": 84, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu.mp4", + "duration_s": 3.76, + "fps": 25.0, + "frames": 94, + "sha256": "188c5842f05fdf2e4322f320b9a540b51fd1862f62cb61bce1c90daea06089bb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "left_first_gap": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": 75, + "text_zh": "观察：视频 0.3-1.2 s 左臂蓝色拍板在左侧、小方盘在两排立柱左端附近，约视频 1.2-1.8 s 盘已越到柱隙右侧、靠近右臂拍板。推断：左击已使盘过首隙，时间约 ±0.5 s；视频分辨率低，盘很小，无法逐帧核实 x>0.12 的过线。log step 75（agent 在第4回合的自写 trace，会话证据）显示盘 x 在 sim 1.01-1.14 s 由 0.128 增至 0.195，y≈-0.10，与此相符。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；左臂 panda-0 的蓝色拍板击打小方盘（视频 0.3-1.0 s 左右，盘离拍后向 +x 滑行）。" + } + ] + }, + "right_return_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 75, + "text_zh": "观察：视频 1.8-3.7 s 右臂拍板在盘旁边，盘留在立柱靠近侧，未见盘穿过正 y 端柱隙；3.3-3.7 s 右臂拍板移到长立柱栏顶端（盘不可辨）。log step 75 的 trace 中击打后盘速度仅约 0.1-0.25 m/s，y 从 -0.10 到 -0.05。推断：盘未过返隙；盘过小，判断有不确定性。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "候选：击打；右臂 panda-1 的蓝色拍板击打小方盘（视频约 1.8-2.4 s）。" + } + ] + }, + "left_middle_gap": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.7, + "log_step": null, + "text_zh": "观察：直到视频 3.76 s 结束，左臂拍板停在原位未再击盘；前序节点右击过返隙未达成，本节点未开始。" + } + ] + }, + "right_goal_crossed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.7, + "log_step": null, + "text_zh": "观察：视频 3.76 s 内盘未越过右侧球门线；前序节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "passage_lateral_error", + "unit": "m", + "threshold": 0.055, + "direction": "lower_better", + "value": null + }, + { + "name": "goal_lateral_error", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "striking_paddle_linear_speed", + "unit": "m/s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_registered_strike_at_crossing", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "time_between_registered_strikes", + "unit": "s", + "threshold": 0.06, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "right_return_gap", + "where": "操作中", + "t": 2.4, + "log_step": 75, + "evidence_zh": "观察：视频 1.8-2.4 s 右臂拍板击盘后，盘仍留在立柱旁，未过返隙；评分 first_reason_code=2、success=0、live 末回合判负。推断：断点为第2步（右击过返隙），首步已完成。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 2.4, + "log_step": 75, + "evidence_zh": "观察：视频约 1.8-3.7 s 右臂拍板击盘后，盘停在立柱靠近侧、拍板在其旁，没有走向正 y 端的返隙。推断：击打的方向/落点不对，盘停在返隙之前（静止的盘，非动态时机）；盘很小，位置只能目测。log step 75 的 trace（agent 自写，仅会话证据）显示盘约在 (0.17,0.105) 静止，与此相符，未当作现象依据。" + } + ], + "root_causes": [], + "gap_zh": "视频仅 3.76 s、640x480，盘极小，击后轨迹不能逐帧测量，故现象只给目测的位姿不准；无状态日志，grader 只给 first_reason_code=2（含义未说明），根因层留空：没有视频或状态证据说明为何击向不准（轨迹、逆解或控制都无法区分），agent 的 trace 只是会话输出。已检视：视频帧、run.json 的 step 75 trace（会话证据）。另：视频 3.76 s 与 realtime 时钟 51.6 s 不一致，未映射。", + "unmet": { + "left_first_gap": true, + "right_return_gap": false, + "left_middle_gap": false, + "right_goal_crossed": false + } + }, + "summary_zh": "观察：graded 实时回合失败。推断：左击过首隙约视频 1.2 s 达成（有不确定性），右击过返隙未达成（盘停在立柱近侧，位姿不准），后两节点未开始；断点为右击过返隙（操作中）。根因证据不足，留空并写 gap。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 5, + "summary_zh": "WHERE 标签（首隙达成约1.2 s、返隙未达成、断点=right_return_gap）与视频一致；但失败层全空，而视频已能看到右击后盘停在立柱近侧、未到 y≈0.19 的返隙，应给出可见现象。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 5, + "summary_zh": "WHERE 标签（首隙约视频 1.2 s、返隙未达成、断点 right_return_gap）与可见帧一致；第1轮意见已采纳，位姿不准已写成观察+推断，根因留空并写 gap，处理合理。盘极小，帧上无法精确判断，conf 4 诚实。", + "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": "2026-11-08T20:55:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-realtime--vvg28hu/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b01103388878428763e50cdc9cf78938b2c331a595a89773548e3ed60a861f1f", + "video_sha256": "188c5842f05fdf2e4322f320b9a540b51fd1862f62cb61bce1c90daea06089bb", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--rd5zwuz.json b/phaseR/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--rd5zwuz.json new file mode 100644 index 0000000000000000000000000000000000000000..af4d0ffcb5e3410dc93f4cc300d30a380fe973d6 --- /dev/null +++ b/phaseR/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--rd5zwuz.json @@ -0,0 +1,207 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--rd5zwuz", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 59, + "agent_resets": 52, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.056, + "peak_memory_gb": 1.134, + "peak_processes": 13, + "peak_disk_gb": 0.239, + "peak_cpus": 1.02, + "peak_pids": 35, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "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": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "gate_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：run.json 的 reward 中 missing_trajectory=1，agent 最终自述 trajectory.npz 不存在（log 末步），没有交付轨迹，也没有视频和状态日志；该节点无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付轨迹，无受评估的接触。" + } + ] + }, + "puck_deep_in_pen": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：run.json 的 reward 中 missing_trajectory=1，agent 最终自述 trajectory.npz 不存在（log 末步），没有交付轨迹，也没有视频和状态日志；该节点无法判定。" + } + ] + }, + "gate_opened_opposite": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：run.json 的 reward 中 missing_trajectory=1，agent 最终自述 trajectory.npz 不存在（log 末步），没有交付轨迹，也没有视频和状态日志；该节点无法判定。" + } + ] + }, + "puck_intercepted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：run.json 的 reward 中 missing_trajectory=1，agent 最终自述 trajectory.npz 不存在（log 末步），没有交付轨迹，也没有视频和状态日志；该节点无法判定。" + } + ] + }, + "puck_crossed_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：run.json 的 reward 中 missing_trajectory=1，agent 最终自述 trajectory.npz 不存在（log 末步），没有交付轨迹，也没有视频和状态日志；该节点无法判定。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": null, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：reward 字段 missing_trajectory=1、success=0；agent 最终自述 /app/output/trajectory.npz 不存在（生成脚本仅在全部阶段成功时才保存）。推断：没有交付任何轨迹，被评分的回合无内容，按首步前处理。" + }, + "unmet": { + "gate_opened": null, + "puck_deep_in_pen": null, + "gate_opened_opposite": null, + "puck_intercepted": null, + "puck_crossed_goal": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志、无交付轨迹；agent 在会话中的仿真尝试（自述卡在第三阶段 +y 推球）只是会话证据，不能作为现象或根因；故现象和根因留空。" + }, + "summary_zh": "观察：本次运行没有交付轨迹（missing_trajectory=1，success=0），也无视频和状态日志，五个节点均无法判定（unknown）。断点记为首步前；agent 自述会话中曾通过前两阶段、卡在第三阶段，但那是会话证据，不是被评分回合。证据缺口：无任何被评分的回合。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无交付轨迹、无视频/状态日志，五个节点 unknown、两层为空并写 gap_zh，符合 D23(a) 与 03 规则；会话证据未被当作现象或根因。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:48Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-privileged--rd5zwuz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--rd5zwuz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eb7dcd8347582f5909e539d829e277a78ac803c94904e5ec1e1c7c17f8a81e26", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj.json b/phaseR/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj.json new file mode 100644 index 0000000000000000000000000000000000000000..adee10df3bc587a53339ae7053dce84edd29f884 --- /dev/null +++ b/phaseR/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj.json @@ -0,0 +1,252 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj", + "taskKey": "pandadyn/d07_spring_gate_switchyard", + "dag_sha256": "5896e55eeda71de09bc9f25e587ad90fdd1bd65152b9010d8927271852d641fb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 219, + "sim_steps": 680, + "calls": 183, + "rows": 79450, + "resets": 2, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3041.7, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 26.279, + "max_lag_s": 0.5186, + "stalls": 10, + "stalled_s": 5.094, + "stalled_share": 0.1939, + "held_steps": 0, + "late_steps": 10944, + "requests_refused": 2, + "request_busy_s": 3.792, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.244, + "peak_processes": 8, + "peak_disk_gb": 0.264, + "peak_cpus": 0.89, + "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:pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj.mp4", + "duration_s": 2.24, + "fps": 25.0, + "frames": 56, + "sha256": "39ab5e80dc5f3aa8942953e2964995afc72f875b676c811f0025088867ba83b2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 5, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "gate_opened": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：视频 0–2.24 s 全程，琥珀色门叶始终在零位、与首帧相同，右球拍和冰球也没有动；与 oracle 视频（25 s，门被打开）相比，没有看到该节点的标志。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "其他", + "note_zh": "观察：视频 0–2.24 s 左臂 panda-0 向下靠近门把手，门未动；服务读数显示终止时夹爪正闭合于把手，是否夹住未知（视角较远）。" + } + ] + }, + "puck_deep_in_pen": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：该节点的前置节点未达成；视频 2.24 s 内冰球、右臂及门均无相应变化，未达成。" + } + ] + }, + "gate_opened_opposite": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：该节点的前置节点未达成；视频 2.24 s 内冰球、右臂及门均无相应变化，未达成。" + } + ] + }, + "puck_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：该节点的前置节点未达成；视频 2.24 s 内冰球、右臂及门均无相应变化，未达成。" + } + ] + }, + "puck_crossed_goal": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.2, + "log_step": null, + "text_zh": "观察：该节点的前置节点未达成；视频 2.24 s 内冰球、右臂及门均无相应变化，未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "gate_opened", + "t": 2.2, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 2.24 s 内左臂 panda-0 下移靠近把手，门叶仍在零位。观察（服务读数）：回合约 2.19 s 终止时，夹爪 TCP 已在把手位置，手指开度 0.0243 m 仍在闭合，门 q=0。推断：失败停在第一步“正向打开门”（q>0.5 rad 且双指夹持）。" + }, + "unmet": { + "gate_opened": false, + "puck_deep_in_pen": false, + "gate_opened_opposite": false, + "puck_intercepted": false, + "puck_crossed_goal": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察（服务读数，被评分回合）：control_steps 219≈视频 2.24 s，视频即整个被评分回合；回合在约 2.2 s（视频时钟）被服务以 reason='failed'（first_reason_code 2，含义未文档化）终止，此时门 q=0、左夹爪 TCP 已在把手位置、手指仍在闭合（开度 0.0243 m，agent 日志 step 101）。clock_s 26.3 s 是墙钟，不是视频时间。终止规则（限值超标/穿透/其他）无法从帧或已认可证据判定，故现象与根因留空；无状态日志。" + }, + "summary_zh": "观察：评分视频 2.24 s 即整个被评分回合（服务 control_steps 219，reason='failed' 终止），左臂已到把手并在闭合，门始终在零位，五个节点均未达成（0/5）。失败停在第一步“正向打开门”。证据缺口：终止规则未文档化且无状态日志，无法判定具体现象与根因。", + "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（0/5、断点 gate_opened、操作中）与帧一致，现象/根因留空也合理（reason_code 2 无文档，视频看不到失败规则）。但 gap_zh/summary 把短视频说成“可能被延迟截断”，与服务读数矛盾：视频就是整个被评分回合，回合由服务判 failed 终止。", + "n_issues": 2, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "0/5、断点 gate_opened（操作中）、时钟（视频 2.24 s=被评分回合，control_steps 219）与帧和服务读数一致；终止规则无法判定，现象/根因留空且有 gap_zh，合理。第一轮意见已采纳。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:57Z", + "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/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-realtime--5dezirj/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "edc72f84e27910ad424e548f40e37e9b8dae8bc2edecb5132a9e6253ee3dfdc2", + "video_sha256": "39ab5e80dc5f3aa8942953e2964995afc72f875b676c811f0025088867ba83b2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj.json b/phaseR/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj.json new file mode 100644 index 0000000000000000000000000000000000000000..ae3e18ff76ce2aedbc15e790a2720697de7cafc6 --- /dev/null +++ b/phaseR/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj", + "taskKey": "pandadyn/d09_lever_launch_catch_reload", + "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 342, + "sim_steps": 794, + "calls": 12, + "rows": 2279, + "resets": 2, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3107.2, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 30.02, + "max_lag_s": 0.5247, + "stalls": 10, + "stalled_s": 5.093, + "stalled_share": 0.1696, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 1, + "request_busy_s": 1.056, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.34, + "peak_processes": 9, + "peak_disk_gb": 0.273, + "peak_cpus": 2.1, + "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:pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj.mp4", + "duration_s": 3.48, + "fps": 25.0, + "frames": 87, + "sha256": "258f254e6c95f79d5b8d9b96aeed9bf01b9baef670753ab3af9f64671acf7f65" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "ball_loaded_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.7, + "log_step": null, + "text_zh": "观察：视频 2.0 s 球在右杯内；约 2.6-2.7 s 球落到橙色支柱上的杠杆小篮并留在篮内至视频 3.44 s 结束，杯子在 3.0-3.44 s 逐渐抬离。推断：视频只有 3.48 s，无法确认杯工具框架已离世界点(0,0,0.18)超过0.16 m（清场），且评分器无该节点记录，故按未达成记；球在篮内的稳定性也未能核对。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右臂安装的方杯托着球，倾杯把球倒进杠杆小篮（视频 2.6-2.7 s）" + } + ] + }, + "ball_caught_after_launch": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.44, + "log_step": null, + "text_zh": "观察：视频至 3.48 s 结束时左锤未敲杠杆，球仍在杠杆小篮中，未见弹起、接球。" + } + ] + }, + "ball_loaded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.44, + "log_step": null, + "text_zh": "观察：视频至 3.48 s 结束时左锤未敲杠杆，球仍在杠杆小篮中，未见弹起、接球。" + } + ] + }, + "ball_in_moving_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.44, + "log_step": null, + "text_zh": "观察：视频至 3.48 s 结束时左锤未敲杠杆，球仍在杠杆小篮中，未见弹起、接球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "loaded_hold_s", + "value": null, + "unit": "s", + "threshold": 0.1, + "direction": "higher_better" + }, + { + "name": "launch_free_interval_s", + "value": null, + "unit": "s", + "threshold": 0.04, + "direction": "higher_better" + }, + { + "name": "launch_ball_height_m", + "value": null, + "unit": "m", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "cup_retention_s", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "cart_abs_rail_speed_m_s", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "moving_cart_retention_s", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_loaded_1", + "where": "操作中", + "t": 2.7, + "log_step": null, + "evidence_zh": "观察：视频 2.6-2.7 s 右杯把球倒入杠杆小篮，之后至视频 3.44 s 左锤未动，评分器 reason=failed，graded 回合在 control_steps 342（视频约 3.42 s）结束（log step 128）。推断：首次装球（含杯清场）未确认完成，回合在其间被判失败，具体失败事件未在日志中查明。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "视频仅 3.48 s，评分器只给出 reason=failed（无具体失败事件）；未能确认是安全/限位事件还是装球验收未过，故不给现象和根因。agent 自述在检查关节限位（log step 129）但这是会话证据，不能作为根因。", + "unmet": { + "ball_loaded_1": false, + "ball_caught_after_launch": false, + "ball_loaded_2": false, + "ball_in_moving_box": false + } + }, + "summary_zh": "观察：graded 回合仅约 3.4 s：右杯在视频 2.6-2.7 s 把球倒进杠杆小篮，随后回合被判失败（reason=failed），左锤未动，四个节点均未确认达成。断点为首次装球（杯清场未能确认）。证据缺口：失败的具体原因未知，故现象与根因留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标签与视频一致：视频约 2.5-2.7 s 球从右杯落入杠杆小篮并留在篮内至结束，左锤未动，四节点均未达成；graded 回合 control_steps 342（视频约 3.42 s）以 reason=failed 结束，评分器未给具体失败事件，现象与根因留空并写 gap_zh 合理。断点 ball_loaded_1 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": "2026-11-08T20:53:36Z", + "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/pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-realtime--3aseitj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8cf13579e262c964189e93af4bd54395831e3b754df87d4efc8558390cf7e980", + "video_sha256": "258f254e6c95f79d5b8d9b96aeed9bf01b9baef670753ab3af9f64671acf7f65", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n.json b/phaseR/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n.json new file mode 100644 index 0000000000000000000000000000000000000000..749c2b54e2b5abac9e2977c12a20495f441db921 --- /dev/null +++ b/phaseR/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n", + "taskKey": "pandadyn/d09_lever_launch_catch_reload", + "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 667, + "sim_steps": 1665, + "calls": 32, + "rows": 1665, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 381.3, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "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:pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n.mp4", + "duration_s": 6.72, + "fps": 25.0, + "frames": 168, + "sha256": "365ee03bb2ce4a64dcbd1004dd2c60335075543730cd3921e890f23d5370ea2d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "ball_loaded_1": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": 40, + "text_zh": "观察：视频 6.6 s（末帧）右臂蓝杯倾斜悬在橙色支柱/杠杆小篮上方，杯子遮住小篮，看不到球落入篮内，杯子未移开清场。观察：log step 40 服务返回 done=True, reason=forbidden_arm_scene_contact，control_steps 667（×0.01 s = 6.67 s，与视频 6.72 s 吻合）。推断：装球后须清场的条件未成立，节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "右臂方杯托着球移到杠杆小篮上方并倾倒（视频约 3-6.6 s），杯被遮挡，球是否入篮不可见" + } + ] + }, + "ball_caught_after_launch": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": 40, + "text_zh": "观察：视频 6.6 s 内左锤未敲杠杆，没有球飞起、接球或第二次装球；回合在视频 6.72 s 因 forbidden_arm_scene_contact 结束，前置节点未达成。" + } + ] + }, + "ball_loaded_2": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": 40, + "text_zh": "观察：视频 6.6 s 内左锤未敲杠杆，没有球飞起、接球或第二次装球；回合在视频 6.72 s 因 forbidden_arm_scene_contact 结束，前置节点未达成。" + } + ] + }, + "ball_in_moving_box": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": 40, + "text_zh": "观察：视频 6.6 s 内左锤未敲杠杆，没有球飞起、接球或第二次装球；回合在视频 6.72 s 因 forbidden_arm_scene_contact 结束，前置节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "ball_loaded_1", + "t": 6.6, + "where": "操作中", + "evidence_zh": "观察：视频 3-6.6 s 右臂方杯倾转向小篮倒球，杯体遮住小篮，杯始终未移开；log step 40 服务报 forbidden_arm_scene_contact，回合结束（control_steps 667）。", + "log_step": 40 + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "evidence_zh": "观察：log step 40 服务返回 done=True、forbidden_arm_scene_contact（control_steps 667 ≈ 视频 6.7 s）；视频 6.0-6.68 s 右臂方杯倾转贴近杠杆/支柱，具体接触连杆看不出。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：视频中杯子遮挡小篮与球，看不出球是否入篮，也看不出具体是哪个连杆触碰场景；轨迹是脚本化关节轨迹且无状态日志，无法区分规划还是轨迹/逆解，故根因留空。agent 三次重置（log step 20、29、40）均以 arm_arm_or_tool_collision / forbidden_arm_scene_contact 结束；其中 step 40 是被评分回合的服务读数，已作为被挡/碰撞现象。", + "unmet": { + "ball_loaded_1": false, + "ball_caught_after_launch": false, + "ball_loaded_2": false, + "ball_in_moving_box": false + } + }, + "summary_zh": "观察：最终回合（视频 6.72 s）右臂方杯倒球入篮的过程中触发 forbidden_arm_scene_contact，回合结束，4 个节点均未达成（0/4）。断点为首次装球（操作中），因杯体遮挡无法判断球是否入篮及碰撞部位，现象为被挡/碰撞（服务读数），根因因证据不足留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点（4 个均未达成）、断点 ball_loaded_1/操作中、时钟均无误。问题：现象层留空，但服务对被评分回合的读数（step 40，done=True，forbidden_arm_scene_contact，control_steps 667）是对 graded episode 的观测（N5），足以支持“被挡/碰撞”现象，不应因看不出具体连杆而整层留空。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "4 个节点均未达成、断点 ball_loaded_1/操作中、被挡/碰撞现象（服务读数 step 40，control_steps 667≈视频 6.7 s）均与视频和 log 一致；根因因证据只有 agent 叙述而留空并写了 gap_zh，合理。未发现需改动处。", + "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": "2026-11-08T20:54:52Z", + "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/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-standard--p4pqc3n/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "82b7579abc2b892c181bf2f79fc56724c212d896a178217055fa0996d16948c0", + "video_sha256": "365ee03bb2ce4a64dcbd1004dd2c60335075543730cd3921e890f23d5370ea2d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq.json b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq.json new file mode 100644 index 0000000000000000000000000000000000000000..d09bce28bedcac408b464b0059bbe0eb2de6be32 --- /dev/null +++ b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1521, + "sim_steps": 5743, + "calls": 57, + "rows": 4401, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2981.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 124.319, + "max_lag_s": 0.9716, + "stalls": 16, + "stalled_s": 8.811, + "stalled_share": 0.0709, + "held_steps": 2665, + "late_steps": 36, + "requests_refused": 1, + "request_busy_s": 2.414, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.528, + "peak_processes": 10, + "peak_disk_gb": 0.256, + "peak_cpus": 1.04, + "peak_pids": 147, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq.mp4", + "duration_s": 15.28, + "fps": 25.0, + "frames": 382, + "sha256": "879bff39298627d9afda89228932e90db3d3d5c57b77eb6a73ece944ae93e5b5" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "incoming_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": 98, + "text_zh": "观察：视频 0.8–2.8 s 抛起的橙球落入机械臂末端蓝杯，并随杯停留；之后杯抬起运球，球一直在杯内（视频 2.8–4 s）。推断：验收窗口约在视频 1.2 s 满足。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：蓝杯杯底/杯壁从下方承接橙球，夹爪未碰球。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [ + [ + 11.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.0, + "log_step": 98, + "text_zh": "观察：视频约 5–6 s 蓝杯向槽倾倒，橙球在槽中滚动（视频 6–10 s），约 10.4 s 球落到反弹板附近，10.8 s 起落入下游蓝杯并留在杯中（11–12.4 s）。推断：未见槽/反弹板接触的逐项数值，据球路径判定达成，约 11.0 s，把握中等。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：蓝杯倒球入槽（视频 4–6 s），随后移到下游从下方接住反弹球。" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 15.2, + "log_step": 98, + "text_zh": "观察：视频 12.6–15.28 s 机械臂把装球的蓝杯倾斜，球一直留在杯内靠近杯口/杯壁（最后一帧仍在杯中），下方小车内未见球；球未入车。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：蓝杯倾斜向小车倒球，球未离杯；夹爪不碰球。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "value": null, + "unit": "s", + "threshold": 0.025, + "direction": "higher_better" + }, + { + "name": "incoming_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "downstream_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "ball_cup_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "ball_cart_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "cart_rail_speed_abs", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "moving_cart_delivery_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "ball_in_moving_cart", + "where": "操作中", + "t": 14.0, + "evidence_zh": "观察：视频 13–15.28 s 蓝杯倾斜倒向小车，球仍留在杯内、小车内无球，视频在此结束（评分器 first_reason_code 2，success 0）。", + "log_step": 98 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 14.0, + "log_step": 98, + "evidence_zh": "观察：视频 13–15.28 s 倾倒时球没有离杯进入移动小车，杯口/倾斜姿态与小车位置未对上（球留在杯内）。推断：具体是倾角不足还是杯位偏差，帧中无法分辨。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；视频中球与杯口相对位置较小，无法区分倾倒角不足与小车位置预测偏差，因此根因留空。agent 自述（log step 98）称已按拟合的小车正弦轨迹倾倒，但属自述。Gemini 过滤器阻断多次发生在会话中，不影响已交付的图形化回合。", + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": true, + "ball_in_moving_cart": false + } + }, + "summary_zh": "观察：前两步达成（首次接球约视频 1.2 s，反弹后再接约 11.0 s），第三步球入移动小车未达成：视频 13–15.28 s 倾倒时球留在杯内。断点在 ball_in_moving_cart（操作中），现象为位姿不准，根因无足够证据。无状态日志，节点时间由视频判断，第二步时间把握中等。", + "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、时间、断点（ball_in_moving_cart，操作中，位姿不准）与视频一致：约1.2 s球入杯，约10.8–11 s球落入下游杯，12.4–15.28 s杯倾斜倒向小车时球仍留在杯内。无状态日志，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": "2026-11-08T20:54:00Z", + "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/pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-realtime--te4dynq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "62872a2a1e9f6b257ed3feab7f86274759b370a0d7d68ff818202d3d6ea117b8", + "video_sha256": "879bff39298627d9afda89228932e90db3d3d5c57b77eb6a73ece944ae93e5b5", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--34jweff.json b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--34jweff.json new file mode 100644 index 0000000000000000000000000000000000000000..754c8417aed0a39e8b3471ea3da25fb3bcd061da --- /dev/null +++ b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--34jweff.json @@ -0,0 +1,315 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard--34jweff", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 668, + "sim_steps": 2583, + "calls": 73, + "rows": 2559, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 3561.6, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "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:pandadyn-s01-cup-route-delivery-i00-standard--34jweff.mp4", + "duration_s": 6.72, + "fps": 25.0, + "frames": 168, + "sha256": "386c9bb4e7622e3b6589f374fa8925986493939a8269decb1882c34830dd6942" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "incoming_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.6 s 起橙球落入机械臂末端蓝杯，随杯停留并随杯升起（视频 1.0-5.3 s 球一直在杯内），判定约视频 1.0 s 达成；无状态日志，时间为估计。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "蓝杯底和杯壁承接并托住落入的橙球" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 5.4, + "log_step": null, + "text_zh": "观察：视频约 5.3-5.5 s 球从杯中飞出，约 5.6-5.7 s 落到灰色槽上方/槽内，之后被槽轨遮挡，约 6.3-6.5 s 球出现在下游橙色反弹板附近；杯在 6.4-6.72 s 才摆向该板，直到视频 6.72 s 结束杯都没有在板处把球再次接住。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "杯倾斜把球送向槽，随后杯向下游摆动准备再接，未接到" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.7, + "log_step": null, + "text_zh": "观察：视频 6.72 s 末帧球在橙色板附近，桌面导轨上的蓝色小车内没有球；前置节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "value": null, + "unit": "s", + "threshold": 0.025, + "direction": "higher_better" + }, + { + "name": "incoming_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "downstream_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "ball_cup_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "ball_cart_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "cart_rail_speed_abs", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "moving_cart_delivery_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "route_rebound_ball_recaught", + "where": "操作中", + "t": 5.4, + "log_step": null, + "evidence_zh": "观察：视频约 5.5 s 球出杯入槽，约 6.4 s 球出现在橙色板附近，杯 6.72 s 才移到该处，没有在板处接住球，视频结束时仍未被杯再次接住。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 5.4, + "log_step": null, + "evidence_zh": "观察：球出杯后入槽并滚下，约 6.4 s 落到橙色板附近时杯尚未到位（6.4-6.72 s 才摆过去），下游接球的位姿/时机不准；球入槽是观察，不是失败点。" + } + ], + "root_causes": [], + "gap_zh": "无状态日志；agent 日志只有脚本生成与启动的叙述（log step 103-105），不足以确定根因，故根因留空。球离杯的确切接触时刻只能从帧估计。 失败点为下游接球的位置/时机（观察），具体原因（规划或控制）无日志可判。", + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + } + }, + "summary_zh": "观察：首次接球在视频约 1.0 s 达成；杯载球后球在约 5.5 s 出杯入槽，约 6.4 s 出现在橙色板附近，杯 6.72 s 才摆向该处，没有接住，经槽反弹接球与入车均未达成（1/3）。断点在“经槽反弹接球”的下游接球（杯未及时到位），现象为位姿不准，根因证据不足。无状态日志，时间为视频估计。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（1/3、首接约1.0 s）与断点节点可接受，但帧显示球其实飞入灰色槽并沿槽滚下，视频约6.4 s出现在橙色板附近，同时杯正移向该处；文件称“球未进入指定槽、杯姿态不对没送入槽”与帧相矛盾，现象与证据文字需改。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（1/3，首接约视频1.0 s）、断点与现象基本得到帧支持；仅 ball_in_moving_cart 的证据称“视频中看不到小车”与帧不符。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 的证据文字已按建议改写，与末帧一致（小车为空、球在橙板上）。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 的证据文字已按建议改写，与末帧一致（小车为空、球在橙板上）。", + "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": "2026-11-08T20:55:47Z", + "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/pandadyn-s01-cup-route-delivery-i00-standard--34jweff/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--34jweff/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--34jweff/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--34jweff/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--34jweff/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--34jweff/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": "2e1384d4b95c877a7676e230a56f4132e79b916f1ce404a1f04b02e992cb414c", + "video_sha256": "386c9bb4e7622e3b6589f374fa8925986493939a8269decb1882c34830dd6942", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r.json b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r.json new file mode 100644 index 0000000000000000000000000000000000000000..27a877be9c63402dbef0cfff6d1d1f1f77e9f66a --- /dev/null +++ b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r.json @@ -0,0 +1,294 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard--whsz34r", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 2500, + "sim_steps": 4928, + "calls": 152, + "rows": 3878, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2817.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.294, + "peak_processes": 11, + "peak_disk_gb": 0.608, + "peak_cpus": 1.12, + "peak_pids": 35, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:pandadyn-s01-cup-route-delivery-i00-standard--whsz34r.mp4", + "duration_s": 25.04, + "fps": 25.0, + "frames": 626, + "sha256": "1ea6e0f5fd2be25b359f422f5ae0b45e8f2868957792783889a68ea838ad6ab8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "incoming_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": 135, + "text_zh": "观察：视频 1.0-4 s 橙球落入蓝杯并留在杯内（杯随臂抬起时球仍在杯里）；约视频 1.5 s 起稳定。agent 自述 incoming_catch 约 1.5 s 完成（log step 135），与画面一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "蓝杯从下方承接橙球，夹爪未碰球" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.5, + "log_step": 135, + "text_zh": "观察：视频 8.0-12.5 s 球一直在杯内（9.5、11、12.3 s 帧均见球在杯中随杯移动），未见入槽/滚槽/反弹/下游落入；agent 自述的“重接成功”未被画面支持，不作为观察。" + } + ], + "contact_actual": [] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 24.9, + "log_step": 128, + "text_zh": "观察：视频 14-25 s 杯倾斜到约 84° 靠近小车，球始终留在杯内/杯壁，末帧球仍在杯中，未入小车。agent 自述末态球在杯局部坐标 (0.053,-0.050,0.031)（log step 128）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "蓝杯在小车上方倾斜倒球，球未离杯" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "value": null, + "unit": "s", + "threshold": 0.025, + "direction": "higher_better" + }, + { + "name": "incoming_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "downstream_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "ball_cup_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "ball_cart_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "cart_rail_speed_abs", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "moving_cart_delivery_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "route_rebound_ball_recaught", + "where": "操作中", + "t": 8.0, + "evidence_zh": "观察：视频 5-9 s 杯倾斜（近竖直）后球仍在杯内，12-25 s 球一直留在杯内；倒球入槽未能把球倒出，第三步无从开始。", + "log_step": 135 + }, + "phenomena": [ + { + "t": 8.0, + "log_step": 135, + "evidence_zh": "观察：视频 6-9 s 杯倾斜到近竖直，球仍留杯内未倒出；12-25 s 同样。agent 自述倾角 ≤88°（log step 135）。球被杯壁托住，非碰撞/被挡。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "note_zh": "倾倒角度模型错误：agent 以为 <90° 即可倒出球，实际需超过 90° 球才会翻出杯沿；给定倾角 100-108° 可倒出，替代方案可行", + "evidence_zh": "log step 135 agent 自述 “below 90° pins the ball”、倾角停在 84°；视频 5-9 s、20-25 s 球仍在杯内。", + "source_zh": "agent 自述 / 视频" + } + ], + "gap_zh": "无状态日志；路线倒球与反弹重接仅能由视频判断，视频 8-12 s 未见球离杯；native_metrics 值未在评分字段中给出。", + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + } + }, + "summary_zh": "观察：首次接球约视频 1.5 s 达成；之后球一直留在杯内，倒球入槽（约 6-9 s）未能把球倒出，路线反弹重接与入车均未达成；断点在第二步倒球入槽，原因推断为倾角不足（<90° 时球被杯壁托住）。无状态日志，时刻为视频估计。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "第二步 route_rebound_ball_recaught 被误标为达成：视频中球自 9.2 s 起到 25 s 一直留在杯内，没有球入槽、滚槽、反弹、再落入下游杯的画面；12.1 s 的“落入下游杯”不存在，只是杯带着球下移。断点应前移到倒球入槽（第二步），原因是倾倒角不足/杯内球被卡住，而不是第三步倾倒入车。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第二轮：节点值、断点（第二步倒球入槽）、现象（运动·位姿不准）与根因（推理/规划，倾角模型错误）均与视频一致：球自 ~2 s 入杯后到 25 s 一直在杯内，槽/反弹板/小车均无球。未发现需要改动的问题。", + "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": "2026-11-08T20:55:52Z", + "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/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--whsz34r/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7a20fc536657bab35aa9cd4524a6083073ec88ba5a9e11a7a72fcbc0606c05a6", + "video_sha256": "1ea6e0f5fd2be25b359f422f5ae0b45e8f2868957792783889a68ea838ad6ab8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq.json b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq.json new file mode 100644 index 0000000000000000000000000000000000000000..e842f45ed7e3ec7d63ea64a00f6bb28cf474efd5 --- /dev/null +++ b/phaseR/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 925, + "sim_steps": 3328, + "calls": 18, + "rows": 2028, + "resets": 2, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 823.1, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "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:pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq.mp4", + "duration_s": 9.32, + "fps": 25.0, + "frames": 233, + "sha256": "6071e65ecf5cbe059b399f55caad9ec94083357e6c8b709153ef44b8fb2f6a11" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 3, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "incoming_ball_caught": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 0.5-1.0 s 抛起的橙球落入 Panda 末端蓝杯，此后随杯稳定停留并被抬起，直到视频 6.5 s 倾倒前球始终在杯内。到达时间约 1.0 s，不确定 ±0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端蓝杯杯底/杯壁承接并带着橙球，夹爪未碰球" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.5, + "log_step": 58, + "text_zh": "观察：视频 6.5-7.0 s 蓝杯在高处倾斜把球倒出，球约 7.5 s 落到远侧灰色槽（路线1）上滚动；约 8.0-8.5 s 球离开槽口、飞过橙色反弹板位置下落，而蓝杯一直停在右上方远处，视频 9.0 s 球已不在杯内、杯里空着，全程没有第二次入杯。推断：球未被下游杯接住，节点未达成。agent 自述最后一次 episode 球出槽后杯不在场（log step 58）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "蓝杯承球并倾倒入槽（视频 6.5-7.0 s）；倒出后杯未再接触球，无第二次接球" + } + ] + }, + "ball_in_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 9.0, + "log_step": null, + "text_zh": "观察：视频全程球从未落入桌面左下方的移动小车，第二次接球也没有完成，该节点未到达。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "value": null, + "unit": "s", + "threshold": 0.025, + "direction": "higher_better" + }, + { + "name": "incoming_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "downstream_catch_retention_duration", + "value": null, + "unit": "s", + "threshold": 0.18, + "direction": "higher_better" + }, + { + "name": "ball_cup_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "ball_cart_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "cart_rail_speed_abs", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "moving_cart_delivery_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "route_rebound_ball_recaught", + "t": 8.0, + "log_step": 58, + "where": "操作中", + "evidence_zh": "观察：视频约 6.5-7.0 s 蓝杯在高处倒球入路线1槽，球约 7.5 s 在槽上滚动，约 8.0-8.5 s 离槽飞出，杯仍在远处上方，没有接住，视频 9.3 s 前未再入杯。评分器 first_reason_code=2，agent 自述为 out_of_bounds（球落桌滚出边缘，log step 58）；该终止事件不另记。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "动态时机", + "t": 8.0, + "log_step": 58, + "evidence_zh": "观察：球从反弹板方向飞出、下落时（视频 8.0-8.5 s）蓝杯位于右上方远处，没有在落点下方；推断：杯相对运动中的球到位时机不对。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述最后一次 episode 手臂来不及到第二次接球位置（log step 58），其后试算的关节轨迹（log step 53-57）末端到位误差/到达时间不满足；这是 session 证据，未见视频中关节极限的直接证据。", + "source_zh": "agent 自述 / 日志" + } + ], + "gap_zh": "无状态日志；agent 的倒球高度（0.62 m）与手臂路径为什么来不及只来自其自述，根因子类型不明，保持 控制。", + "unmet": { + "incoming_ball_caught": true, + "route_rebound_ball_recaught": false, + "ball_in_moving_cart": false + } + }, + "summary_zh": "观察：首次接球完成（视频约 1.0 s）；杯在约 6.5-7.0 s 把球倒入路线1槽，球在槽上滚动并于约 8.0-8.5 s 飞出，蓝杯来不及移到下游，第二次接球和入小车都未完成（1/3）。断点在经槽反弹接球，现象为动态时机，根因只有 agent 自述支持，记为 控制。无状态日志，节点时间来自视频。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频帧支持标注：约0.8-1.0 s球入杯并稳定到6.5 s；7.0 s倾倒，7.5 s球在槽上，8.0-9.0 s球飞出落到桌面外，杯一直在右上方远处，第二次接球和入小车未达成，断点与1/3合理。根因仅有agent自述支持，已如实写明并设alt_feasible未知，无需改动。", + "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": "2026-11-08T20:53:34Z", + "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/pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-standard--x9b4baq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2f1241c92c82b54886e1aadfc7fcff0535757e75d65df336999feb3925f01167", + "video_sha256": "6071e65ecf5cbe059b399f55caad9ec94083357e6c8b709153ef44b8fb2f6a11", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd.json b/phaseR/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd.json new file mode 100644 index 0000000000000000000000000000000000000000..c61dc6a9188001fc639d3eb7a596969d296c17d1 --- /dev/null +++ b/phaseR/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd.json @@ -0,0 +1,237 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 240, + "sim_steps": 240, + "calls": 3, + "rows": 240, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2545.1, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 4, + "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:pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd.mp4", + "duration_s": 2.44, + "fps": 25.0, + "frames": 61, + "sha256": "0f551a926b20064a9b34b14962d81ef34932b646eebd04cec26a13acdd75198c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "cube_face_tipped": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 43, + "text_zh": "观察：视频 0-2.44 s 全程橙色方块停在高台原位，末帧（2.4 s）仍在原处；蓝色推片从方块上方越过，未推倒方块。log step 43 深度统计方块 x 范围全程不变（agent 自测读数，仅作旁证）。该节点未达成。（推片未接触方块，故无 contact_actual。）" + } + ] + }, + "cube_on_chute": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 43, + "text_zh": "观察：视频 0-2.44 s 全程橙色方块停在高台原位，末帧（2.4 s）仍在原处；蓝色推片从方块上方越过，未推倒方块。log step 43 深度统计方块 x 范围全程不变（agent 自测读数，仅作旁证）。该节点未达成。" + } + ] + }, + "cube_intercepted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 43, + "text_zh": "观察：视频 0-2.44 s 全程橙色方块停在高台原位，末帧（2.4 s）仍在原处；蓝色推片从方块上方越过，未推倒方块。log step 43 深度统计方块 x 范围全程不变（agent 自测读数，仅作旁证）。该节点未达成。" + } + ] + }, + "cube_in_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.4, + "log_step": 43, + "text_zh": "观察：视频 0-2.44 s 全程橙色方块停在高台原位，末帧（2.4 s）仍在原处；蓝色推片从方块上方越过，未推倒方块。log step 43 深度统计方块 x 范围全程不变（agent 自测读数，仅作旁证）。该节点未达成。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "cube_face_tipped", + "t": 1.4, + "where": "操作中", + "log_step": 42, + "evidence_zh": "观察：视频 1.4–2.4 s 蓝色推片从方块上方越过，末帧（2.4 s）方块仍在高台原位、从未被碰到。log step 43：深度读数方块 x 范围全程不变；工具 z 自 1.4 s 起由 0.175 升高，高于方块顶（约 0.185）；log 读数为 agent 自测的 proprio/深度，仅作旁证。 评分回合是 log step 42 提交的完整 240 步轨迹（DONE False，1 次 submit，0 次 reset）；step 56 起的 Gemini 过滤器拦截发生在该回合结束之后，不构成外部截断（D37 / CASES OPEN-28 Now：按常规标注）。" + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": 1.4, + "log_step": 43, + "evidence_zh": "观察：视频 1.4–2.4 s 蓝色推片从方块上方越过，末帧（2.4 s）方块仍在高台原位、从未被碰到。log step 43：深度读数方块 x 范围全程不变；工具 z 自 1.4 s 起由 0.175 升高，高于方块顶（约 0.185）；log 读数为 agent 自测的 proprio/深度，仅作旁证。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "抓取和接触设计", + "alt_feasible": "未知", + "evidence_zh": "推断：agent 交付的轨迹在抬升中推进，指令路径 z 在到达方块前已高于方块顶部（log step 43/46：z 0.175→0.246，方块顶约 0.185），余量仅数毫米且未计入伺服滞后，接触几何设计与实际不符；是否存在可行替代未验证。", + "source_zh": "agent 交付代码与自测日志（log step 42/43/46）+ 视频" + } + ], + "gap_zh": "无状态日志，现象与根因仅凭视频和 agent 自测日志（旁证）判断；方块顶高度与余量为 agent 读数，待核实。", + "unmet": { + "cube_face_tipped": false, + "cube_on_chute": false, + "cube_intercepted": false, + "cube_in_pocket": false + } + }, + "summary_zh": "观察：评分回合为 log step 42 提交的完整 240 步（2.44 s 视频），蓝色推片从方块上方越过、从未接触，方块始终未动，4 个节点均未达成（0/4）。断在 cube_face_tipped（操作中）。推断：交付轨迹的抬升路径高于方块顶部，接触几何设计错误（控制/抓取和接触设计）；Gemini 过滤器拦截发生在评分回合之后，不影响标注。无状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "4 个节点均未达成与视频一致；但断点与失败层有误：被评分的 240 步轨迹已完整提交并跑完（log step 42），Gemini 过滤器拦截发生在评分回合结束之后（log step 56 起），不是对回合的外部截断。失败是物理的：推片抬高越过方块顶部、没碰到方块，应标 cube_face_tipped 断点并给出现象与根因。", + "n_issues": 3, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "4 个节点未达成、断点 cube_face_tipped、没建立接触均与视频一致（方块全程不动，推片抬起越过）；第 1 轮问题已修正，未发现需改动内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:02Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-standard--spebqdd/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e3732bb92abeb32f0b752ae066a8a1f835019484fdb39fa52422edf9d5109c11", + "video_sha256": "0f551a926b20064a9b34b14962d81ef34932b646eebd04cec26a13acdd75198c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz.json b/phaseR/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz.json new file mode 100644 index 0000000000000000000000000000000000000000..aaaaf7b471a5caa58303ef1e85e39245b455714b --- /dev/null +++ b/phaseR/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz.json @@ -0,0 +1,282 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 278, + "sim_steps": 278, + "calls": 2, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 135.6, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "realtime": 1, + "slowdown": 2.0, + "clock_s": 6.456, + "max_lag_s": 0.514, + "stalls": 1, + "stalled_s": 0.514, + "stalled_share": 0.0796, + "held_steps": 278, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.06, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.16, + "peak_processes": 8, + "peak_disk_gb": 0.252, + "peak_cpus": 0.72, + "peak_pids": 79, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz.mp4", + "duration_s": 2.84, + "fps": 25.0, + "frames": 71, + "sha256": "db80a35f80d18b292f6073a55d66acb221b4f5819073cba5d2e59829780729b0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_ball_caught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 8, + "text_zh": "观察：视频 0-2.84 s 逐帧（10 fps 联系表）：Panda 手臂与浅杯全程静止，橙球从上方飞过并落到桌面，从未进入杯内；状态日志缺失。log step 8：agent 的脚本只观察、未发动作，服务返回 control_steps=278、done=True、reason=failed（log step 10：sim 2.78 s，关节速度≈0）。" + } + ] + }, + "cup_in_launch_region": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 8, + "text_zh": "观察：视频全程手臂未动，前置节点“首次接球”未达成，本节点未开始。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 8, + "text_zh": "观察：视频全程手臂未动，前置节点“首次接球”未达成，本节点未开始。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 2.8, + "log_step": 8, + "text_zh": "观察：视频全程手臂未动，前置节点“首次接球”未达成，本节点未开始。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "value": null, + "unit": "m", + "threshold": 0.025, + "direction": "lower_better" + }, + { + "name": "catch_relative_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "toss_world_upward_speed", + "value": null, + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "toss_floor_separation_speed", + "value": null, + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better" + }, + { + "name": "toss_vertical_alignment_error", + "value": null, + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better" + }, + { + "name": "recatch_horizontal_displacement", + "value": null, + "unit": "m", + "threshold": 0.03, + "direction": "higher_better" + }, + { + "name": "cart_relative_ball_speed", + "value": null, + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better" + }, + { + "name": "delivery_cart_speed", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "delivery_stable_duration", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "initial_ball_caught", + "t": 1.5, + "log_step": 8, + "where": "首步前", + "evidence_zh": "观察：视频 0-2.84 s 逐帧（10 fps 联系表）：Panda 手臂与浅杯全程静止，橙球从上方飞过并落到桌面，从未进入杯内；状态日志缺失。log step 8：agent 的脚本只观察、未发动作，服务返回 control_steps=278、done=True、reason=failed（log step 10：sim 2.78 s，关节速度≈0）。" + }, + "phenomena": [ + { + "cat": "没尝试", + "item": "没尝试", + "t": 1.5, + "log_step": 8, + "evidence_zh": "观察：视频 0-2.84 s 机械臂与杯完全未动，球落到桌面；log step 10 读数关节速度≈0，agent 在该回合未发任何动作。" + } + ], + "root_causes": [], + "unmet": { + "initial_ball_caught": false, + "cup_in_launch_region": false, + "ball_tossed_and_recaught": false, + "ball_delivered_to_moving_cart": false + }, + "gap_zh": "无状态日志，原生指标未报告。已交付的图形回合是 agent 在 log step 8 只做观察的第一回合（278 步无动作，已标 failed）。之后 log step 54/56/58 被 Gemini 过滤器拦截；图形结果在此之前已定，故按正常失败标注。agent 为何把唯一回合用于观察（有无认知问题）缺少自述证据，根因留空。" + }, + "summary_zh": "观察：视频 0-2.84 s 机械臂全程未动，来球落到桌面，4 个节点均未达成。断点是首次接球（首步前，没尝试）：agent 在 log step 8 的图形回合只观察不发动作，回合以 failed 结束；之后的 log step 54-58 被模型提供方过滤器拦截，但图形结果已先固定。无状态日志，根因证据不足。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "视频 0-2.84 s 机械臂与杯全程静止，球落桌面，四节点未达成，断点首次接球/首步前/没尝试，与 log step 8（control_steps=278, failed）一致；根因留空并给出 gap_zh，合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:50:42Z", + "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/pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-realtime--dp3hgxz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7a77aa2a7cbcfacd242167ba45693251904b9f5e0c75edcad8b371dad60ee86c", + "video_sha256": "db80a35f80d18b292f6073a55d66acb221b4f5819073cba5d2e59829780729b0", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy.json b/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy.json new file mode 100644 index 0000000000000000000000000000000000000000..a1a29b53d045b8b0acbd1fe09a6f2d55af1a10d1 --- /dev/null +++ b/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy.json @@ -0,0 +1,210 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 0, + "sim_steps": 0, + "calls": 1, + "rows": 0, + "resets": 0, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 943.4, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 4, + "realtime": 1, + "slowdown": 3.0, + "clock_s": 0.0, + "max_lag_s": 0.0, + "stalls": 0, + "stalled_s": 0.0, + "stalled_share": 0.0, + "held_steps": 0, + "late_steps": 0, + "requests_refused": 0, + "request_busy_s": 0.034, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.163, + "peak_processes": 8, + "peak_disk_gb": 0.249, + "peak_cpus": 0.81, + "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:pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy.mp4", + "duration_s": 0.04, + "fps": 25.0, + "frames": 1, + "sha256": "3bda55021ce00b26a7d29e43c3775b114fda2eae0b851bce5c7bdb7a21d6f1be" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 0, + "final": 0, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 18, + "text_zh": "观察：视频只有 1 帧（0.04 s），显示初始场景：橙色圆柱仍在前方滚道上，托盘未动；run.json n_actions=0、sim_steps=0，agent 从未发出运动指令（log step 2-18 均为只读分析/IK 计算）。" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 18, + "text_zh": "观察：视频只有 1 帧（0.04 s），显示初始场景：橙色圆柱仍在前方滚道上，托盘未动；run.json n_actions=0、sim_steps=0，agent 从未发出运动指令（log step 2-18 均为只读分析/IK 计算）。" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 18, + "text_zh": "观察：视频只有 1 帧（0.04 s），显示初始场景：橙色圆柱仍在前方滚道上，托盘未动；run.json n_actions=0、sim_steps=0，agent 从未发出运动指令（log step 2-18 均为只读分析/IK 计算）。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 0.0, + "log_step": 18, + "text_zh": "观察：视频只有 1 帧（0.04 s），显示初始场景：橙色圆柱仍在前方滚道上，托盘未动；run.json n_actions=0、sim_steps=0，agent 从未发出运动指令（log step 2-18 均为只读分析/IK 计算）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "initial_reception", + "where": "首步前", + "t": 0.0, + "evidence_zh": "观察：视频只有 1 帧（0.04 s），显示初始场景：橙色圆柱仍在前方滚道上，托盘未动；run.json n_actions=0、sim_steps=0，agent 从未发出运动指令（log step 2-18 均为只读分析/IK 计算）。 log step 19、21、23、25 的模型请求均被 Gemini 过滤器拦截，输出为空（agent 工作第 732-944 s）。", + "log_step": 19 + }, + "phenomena": [], + "gap_zh": "外部因素：模型提供方（Gemini）过滤器在任何动作送出前（n_actions=0）切断了 run（log step 19-25），无交付轨迹，按规则不标现象与根因，也不标没尝试。视频仅 1 帧，无法观察更多。", + "unmet": { + "initial_reception": false, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + }, + "root_causes": [] + }, + "summary_zh": "该 run 在 agent 只做了分析（log step 2-18）、未发出任何动作（n_actions=0）时，被模型提供方 Gemini 过滤器拦截（log step 19-25），属外部因素；视频仅 1 帧初始场景，4 个节点均未达成。断点记为首个节点 initial_reception（首步前），现象与根因为空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "run 在 n_actions=0 时被 Gemini 过滤器连续拦截（log step 19/21/23/25），无动作、无交付，4 个节点均未达成，断点 initial_reception/首步前、现象与根因为空并有 gap_zh，均成立。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:51:11Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-realtime--ctjduzy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "36b46384a6bcc9bf53d52ea0a5ee87e29ad3f25dc24974b6a39136b6c79fa088", + "video_sha256": "3bda55021ce00b26a7d29e43c3775b114fda2eae0b851bce5c7bdb7a21d6f1be", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8.json b/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8.json new file mode 100644 index 0000000000000000000000000000000000000000..799afba50c289301bd28f3e39f071bdd9a1e9fe1 --- /dev/null +++ b/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8.json @@ -0,0 +1,304 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 741, + "sim_steps": 1288, + "calls": 43, + "rows": 1288, + "resets": 3, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 2008.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 4.222, + "peak_processes": 9, + "peak_disk_gb": 0.472, + "peak_cpus": 1.0, + "peak_pids": 34, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8.mp4", + "duration_s": 7.48, + "fps": 25.0, + "frames": 187, + "sha256": "c7c9fa798add6140f4b8f43aa1ac4311ee28ecde381047fe88bd71723d79d1c2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": 169, + "text_zh": "观察：视频 1.0-2.5 s 橙色圆柱已离开前方滚道，躺在 Panda 手上的蓝色托盘内并随托盘移动；agent 自述 phase 1、2 完成（log step 169）。推断：接稳时刻约视频 1.5 s，±0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：Panda 末端安装的托盘从滚道端接住圆柱并托住，视频约 1.5 s 起" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 6.6, + "log_step": 164, + "text_zh": "观察：视频 5.0-6.6 s 圆柱停在导槽入口端的橙色挡板旁，托盘已移到导槽远端，圆柱始终没有滚过出口；7.4 s 托盘落在导槽出口附近。导槽阶段未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：托盘把圆柱送到导槽入口端并倾斜放入，随后托盘沿导槽移向出口" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 163, + "text_zh": "观察：视频 7.4 s 出口处的托盘里没有圆柱（圆柱仍在导槽入口端），出口接稳未发生。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "观察：托盘移到出口一侧但盘内无圆柱，随后压到导槽出口" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 7.4, + "log_step": 163, + "text_zh": "观察：视频全程圆柱从未落入前方深蓝色轨道盒。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "value": null, + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better" + }, + { + "name": "cylinder_speed_relative_to_tray", + "value": null, + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "initial_alignment_hold", + "value": null, + "unit": "s", + "threshold": 0.3, + "direction": "higher_better" + }, + { + "name": "guide_entry_x", + "value": null, + "unit": "m", + "threshold": 0.02, + "direction": "lower_better" + }, + { + "name": "guide_exit_x", + "value": null, + "unit": "m", + "threshold": 0.24, + "direction": "higher_better" + }, + { + "name": "exit_reception_hold", + "value": null, + "unit": "s", + "threshold": 0.2, + "direction": "higher_better" + }, + { + "name": "pocket_absolute_speed", + "value": null, + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better" + }, + { + "name": "cylinder_speed_relative_to_pocket", + "value": null, + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better" + }, + { + "name": "oriented_delivery_hold", + "value": null, + "unit": "s", + "threshold": 0.7, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "guide_traversed", + "t": 6.0, + "where": "操作中", + "evidence_zh": "观察：视频 5.0-6.6 s 圆柱放在导槽入口端后留在挡板旁，托盘离开去远端；7.4 s 托盘压到导槽出口，评分器失败原因 forbidden_tool_fixture_contact（日志 log step 163，control_steps 741）。圆柱从未越过出口。", + "log_step": 163 + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": 7.4, + "log_step": 163, + "evidence_zh": "观察：视频 7.4 s 托盘落在导槽出口附近，评分器 reason 为 forbidden_tool_fixture_contact（log step 163），工具下压到导槽固定件。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：托盘路径未避开导槽轨道，圆柱也未被送出入口端；agent 自述怀疑托盘落在导槽轨道上（log step 164），子类不明。", + "source_zh": "日志；视频" + } + ], + "gap_zh": "无状态日志；圆柱为何没有沿导槽滚动（入口端被挡板卡住或坡度）视频看不清，根因只停在控制。", + "unmet": { + "initial_reception": true, + "guide_traversed": false, + "exit_reception": false, + "cylinder_in_moving_pocket": false + } + }, + "summary_zh": "观察：图像显示首次接稳在视频约 1.5 s 达成（1/4）；圆柱被送到导槽入口端后留在挡板旁，未通过导槽，托盘在视频 7.4 s 压到导槽固定件，评分器失败（forbidden_tool_fixture_contact）。断点为圆柱通过导槽；无状态日志，根因只能到控制层。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "视频确认圆柱约 0.8–1.2 s 落入托盘并持续稳定，标注 1.5 s 在 0.3 s 保持窗后合理；导槽阶段未完成、断点 guide_traversed、forbidden_tool_fixture_contact 与日志一致；根因停在 控制 · 控制 与 gap_zh 说明相符。未发现需要改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--phrcgh8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35eceb59a2f77a4f175a5fa6c9eb1da3c365f9cb3f6f8c9836c0b24926d9043a", + "video_sha256": "c7c9fa798add6140f4b8f43aa1ac4311ee28ecde381047fe88bd71723d79d1c2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5.json b/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5.json new file mode 100644 index 0000000000000000000000000000000000000000..29a3a60f6f072e60f3c2f47648e90db513c5b59b --- /dev/null +++ b/phaseR/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5.json @@ -0,0 +1,230 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "live_rule": 1, + "live_verdict_error": 0, + "finalized": 1, + "missing_log": 0, + "infra_error": 0, + "grader_error": 0, + "sim_error": 0, + "sim_crashed_on_call": 0, + "instance_mismatch": 0, + "n_actions": 1504, + "sim_steps": 3006, + "calls": 26, + "rows": 3006, + "resets": 2, + "reset_budget": 3, + "sim_startups": 1, + "elapsed_s": 1817.8, + "video_rendered": 1, + "first_success": 0, + "first_reason_code": 2, + "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:pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5.mp4", + "duration_s": 15.08, + "fps": 25.0, + "frames": 377, + "sha256": "ffa1ebc6c796925dd86782ca5b889a04433a3348dd8faafba8de9600edb6fa03" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 4, + "base": 0, + "peak": 4, + "final": 4, + "nodes": { + "initial_reception": { + "method": "visual", + "intervals": [ + [ + 1.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.7, + "log_step": null, + "text_zh": "观察：视频约 1.7 s 起总览画面显示该步骤已完成（托盘从下方接住滚下滚道的圆柱并使其在盘内沿 y 轴躺稳）；评分器 success=1、reason=success（15.04 s 仿真时间），故目标节点为 true。时间为约 ±0.8 s 的粗估（1.2 fps 抽帧）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端安装的蓝色托盘：托盘从下方接住滚下滚道的圆柱并使其在盘内沿 y 轴躺稳" + } + ] + }, + "guide_traversed": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.8, + "log_step": null, + "text_zh": "观察：视频约 5.8 s 起总览画面显示该步骤已完成（托盘将圆柱送入导槽入口，圆柱自滚越过出口）；评分器 success=1、reason=success（15.04 s 仿真时间），故目标节点为 true。时间为约 ±0.8 s 的粗估（1.2 fps 抽帧）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端安装的蓝色托盘：托盘将圆柱送入导槽入口，圆柱自滚越过出口" + } + ] + }, + "exit_reception": { + "method": "visual", + "intervals": [ + [ + 7.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频约 7.0 s 起总览画面显示该步骤已完成（出口托盘接住圆柱）；评分器 success=1、reason=success（15.04 s 仿真时间），故目标节点为 true。时间为约 ±0.8 s 的粗估（1.2 fps 抽帧）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端安装的蓝色托盘：出口托盘接住圆柱" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "visual", + "intervals": [ + [ + 11.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 11.5, + "log_step": null, + "text_zh": "观察：视频约 11.5 s 起总览画面显示该步骤已完成（托盘送圆柱到移动盒上方并让其落入盒内）；评分器 success=1、reason=success（15.04 s 仿真时间），故目标节点为 true。时间为约 ±0.8 s 的粗估（1.2 fps 抽帧）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "托/舀", + "note_zh": "Panda 末端安装的蓝色托盘：托盘送圆柱到移动盒上方并让其落入盒内" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：评分器判定成功，视频 15.08 s 内圆柱依次被首次接稳（约视频 1.7 s）、送入并越过导槽（约 5.8 s）、被出口托盘接稳（约 7 s）、落入移动轨道盒（约 11.5 s 后保持到结束），4/4 节点完成。各节点时间由抽帧粗估，无状态日志，精度约 ±1 s。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "评分器成功，抽帧显示托盘依次接圆柱、过导槽、出口接稳、倒入移动盒，4节点时间与接触（托/舀）大体合理，未见需改之处。", + "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": "2026-11-08T20:53:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-standard--yqu9gf5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "87b436647405c962b1222baa93eecb1af526936ba2f69112f0b16f423499293b", + "video_sha256": "ffa1ebc6c796925dd86782ca5b889a04433a3348dd8faafba8de9600edb6fa03", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--dgr7she.json b/phaseR/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--dgr7she.json new file mode 100644 index 0000000000000000000000000000000000000000..5265a5e4f9e9783b47827edc6e9bad390a8c75ea --- /dev/null +++ b/phaseR/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--dgr7she.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-greatwave-i00-privileged--dgr7she", + "taskKey": "robopaint/acrylic_greatwave", + "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa", + "outcome": { + "success": 1, + "reward": 0.915295, + "source": "catalog", + "raw": { + "de_mean": 1.6941, + "de_p90": 4.0226, + "de_bad_frac": 0.011751, + "de_mean_sheet": 1.6836, + "ssim_L": 0.954069, + "paint_iou": 0.973685, + "paint_area_mm2": 48987.9, + "target_paint_area_mm2": 49806.7, + "n_target_strokes": 289.0, + "de_mean_coarse": 0.8803, + "ssim_L_fine": 0.904128, + "edge_corr": 0.925798, + "region_cov_min": 0.741855, + "region_cov_mean": 0.98986, + "n_regions": 119.0, + "n_strokes": 376.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 376.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.0, + "register_shift_mm": 0.0, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 1.6941, + "de_p90_unregistered": 4.0226, + "ssim_L_unregistered": 0.954069, + "edge_corr_unregistered": 0.925798, + "paint_iou_unregistered": 0.973685, + "success": 1, + "final_reward": 0.915295, + "path_mm": 10137.93, + "longest_stroke_mm": 261.99, + "max_path_mm": 37900.0, + "path_budget_ok": 1.0, + "scribble_max": 1.9019, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.915295, + "sim_steps": 32817.0, + "resets": 1.0, + "n_contacts": 376.0, + "samples": 164085.0, + "contact_samples": 74438.0, + "max_press_m": 0.01387, + "max_tilt_deg_in_contact": 0.158613, + "max_speed_in_contact_mps": 0.041149, + "handle_contact_samples": 0.0, + "n_dips": 40.0, + "dry_strokes": 0.0, + "n_frames": 598.0, + "replay_wall_s": 126.7, + "all_success": 1, + "deterministic": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 32817, + "grader_error": 0, + "missing_trajectory": 0, + "video_rendered": 1, + "agent_sessions": 0, + "agent_resets": 0, + "agent_sim_steps": 32817, + "agent_records": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-greatwave-i00-privileged--dgr7she/replay.mp4", + "duration_s": 59.8, + "fps": 10.0, + "frames": 598, + "sha256": "a22971262c5e077e5b19888f814bf609aa3120d556f15f5ffb1b280b97b03ccf" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.8, + "log_step": null, + "text_zh": "观察：视频 0.2 s 画纸空白，0.8 s 主纸上已出现米色彩色笔触，视频 1.4 s 笔触增多；推断：笔刷在视频 0.5 s 前后已在颜料井蘸色（蘸色动作本身被机械臂遮挡，由随后的真实彩色笔触证明）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "圆头笔刷浸入颜料井蘸色（候选“浸蘸”）；视频中被机械臂遮挡，由随后的彩色笔触推断；评分器 n_dips=40。" + } + ] + }, + "greatwave_copied": { + "method": "visual", + "intervals": [ + [ + 59.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.0, + "log_step": null, + "text_zh": "观察：视频 59 s 画纸图显示中央深蓝卷浪、浅绿灰浪带、米黄泡沫与底部深蓝水波，与目标形态吻合；评分器字段 success=1，de_mean 1.694、ssim_L 0.954、edge_corr 0.926、paint_iou 0.974、n_strokes 376，全部达标。到达时刻取画面完成处，约视频 58-59 s，不精确。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端的圆头笔刷载色压在主纸上扫出笔触，共 376 笔，全程视频可见。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.6941, + "unit": "DeltaE_ab", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.0226, + "unit": "DeltaE_ab", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.954069, + "unit": "1", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.925798, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.973685, + "unit": "1", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 376.0, + "unit": "strokes", + "threshold": 376, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 10137.93, + "unit": "mm", + "threshold": 37900, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.915295, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "任务成功：两个节点均达成（2/2）。观察：视频约 0.5 s 起即有彩色笔触，至视频 59 s 画面与目标巨浪吻合；评分器 success=1，376 笔，指标全部达标。到达时刻为视觉估计（蘸色被遮挡、完成时刻不精确）。无失败。", + "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，两个节点（brush_loaded、greatwave_copied）值与时间合理：视频0.2 s空白、0.8 s已有彩色笔触，59.5 s画面为完整巨浪；评分器success=1。contact_actual与推断标注恰当，无失败层，无问题。", + "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": "2026-11-08T20:52:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--dgr7she/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--dgr7she/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "46482c93ddf11106a2c9b4151711cdb6e08fbcc172625521d9d246af145c7f04", + "video_sha256": "a22971262c5e077e5b19888f814bf609aa3120d556f15f5ffb1b280b97b03ccf", + "states_sha256": null, + "video_choice": "HF replay.mp4" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--d6huqhh.json b/phaseR/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--d6huqhh.json new file mode 100644 index 0000000000000000000000000000000000000000..7916b7a3d41acd2413f32df93af79585ca67b132 --- /dev/null +++ b/phaseR/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--d6huqhh.json @@ -0,0 +1,309 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-greatwave-i00-standard--d6huqhh", + "taskKey": "robopaint/acrylic_greatwave", + "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa", + "outcome": { + "success": 0, + "reward": 0.86581, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.86581, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 2.6838, + "de_p90": 6.0264, + "de_bad_frac": 0.041754, + "de_mean_sheet": 2.667, + "ssim_L": 0.89549, + "paint_iou": 0.972087, + "paint_area_mm2": 49242.9, + "target_paint_area_mm2": 49806.7, + "n_target_strokes": 289.0, + "de_mean_coarse": 1.6503, + "ssim_L_fine": 0.836316, + "edge_corr": 0.814775, + "region_cov_min": 0.496865, + "region_cov_mean": 0.963034, + "n_regions": 119.0, + "n_strokes": 368.0, + "n_practice_strokes": 10.0, + "n_dry_strokes": 0.0, + "max_strokes": 376.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.0, + "register_shift_mm": 0.0, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.6838, + "de_p90_unregistered": 6.0264, + "ssim_L_unregistered": 0.89549, + "edge_corr_unregistered": 0.814775, + "paint_iou_unregistered": 0.972087, + "path_mm": 8929.52, + "longest_stroke_mm": 296.24, + "max_path_mm": 37900.0, + "path_budget_ok": 1.0, + "scribble_max": 2.0144, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.86581, + "sim_steps": 16123, + "resets": 0.0, + "n_contacts": 378.0, + "samples": 80615.0, + "contact_samples": 27825.0, + "max_press_m": 0.014485, + "max_tilt_deg_in_contact": 0.419032, + "max_speed_in_contact_mps": 0.181088, + "handle_contact_samples": 0.0, + "n_dips": 57.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 16123, + "physics_steps": 80615, + "steps": 15389, + "calls": 137, + "elapsed_s": 3129.6, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.429, + "peak_processes": 9, + "peak_disk_gb": 0.381, + "peak_cpus": 2.19, + "peak_pids": 169, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:robopaint-acrylic-greatwave-i00-standard--d6huqhh.mp4", + "duration_s": 59.9, + "fps": 10.0, + "frames": 599, + "sha256": "08504075efb692999b76af16a0468e7cd93cde10808b6abb003ac2f3356ff480" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 4.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": 93, + "text_zh": "观察：视频 3.0-3.5 s 主纸仍空白，视频 4.0 s 起主纸出现米黄色笔触（画纸图），说明刷毛已在颜料井载色；之后持续出现彩色笔触。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端圆头笔刷多次浸入颜料井载色（评分字段 n_dips=57），候选“浸蘸”。" + } + ] + }, + "greatwave_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.5, + "log_step": 130, + "text_zh": "观察：视频 59.5 s 主纸图中浪形、颜色整体与目标相近，但仍有白色缺口和局部错色；评分器字段 de_mean 2.68(>2)、de_p90 6.03(>6)、ssim_L 0.895(<0.92) 未达标，success=0。笔数368≤376、笔路8930mm、scribble_share 0 均合格。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：圆头笔刷载色刷毛压扫主画纸，共368笔（n_strokes），另10笔练习纸。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.6838, + "unit": "DeltaE_ab", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 6.0264, + "unit": "DeltaE_ab", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.89549, + "unit": "1", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.814775, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.972087, + "unit": "1", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 368.0, + "unit": "strokes", + "threshold": 376, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 8929.52, + "unit": "mm", + "threshold": 37900, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.86581, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "greatwave_copied", + "where": "操作中", + "t": 59.5, + "evidence_zh": "观察：视频 59.5 s 终图整体接近目标，但有白色缺口与局部错色；评分器 de_mean 2.68>2、de_p90 6.03>6、ssim_L 0.895<0.92，其余指标（IoU 0.972、边缘相关 0.815、笔数 368、笔路）合格。", + "log_step": 130 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "未给现象和根因：整图只是色差/结构相似度略差于阈值，没有可定位的单一可见失误（视频为延时画面，agent 的笔画分解、颜色混合与笔宽标定误差无日志证据指向具体原因）。无状态日志。agent 曾被 Gemini 过滤拦截两次（log step 89、126）但随后继续并交付，不属外部因素。", + "unmet": { + "greatwave_copied": false + } + }, + "summary_zh": "观察：视频 4.0 s 起笔刷载色，agent 以 345 笔加 23 笔补笔（log step 130 自述）在主纸上画出整幅巨浪，视频 59.5 s 终图与目标整体相近。评分器 de_mean 2.68、de_p90 6.03、ssim_L 0.895 略差于阈值（2/6/0.92），success=0，临摹巨浪图未达成；笔数、笔路、填色约束均合格。缺口：无状态日志，细部错色的具体原因无法定位。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频和评分字段一致：brush_loaded 约 4 s 起主纸出现色迹；终图整体近似但 de_mean/de_p90/ssim_L 未达标，greatwave_copied 为假，断点在该节点；按 DECISIONS 连续指标一步任务无可见单一失误时现象/根因留空并写 gap_zh，符合规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:19Z", + "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/robopaint-acrylic-greatwave-i00-standard--d6huqhh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--d6huqhh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5525ae80e4d5fdd4fba3182400f84f42f5867a1b45e42933e6d8b85bd9b6e99c", + "video_sha256": "08504075efb692999b76af16a0468e7cd93cde10808b6abb003ac2f3356ff480", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-standard--xauem7v.json b/phaseR/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-standard--xauem7v.json new file mode 100644 index 0000000000000000000000000000000000000000..032c910a40f34893ce439383035c7488f918d73b --- /dev/null +++ b/phaseR/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-standard--xauem7v.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-plumpark-i00-standard--xauem7v", + "taskKey": "robopaint/acrylic_plumpark", + "dag_sha256": "6a6374541186f4a77d09481fdba57f6dbd21ef23b42f8d1151cf431128ff7b86", + "outcome": { + "success": 0, + "reward": 0.873946, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.873946, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 2.339, + "de_p90": 6.1917, + "de_bad_frac": 0.037215, + "de_mean_sheet": 2.3377, + "ssim_L": 0.893074, + "paint_iou": 0.978716, + "paint_area_mm2": 51404.1, + "target_paint_area_mm2": 50317.4, + "n_target_strokes": 295.0, + "de_mean_coarse": 1.4177, + "ssim_L_fine": 0.828619, + "edge_corr": 0.776007, + "region_cov_min": 0.35695, + "region_cov_mean": 0.970084, + "n_regions": 68.0, + "n_strokes": 388.0, + "n_practice_strokes": 29.0, + "n_dry_strokes": 0.0, + "max_strokes": 384.0, + "stroke_count_ok": 0.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.3538, + "de_p90_unregistered": 6.2416, + "ssim_L_unregistered": 0.891472, + "edge_corr_unregistered": 0.773368, + "paint_iou_unregistered": 0.978651, + "path_mm": 12667.27, + "longest_stroke_mm": 220.28, + "max_path_mm": 42300.0, + "path_budget_ok": 1.0, + "scribble_max": 2.1359, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.873946, + "sim_steps": 19585, + "resets": 0.0, + "n_contacts": 417.0, + "samples": 97925.0, + "contact_samples": 37128.0, + "max_press_m": 0.01478, + "max_tilt_deg_in_contact": 0.521655, + "max_speed_in_contact_mps": 0.271133, + "handle_contact_samples": 5438.0, + "n_dips": 134.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 19585, + "physics_steps": 97925, + "steps": 6015, + "calls": 101, + "elapsed_s": 3387.6, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.934, + "peak_processes": 9, + "peak_disk_gb": 0.352, + "peak_cpus": 1.64, + "peak_pids": 172, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:robopaint-acrylic-plumpark-i00-standard--xauem7v.mp4", + "duration_s": 59.5, + "fps": 10.0, + "frames": 595, + "sha256": "0740e00ccc915ddf971a144ab1c034d078d3f582fada8b001fa3ce339d3029f8" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 练习纸视角中笔尖带红色，已在练习纸上开始画迹；此后主纸陆续出现有色画迹，说明笔刷已蘸料（评分器 n_dips=134，n_dry_strokes=0）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂端固定圆笔刷笔毛浸入颜料井蘸料（候选：蘸取）；评分器记录 134 次蘸料。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.4, + "log_step": null, + "text_zh": "观察：视频 59.4 s 主纸图已有赭红色带、米灰色块、深灰绿枝干的整体构图，但细节与目标有差异；评分器字段 de_mean 2.339>2.0、ssim_L 0.893<0.92、edge_corr 0.776<0.8、n_strokes 388>384，未达标（iou 0.979、de_p90 6.19略超6.0）。推断：整图验收未通过，节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂端圆笔刷笔毛在主纸上压扫，视频 0-59.5 s 逐步画出整幅画；评分器 n_contacts 417。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.339, + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 6.1917, + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.893074, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.776007, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.978716, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 388.0, + "unit": "count", + "threshold": 384, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 12667.27, + "unit": "mm", + "threshold": 42300.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "de_mean_coarse", + "value": 1.4177, + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.828619, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.35695, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.970084, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "final_reward", + "value": 0.873946, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "t": 59.4, + "log_step": null, + "where": "终态验收", + "evidence_zh": "观察：视频 59.4 s 主纸画面接近目标但细节不吻合；评分器字段 de_mean 2.339、ssim_L 0.893、edge_corr 0.776 均未达阈值，n_strokes 388 超过 384（含练习纸 29 笔的计数口径未核实）。agent 自述 382 笔≤384（log step 108）。" + }, + "unmet": { + "painting_copied": false + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，仅有评分器汇总指标；图像与目标的具体差异（局部缺色/错位）未逐区核对，笔数 388 与 agent 自述 382 的差异原因无证据，故不给现象与根因。" + }, + "summary_zh": "观察：笔刷在视频 0.5 s 前后已蘸料（节点1达成）；主纸整幅画在 59.5 s 内完成，构图接近目标，但评分器 de_mean 2.339、ssim 0.893、edge_corr 0.776 未达阈值且笔数 388>384，临摹节点未达成（1/2）。失败现象与根因缺乏证据，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": "节点 brush_loaded 达成、painting_copied 未达成与评分器各项指标一致；断点在终态验收、现象与根因留空并写明 gap_zh，证据（仅汇总指标、无状态日志）下可接受。未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:17Z", + "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/robopaint-acrylic-plumpark-i00-standard--xauem7v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-plumpark-i00-standard--xauem7v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "782d8632d16f1ebbbc3f4dbf48c8633bed8d2b9d7287a08740e2d0005b3c01e9", + "video_sha256": "0740e00ccc915ddf971a144ab1c034d078d3f582fada8b001fa3ce339d3029f8", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-standard--ftengqq.json b/phaseR/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-standard--ftengqq.json new file mode 100644 index 0000000000000000000000000000000000000000..06696709cf7f8eebf6377abb53e165ac2bc99b9a --- /dev/null +++ b/phaseR/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-standard--ftengqq.json @@ -0,0 +1,367 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-redfuji-i00-standard--ftengqq", + "taskKey": "robopaint/acrylic_redfuji", + "dag_sha256": "ec5faa4688a06d67b7fa022eeec684f89b81475ed44e09c944257e109bfcf638", + "outcome": { + "success": 0, + "reward": 0.909995, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.909995, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 1.8001, + "de_p90": 4.4883, + "de_bad_frac": 0.019413, + "de_mean_sheet": 1.8001, + "ssim_L": 0.913544, + "paint_iou": 0.987339, + "paint_area_mm2": 50946.6, + "target_paint_area_mm2": 50906.3, + "n_target_strokes": 313.0, + "de_mean_coarse": 1.0827, + "ssim_L_fine": 0.860892, + "edge_corr": 0.741349, + "region_cov_min": 0.000689, + "region_cov_mean": 0.984692, + "n_regions": 55.0, + "n_strokes": 403.0, + "n_practice_strokes": 20.0, + "n_dry_strokes": 0.0, + "max_strokes": 407.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.4437, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.4961, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 1.8669, + "de_p90_unregistered": 4.6965, + "ssim_L_unregistered": 0.908709, + "edge_corr_unregistered": 0.72678, + "paint_iou_unregistered": 0.986863, + "path_mm": 19141.11, + "longest_stroke_mm": 227.93, + "max_path_mm": 51700.0, + "path_budget_ok": 1.0, + "scribble_max": 1.1417, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.909995, + "sim_steps": 20455, + "resets": 0.0, + "n_contacts": 423.0, + "samples": 102275.0, + "contact_samples": 38294.0, + "max_press_m": 0.012151, + "max_tilt_deg_in_contact": 0.131365, + "max_speed_in_contact_mps": 0.088205, + "handle_contact_samples": 0.0, + "n_dips": 120.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 20455, + "physics_steps": 102275, + "steps": 20452, + "calls": 122, + "elapsed_s": 756.7, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.354, + "peak_processes": 8, + "peak_disk_gb": 0.277, + "peak_cpus": 1.0, + "peak_pids": 39, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:robopaint-acrylic-redfuji-i00-standard--ftengqq.mp4", + "duration_s": 58.6, + "fps": 10.0, + "frames": 586, + "sha256": "ab034b3be07b800a388490ecbbb8fa069fa1ffc97112b7df3ac2bd6ea1d8a416" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": 21, + "text_zh": "观察：视频 0.1 s 侧视图笔尖无色，0.5 s 笔尖呈蓝色（已蘸色），1.0 s 练习纸已有蓝线，主纸仍空白；约 8 s 起主纸出现色带。评分器 n_dips=120 与此一致。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "笔毛浸入颜料井取色（候选：蘸取），先在练习纸试笔，之后每次换色及约每 700 mm 重新蘸取；评分器 n_dips=120。" + } + ] + }, + "redfuji_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.5, + "log_step": 40, + "text_zh": "观察：视频 58.5 s 终局画面为分层的水平色带，山体和天空大轮廓与目标一致，但雪纹、斜向山脊等细节较目标粗糙。评分器字段：ssim_L 0.9135<0.92，edge_corr 0.741<0.8，其余 de_mean 1.80、de_p90 4.49、paint_iou 0.987、n_strokes 403≤407、路程 19141 mm 均达标；strict_ok=1 但 image_success=0，节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "Panda 末端固定画笔笔毛压在主纸上做单向水平扫笔，共 403 笔（练习纸另 20 笔）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.8001, + "unit": "CIELAB DeltaE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.4883, + "unit": "CIELAB DeltaE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.913544, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.741349, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.987339, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 403.0, + "unit": "count", + "threshold": 407, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 19141.11, + "unit": "mm", + "threshold": 51700, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.909995, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.0827, + "unit": "CIELAB DeltaE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.860892, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.000689, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.984692, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "redfuji_copied", + "where": "操作中", + "t": 58.5, + "log_step": 40, + "evidence_zh": "观察：视频 58.5 s 结束时主纸画面为水平色带拼成的红富士，细节比目标粗；评分器 ssim_L 0.9135、edge_corr 0.741 未达 0.92 / 0.8（log step 40 最终报告 agent 自述预计达不到严格阈值）。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "evidence_zh": "推断：agent 自选左到右水平单向扫笔（三种笔宽），403 笔已逼近 407 笔上限，难以还原斜向细节；agent 在最终报告（log step 40）自述细节偏粗。同任务同约束另有成功运行（oracle，privileged，success=1），仅证明存在可行方案，并非本次运行的逐笔对照；具体规划缺陷为推断。", + "source_zh": "agent 自述 / 视频 / 评分器字段", + "alt_feasible": "已验证有" + } + ], + "gap_zh": "失败是细节还原度（ssim_L 0.9135<0.92、edge_corr 0.741<0.8）未过线；register_shift 仅 0.50 mm、paint_iou 0.987、倾角 0.13°，视频与评分器无法定位到具体笔位或接触问题，故不列现象（避免复述连续指标）。根因为推断。任务设计无异常。", + "unmet": { + "redfuji_copied": false + } + }, + "summary_zh": "观察：视频约 0.5 s 笔尖已蘸色（brush_loaded 达成），随后用 403 笔水平扫笔画出红富士，笔数、路程、色差、IoU 均达标，但 ssim_L 0.9135 与 edge_corr 0.741 未达阈值，redfuji_copied 未达成（1/2 节点）。断点为临摹步骤，无可定位的具体现象；根因为单向水平扫笔的规划难以还原斜向细节（推断，同任务 oracle 成功说明可行方案存在）。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点时间与终局未达成基本正确（视频 58 s 画面确为粗糙的水平色带，ssim_L/edge_corr 未达阈值）。问题在失败层：'位姿不准'只是把连续指标（edge_corr/ssim）未达标换个说法，视频看不到任何笔位偏差；根因的 alt_feasible 未利用同任务有成功样本这一事实。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、时间与终局未达成均与视频 58.4 s 画面（水平色带、细节粗）和评分器字段（ssim_L 0.9135<0.92、edge_corr 0.741<0.8）一致；现象留空并写 gap_zh、根因为明示推断，符合 N10 与上轮已解决的意见。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:55:03Z", + "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/robopaint-acrylic-redfuji-i00-standard--ftengqq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--ftengqq/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--ftengqq/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--ftengqq/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1a81ba68a2d4584bf5d9b3ab35edec6a5432fa2230a3e4588946006ae43144a9", + "video_sha256": "ab034b3be07b800a388490ecbbb8fa069fa1ffc97112b7df3ac2bd6ea1d8a416", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--qegfbgf.json b/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--qegfbgf.json new file mode 100644 index 0000000000000000000000000000000000000000..560bdfa082ad5378842aed6f5cb83853fea1140f --- /dev/null +++ b/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--qegfbgf.json @@ -0,0 +1,353 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-suddenshower-i00-privileged--qegfbgf", + "taskKey": "robopaint/acrylic_suddenshower", + "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414", + "outcome": { + "success": 0, + "reward": 0.86639, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.86639, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 2.6722, + "de_p90": 7.1096, + "de_bad_frac": 0.061477, + "de_mean_sheet": 2.6662, + "ssim_L": 0.846468, + "paint_iou": 0.969748, + "paint_area_mm2": 49878.1, + "target_paint_area_mm2": 49606.3, + "n_target_strokes": 292.0, + "de_mean_coarse": 1.4314, + "ssim_L_fine": 0.772255, + "edge_corr": 0.695896, + "region_cov_min": 0.284178, + "region_cov_mean": 0.948359, + "n_regions": 55.0, + "n_strokes": 378.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 380.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.2219, + "register_dy_mm": 0.0, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.6753, + "de_p90_unregistered": 7.1269, + "ssim_L_unregistered": 0.845316, + "edge_corr_unregistered": 0.69419, + "paint_iou_unregistered": 0.969268, + "path_mm": 9855.99, + "longest_stroke_mm": 178.28, + "max_path_mm": 40500.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2889, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.86639, + "sim_steps": 24785.0, + "resets": 1.0, + "n_contacts": 378.0, + "samples": 123925.0, + "contact_samples": 44187.0, + "max_press_m": 0.013528, + "max_tilt_deg_in_contact": 0.206428, + "max_speed_in_contact_mps": 0.040043, + "handle_contact_samples": 0.0, + "n_dips": 377.0, + "dry_strokes": 0.0, + "n_frames": 592.0, + "replay_wall_s": 126.0, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 24785, + "video_rendered": 1, + "agent_sessions": 60, + "agent_resets": 58, + "agent_sim_steps": 1129241, + "agent_records": 44, + "agent_replays": 9, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.557, + "peak_memory_gb": 4.485, + "peak_processes": 29, + "peak_disk_gb": 0.281, + "peak_cpus": 6.97, + "peak_pids": 283, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:robopaint-acrylic-suddenshower-i00-privileged--qegfbgf.mp4", + "duration_s": 59.2, + "fps": 10.0, + "frames": 592, + "sha256": "dadb8a4aa0994d78ca5a9b0b2e68087a711c4e1821f70a5f1ce83b3acf71d9a6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：视频 0.2 s 的画纸图已有第一道灰绿色笔迹，此前笔尖已在左侧颜料井蘸料（井口本身在画面中太小，未直接看到浸入）；推断：蘸料在 0.2 s 前完成，此后每笔前重新蘸料（评分器 n_dips=377）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端圆头画笔刷毛浸入颜料井（候选名“蘸/浸”），每笔前一次；评分器 n_dips=377。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 3 s 起灰绿水面笔触开始铺满，10 s 后上部蓝灰色块出现。" + }, + { + "t": 59.0, + "log_step": 57, + "text_zh": "观察：视频 59 s 终幅有蓝灰天空、灰绿水面、米黄斜桥和深色细节，整体布局与目标相符，但天空区有许多白色缝隙、笔触边缘粗糙、桥梁深色处凌乱；评分器字段 de_mean 2.67（需≤2.0）、de_p90 7.11（≤6.0）、ssim_L 0.846（≥0.92）、edge_corr 0.696（≥0.8），success=0，故未达严格验收。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：画笔刷毛压在主画纸上扫掠共 378 笔，把颜料留在纸面；底座不动。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.6722, + "unit": "ΔE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 7.1096, + "unit": "ΔE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.846468, + "unit": "无量纲", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.695896, + "unit": "无量纲", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.969748, + "unit": "比例", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 378.0, + "unit": "笔", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 9855.99, + "unit": "mm", + "threshold": 40500, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "比例", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.86639, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.4314, + "unit": "ΔE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.772255, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.284178, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.948359, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "t": 59.0, + "log_step": 55, + "where": "终态验收", + "evidence_zh": "观察：视频 59 s 终幅与目标布局相符，但天空有白缝、边缘粗糙；评分器 de_mean 2.67、de_p90 7.11、ssim_L 0.846、edge_corr 0.696 均未达标，笔数、路径、scribble、IoU 达标。agent 自述（log step 57）称图像匹配阈值已无法达到。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 59.0, + "log_step": 57, + "evidence_zh": "观察：视频 35-59 s 终幅中蓝灰天空区留有多处白色缝隙，笔触边缘粗糙，桥下深色区凌乱；评分器 ssim_L 0.846、edge_corr 0.696 低于阈值，说明笔触位置/宽度与目标细节不够吻合。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "推断：笔数上限 380 内，agent 用贪心的 8 方向直线笔触（宽 14 mm 到 2.4 mm）近似图像，细节与边缘在此预算下欠准；agent 自述（log step 57）称算法为此类贪心规划。未证实具体子类，也未验证存在可行替代。", + "source_zh": "agent 自述 / 评分器字段" + } + ], + "gap_zh": "无状态日志；根因子类证据弱，仅据评分器字段和 agent 自述推断。蘸料动作在视频中太小未直接看到。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：机械臂在 59.2 s 视频内用 378 笔画出与目标布局相符的画，笔数、路径、scribble、IoU 达标，但 de_mean 2.67、de_p90 7.11、ssim 0.846、edge_corr 0.696 未达严格阈值，success=0。蘸料节点达成（视频 0.2 s 前），临摹节点未达成；断点在终态验收，现象为位姿不准（天空白缝、边缘粗糙），根因仅推断为控制层面的笔触规划精度。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "终帧（视频 58.8 s）显示布局与目标相符但天空白缝、边缘粗糙；评分器 success=0 且四项图像阈值未达，brush_loaded 达成、painting_copied 未达成、断点与现象/根因（控制，子类不明）均有证据支持，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": "2026-11-08T20:53:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--qegfbgf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--qegfbgf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a8e90718f870bc24f1ef6fc63cea389be6be3b49c2b9be04bbd853192c6610a2", + "video_sha256": "dadb8a4aa0994d78ca5a9b0b2e68087a711c4e1821f70a5f1ce83b3acf71d9a6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--cc87dap.json b/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--cc87dap.json new file mode 100644 index 0000000000000000000000000000000000000000..163c4003b71f4a52395eb62d8353d24242d19f34 --- /dev/null +++ b/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--cc87dap.json @@ -0,0 +1,359 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-suddenshower-i00-standard--cc87dap", + "taskKey": "robopaint/acrylic_suddenshower", + "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414", + "outcome": { + "success": 0, + "reward": 0.883645, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.883645, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 2.3271, + "de_p90": 4.8706, + "de_bad_frac": 0.028833, + "de_mean_sheet": 2.3198, + "ssim_L": 0.89882, + "paint_iou": 0.97635, + "paint_area_mm2": 49661.7, + "target_paint_area_mm2": 49584.2, + "n_target_strokes": 292.0, + "de_mean_coarse": 1.3597, + "ssim_L_fine": 0.841674, + "edge_corr": 0.807711, + "region_cov_min": 0.524164, + "region_cov_mean": 0.978024, + "n_regions": 55.0, + "n_strokes": 357.0, + "n_practice_strokes": 12.0, + "n_dry_strokes": 0.0, + "max_strokes": 380.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.3446, + "de_p90_unregistered": 4.9384, + "ssim_L_unregistered": 0.897657, + "edge_corr_unregistered": 0.805439, + "paint_iou_unregistered": 0.976167, + "path_mm": 12495.57, + "longest_stroke_mm": 414.18, + "max_path_mm": 40500.0, + "path_budget_ok": 1.0, + "scribble_max": 2.1607, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.883645, + "sim_steps": 15891, + "resets": 0.0, + "n_contacts": 369.0, + "samples": 79455.0, + "contact_samples": 37504.0, + "max_press_m": 0.014584, + "max_tilt_deg_in_contact": 0.394743, + "max_speed_in_contact_mps": 0.255752, + "handle_contact_samples": 155.0, + "n_dips": 50.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 15891, + "physics_steps": 79455, + "steps": 6148, + "calls": 104, + "elapsed_s": 3296.9, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.217, + "peak_processes": 11, + "peak_disk_gb": 0.409, + "peak_cpus": 1.56, + "peak_pids": 55, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-suddenshower-i00-standard--cc87dap.mp4", + "duration_s": 59.0, + "fps": 10.0, + "frames": 590, + "sha256": "ed7d98dfa698fa3beeefdd57f8c0fcaf4b762a84f7c4a187c2595d57fd82ef33" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：视频 0.4 s 侧视笔尖已着深色，0.6 s 纸上出现练习笔迹，1.6 s 已有多条；评分器 n_dips=50。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端圆头画笔刷毛浸入颜料井（蘸料）。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.5, + "log_step": null, + "text_zh": "观察：视频 58.5 s 主纸已铺满蓝灰天空、灰绿水面、米黄桥梁和右上红块，与 oracle 末帧整体相似；但评分器 de_mean 2.33>2.0、ssim_L 0.899<0.92，未达严格验收，故最终未达成（推断：细部色差/纹理未匹配）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：画笔刷毛压在纸面上逐笔涂抹，评分器 n_strokes=357。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.3271, + "unit": "ΔE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.8706, + "unit": "ΔE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.89882, + "unit": "无量纲", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.807711, + "unit": "无量纲", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.97635, + "unit": "比例", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 357.0, + "unit": "笔", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 12495.57, + "unit": "mm", + "threshold": 40500, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "比例", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.883645, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.3597, + "unit": "ΔE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.841674, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.524164, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.978024, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "t": 58.0, + "where": "操作中", + "evidence_zh": "观察：视频 58.5 s 画面整体接近目标，但评分器 de_mean 2.33（阈 2.0）、ssim_L 0.899（阈 0.92）未达标，其余指标（iou 0.976、边缘 0.808、笔数 357、路径 12496 mm）达标。", + "log_step": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "未发现可指认的缺陷：58.5 s 画面与 oracle 末帧整体一致，仅评分器指标 de_mean 2.33（阈 2.0）、ssim_L 0.899（阈 0.92）略低于阈值，无可见现象可归类，也无逐笔证据给出根因。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔约视频 0.4 s 蘸料并开始涂抹，59 s 内完成整幅临摹（357 笔，iou 0.976）。但严格验收不达标：de_mean 2.33>2.0、ssim_L 0.899<0.92，故 painting_copied 未达成，最终成功=0。根因证据不足，已在 gap 说明。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + 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"claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "294bfb87a16f47a2bb1bc09167a34fcbe0482477f0fe42400750e2b5bb60ed36", + "video_sha256": "ed7d98dfa698fa3beeefdd57f8c0fcaf4b762a84f7c4a187c2595d57fd82ef33", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--g4z8dwl.json b/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--g4z8dwl.json new file mode 100644 index 0000000000000000000000000000000000000000..c4a60002a46ed3d0f3923ca05b8e9d63bd654ce5 --- /dev/null +++ b/phaseR/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--g4z8dwl.json @@ -0,0 +1,397 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-suddenshower-i00-standard--g4z8dwl", + "taskKey": "robopaint/acrylic_suddenshower", + "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414", + "outcome": { + "success": 0, + "reward": 0.82329, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 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40500.0, + "path_budget_ok": 1.0, + "scribble_max": 1.0839, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.82329, + "sim_steps": 15239, + "resets": 0.0, + "n_contacts": 378.0, + "samples": 76195.0, + "contact_samples": 21771.0, + "max_press_m": 0.013783, + "max_tilt_deg_in_contact": 0.305071, + "max_speed_in_contact_mps": 0.156122, + "handle_contact_samples": 0.0, + "n_dips": 81.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 15239, + "physics_steps": 76195, + "steps": 15231, + "calls": 404, + "elapsed_s": 616.4, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + 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true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频侧视图练习纸 3 s 空白、5 s 已有深色小笔迹（约 3.5–5 s 出现），主画纸 8.5 s 才出现首批笔迹；评分器 n_practice_strokes=8、n_dips=81，蘸料必在练习纸首笔之前，起点取约 4 s（视频时钟）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端画笔刷毛浸入左侧颜料井蘸料（候选接触名“蘸/浸”）；评分器 n_dips=81。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.0, + "log_step": 28, + "text_zh": "观察：视频 58 s 右下画纸图中，蓝灰天空、灰绿水面、米黄桥岸与右上红块大体位置对应目标，但边缘呈条带状、右下细节粗糙。观察：评分器字段 de_mean 3.53（要求≤2.0）、de_p90 9.28（≤6.0）、ssim_L 0.80（≥0.92）、edge_corr 0.588（≥0.8）未达严格验收，paint_iou 0.956、笔数370≤380、路径与scribble通过，image_success 0。故整体匹配未达标，未到达。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂固定画笔刷毛压在主画纸上扫出笔触，评分器 n_contacts 378、n_strokes 370。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 3.5342, + "unit": "ΔE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 9.2806, + "unit": "ΔE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.800032, + "unit": "无量纲", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.587617, + "unit": "无量纲", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.956098, + "unit": "比例", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 370.0, + "unit": "笔", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 13042.3, + "unit": "mm", + "threshold": 40500, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "比例", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.82329, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + 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Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv.json b/phaseR/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv.json new file mode 100644 index 0000000000000000000000000000000000000000..96786d7b5f993d28f5face64f4489100922918b0 --- /dev/null +++ b/phaseR/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv.json @@ -0,0 +1,278 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv", + "taskKey": "robopaint/acrylic_sunflowers", + "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443", + "outcome": { + "success": 1, + "reward": 0.91418, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.91418, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 1.7164, + "de_p90": 3.6976, + "de_bad_frac": 0.013754, + "de_mean_sheet": 1.7163, + "ssim_L": 0.955158, + "paint_iou": 0.989173, + "paint_area_mm2": 51002.0, + "target_paint_area_mm2": 51083.9, + "n_target_strokes": 292.0, + "de_mean_coarse": 0.8969, + "ssim_L_fine": 0.917382, + "edge_corr": 0.89505, + "region_cov_min": 0.669121, + "region_cov_mean": 0.990319, + "n_regions": 89.0, + "n_strokes": 374.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 380.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.0, + "register_shift_mm": 0.0, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 1.7164, + "de_p90_unregistered": 3.6976, + "ssim_L_unregistered": 0.955158, + "edge_corr_unregistered": 0.89505, + "paint_iou_unregistered": 0.989173, + "path_mm": 8340.4, + "longest_stroke_mm": 162.36, + "max_path_mm": 41700.0, + "path_budget_ok": 1.0, + "scribble_max": 1.7202, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.91418, + "sim_steps": 18205.0, + "resets": 1.0, + "n_contacts": 374.0, + "samples": 91025.0, + "contact_samples": 45469.0, + "max_press_m": 0.013778, + "max_tilt_deg_in_contact": 0.221293, + "max_speed_in_contact_mps": 0.055754, + "handle_contact_samples": 0.0, + "n_dips": 43.0, + "dry_strokes": 0.0, + "n_frames": 589.0, + "replay_wall_s": 143.7, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 18205, + "video_rendered": 1, + "agent_sessions": 6, + "agent_resets": 18, + "agent_sim_steps": 21295, + "agent_records": 1, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.002, + "peak_memory_gb": 1.234, + "peak_processes": 8, + "peak_disk_gb": 0.016, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "hf", + "url": "https://huggingface.co/datasets/MLL-Lab/embodied-exam-media/resolve/main/runs/robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv/replay.mp4", + "duration_s": 58.9, + "fps": 10.0, + "frames": 589, + "sha256": "568aa8e302fa07f3afb70b74400c7d62e9826237af25160998fb576f566f54e9" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 画纸上已出现黄色笔迹（视频 0 s 时仍为空白），说明刷毛此前已在颜料井蘸色。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端画笔刷毛浸入颜料井加载颜料（候选名：蘸取）；井口在视频中被遮挡，由首个有色笔迹推断。" + } + ] + }, + "sunflowers_copied": { + "method": "visual", + "intervals": [ + [ + 58.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58.5, + "log_step": null, + "text_zh": "观察：视频 58.5 s 主纸俯视读出已与目标向日葵配色一致、基本无空白；评分器字段 de_mean 1.72、ssim_L 0.955、paint_iou 0.989、strict_ok 1，成功。推断：达标时刻接近视频末尾，具体时间不精确（逐步上色，终态才满足阈值）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂画笔带色刷毛按压并扫过主画纸，累计374笔，路径8340 mm。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.7164, + "unit": "CIELAB", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 3.6976, + "unit": "CIELAB", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.955158, + "unit": "1", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.89505, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.989173, + "unit": "1", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 374.0, + "unit": "strokes", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 8340.4, + "unit": "mm", + "threshold": 41700.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "观察：视频 0.5 s 已有首个有色笔迹（蘸料完成），随后约 58 s 内逐步涂满主纸，最终画面与目标一致；评分器成功（374笔≤380，路径8340 mm，涂绕占比0）。两节点均达成。证据缺口：蘸料瞬间与达标精确时刻无法从视频精确定位，达标时间为近似值。", + "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，两节点（笔刷蘸料、向日葵临摹完成）均达成；时间与接触标注与视频及评分字段一致，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:52:43Z", + "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/robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--cjhqbpv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eeed59e9dd52c7cfb4b3d6706ece5987f20595d628f77afaa4c9359e575f6400", + "video_sha256": "568aa8e302fa07f3afb70b74400c7d62e9826237af25160998fb576f566f54e9", + "states_sha256": null, + "video_choice": "HF replay.mp4" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-standard--9ybnerg.json b/phaseR/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-standard--9ybnerg.json new file mode 100644 index 0000000000000000000000000000000000000000..a48ac519baed0235c3c73121b605076cc478a286 --- /dev/null +++ b/phaseR/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-standard--9ybnerg.json @@ -0,0 +1,359 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-vision-i00-standard--9ybnerg", + "taskKey": "robopaint/acrylic_vision", + "dag_sha256": "b27019de98f8c06bc99749ef2d9b6c5833e8f50f3e7ac2187efc8b7ee41be188", + "outcome": { + "success": 0, + "reward": 0.794665, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.794665, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 4.1067, + "de_p90": 10.4129, + "de_bad_frac": 0.107078, + "de_mean_sheet": 3.9669, + "ssim_L": 0.830917, + "paint_iou": 0.963455, + "paint_area_mm2": 47755.9, + "target_paint_area_mm2": 47119.4, + "n_target_strokes": 300.0, + "de_mean_coarse": 2.1198, + "ssim_L_fine": 0.755954, + "edge_corr": 0.713169, + "region_cov_min": 0.032733, + "region_cov_mean": 0.913481, + "n_regions": 92.0, + "n_strokes": 390.0, + "n_practice_strokes": 27.0, + "n_dry_strokes": 0.0, + "max_strokes": 390.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 4.1287, + "de_p90_unregistered": 10.5338, + "ssim_L_unregistered": 0.82904, + "edge_corr_unregistered": 0.710935, + "paint_iou_unregistered": 0.963191, + "path_mm": 11291.39, + "longest_stroke_mm": 73.98, + "max_path_mm": 32300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2811, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.794665, + "sim_steps": 27991, + "resets": 0.0, + "n_contacts": 417.0, + "samples": 139955.0, + "contact_samples": 34840.0, + "max_press_m": 0.012953, + "max_tilt_deg_in_contact": 0.22216, + "max_speed_in_contact_mps": 0.201534, + "handle_contact_samples": 0.0, + "n_dips": 342.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 27991, + "physics_steps": 139955, + "steps": 27986, + "calls": 208, + "elapsed_s": 1082.7, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 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:robopaint-acrylic-vision-i00-standard--9ybnerg.mp4", + "duration_s": 59.7, + "fps": 10.0, + "frames": 597, + "sha256": "6451ca257fb824c02ea4ef819cb623ef8a3bc18779ba658253992bdf3c8e3b5a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 2.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": null, + "text_zh": "观察：视频 3.0 s 起练习纸上出现深色笔迹（侧视图），视频 4.5 s 主纸侧视可见有色笔迹，说明刷毛已在调色盘蘸色；约 2.5 s 为估计。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端圆画笔刷毛浸入调色盘颜料孔（候选名“浸蘸”），日志 n_dips=342。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.0, + "log_step": 55, + "text_zh": "观察：视频 59 s 主纸已布满笔触，整体构图（朱红上部、棕带、下部深色块与米白形块）大致对应，但边缘锯齿、形块细节不准。评分器字段：de_mean 4.11（需≤2.0）、de_p90 10.41（≤6.0）、ssim_L 0.83（≥0.92）、edge_corr 0.71（≥0.8）、paint_iou 0.963 通过；图像未达标，故 final 为 false。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "圆画笔刷毛按压主纸扫出 390 笔直线笔触（grader n_contacts 417）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 4.1067, + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 10.4129, + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.830917, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.713169, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.963455, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 390.0, + "unit": "count", + "threshold": 390, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 11291.39, + "unit": "mm", + "threshold": 32300.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.794665, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 2.1198, + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.755954, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.032733, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.913481, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "where": "操作中", + "t": 59.0, + "evidence_zh": "观察：390 笔全部画完（视频 59 s 终帧），整体构图相近但评分器 de_mean 4.11、de_p90 10.41、ssim_L 0.83、edge_corr 0.71 均未达标。", + "log_step": 55 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象不立：评分器显示执行层合格（register_shift_mm 0.22、max_tilt 0.22°、paint_iou 0.963、scribble_ok=1），视频 59 s 无笔触偏离计划位置的证据，不满足「位姿不准」；de_mean/ssim 未达标只是指标复述（N10），不记为现象。根因：执行层（定位、压深、倾角）已由评分器字段排除；规划（用 ≤390 条直线笔触逼近目标是否可达 ΔE≤2/ssim≥0.92）未证——agent 自述 ΔE≈4.1 只是旁证，笔数用尽本身不是原因，故根因留空，不写成「无法区分」。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔蘸色（视频约 2.5 s）已达成，主纸 390 笔画满（视频 59 s），但 de_mean 4.11、ssim_L 0.83、edge_corr 0.71 未达阈值，主纸临摹未完成。断点在 画/写 步骤；现象无证据故留空，执行层指标合格，规划层原因未证。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "WHERE 标签（brush_loaded 约 2.5 s 达成、painting_copied 未达成、断点 painting_copied）与帧和评分器字段一致，无异议。问题在 WHY：现象「运动·位姿不准」只是把 de_mean/ssim 等未达标指标换了个说法，没有笔触位置偏离计划的证据；根因留空，但已有评分器与日志可支持的规划层原因。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "WHERE 标签（brush_loaded 约 2.5 s、painting_copied 未达成、断点 painting_copied）与帧和评分器字段一致；现象与根因留空且 gap_zh 说明了理由（执行层已排除、规划未证），符合 N10 与规划证据要求，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:55Z", + "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/robopaint-acrylic-vision-i00-standard--9ybnerg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-vision-i00-standard--9ybnerg/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-vision-i00-standard--9ybnerg/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-vision-i00-standard--9ybnerg/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "166a20c7c7a7e2d42141536d14477890d3d6f2e7e17cd4d62a33823f6a7d4360", + "video_sha256": "6451ca257fb824c02ea4ef819cb623ef8a3bc18779ba658253992bdf3c8e3b5a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-standard--4y4t8jd.json b/phaseR/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-standard--4y4t8jd.json new file mode 100644 index 0000000000000000000000000000000000000000..97fcf892ff6a43790c6a833330ff04641c544bf8 --- /dev/null +++ b/phaseR/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-standard--4y4t8jd.json @@ -0,0 +1,350 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-zhen-i00-standard--4y4t8jd", + "taskKey": "robopaint/caoshu_zhen", + "dag_sha256": "629d29be0561405eaaa741dde6ba35841d1d4813d01c932235b262867c07d34f", + "outcome": { + "success": 0, + "reward": 0.755537, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.755537, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "iou": 0.755537, + "boundary_precision": 0.413852, + "boundary_recall": 0.38313, + "boundary_f": 0.397899, + "ink_precision": 0.776749, + "ink_recall": 0.965117, + "min_stroke_coverage": 0.869691, + "mean_stroke_coverage": 0.956811, + "stray_frac": 0.13434, + "missing_frac": 0.008459, + "ink_area_mm2": 3629.27, + "target_area_mm2": 2920.92, + "n_target_strokes": 12.0, + "stroke_coverage_01": 0.972765, + "stroke_coverage_02": 0.988378, + "stroke_coverage_03": 0.97307, + "stroke_coverage_04": 0.988164, + "stroke_coverage_05": 0.869691, + "stroke_coverage_06": 0.891282, + "stroke_coverage_07": 0.999152, + "stroke_coverage_08": 0.913096, + "stroke_coverage_09": 0.994428, + "stroke_coverage_10": 0.982155, + "stroke_coverage_11": 0.932453, + "stroke_coverage_12": 0.977102, + "n_strokes": 3.0, + "n_practice_strokes": 7.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 1.0, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 3.0, + "max_strokes": 3.0, + 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0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-caoshu-zhen-i00-standard--4y4t8jd.mp4", + "duration_s": 53.4, + "fps": 10.0, + "frames": 534, + "sha256": "b6aa765bfa74cf0b00ae1575fc52c24ff793d65af4ea222e50691872d866fb61" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_ink_loaded": { + "method": "visual", + "intervals": [ + [ + 4.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 4 s 起侧视图中笔毫变黑，随后视频 6-10 s 在练习纸上留下黑墨；评分器 n_dips=8、n_strokes=3，说明已蘸墨。推断：到达时刻约 4 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端毛笔笔毫浸入砚台（候选“浸蘸”），视频约 4 s 笔毫变黑。" + } + ] + }, + "cursive_zhen_written": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 53.0, + "log_step": 122, + "text_zh": "观察：视频末帧（约 53 s）右下俯视图中“真”为粗黑团块，上部回环被墨填实，轮廓粗糙；评分器 iou 0.756<0.80、boundary_f 0.398<0.75、stray_frac 0.134>0.04，故未达成（笔数 3、scribble 均达标）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端含墨毛笔笔毫压在主纸上沿字形移动，约视频 38-53 s 形成“真”；评分器 n_contacts=10、n_strokes=3。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.755537, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.397899, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.869691, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.13434, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 3.0, + "unit": "count", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 3.0, + "unit": "count", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 426.57, + "unit": "mm", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 8.5757, + "unit": "mm", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "final_reward", + "value": 0.755537, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cursive_zhen_written", + "t": 45.0, + "where": "操作中", + "evidence_zh": "观察：视频 38-53 s 机械臂用毛笔写字，末帧“真”笔划过粗、上部回环被填实；评分器 iou 0.756、boundary_f 0.398、stray_frac 0.134 均未达标。", + "log_step": 122 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 53.0, + "log_step": 122, + "evidence_zh": "观察：视频末帧（约 53 s）字形位置和轮廓与目标偏差：笔迹宽（mark_width 8.6 mm）、轮廓外游离墨占 13.4%（stray_frac），ink_precision 0.78 而 recall 0.97。推断：笔划整体偏粗、偏宽，而非缺笔。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：agent 多轮用自建笔刷模型优化轨迹（log step 69-96 自述练习纸上模型 IoU 0.891），但主纸实际 IoU 仅 0.756，墨宽 8.6 mm 远超目标笔划；推断：开环轨迹与实际笔刷印迹不符，具体子类型不明。", + "source_zh": "日志、评分器字段" + } + ], + "gap_zh": "根因子类（下压深度/轨迹）无法确定；视频仅为 53.4 s 的写字回放，未逐笔对照目标图。agent 在 log step 102-106 曾被 Gemini 过滤拦截，但交付已完成（log step 122），不属外因。", + "unmet": { + "cursive_zhen_written": false + } + }, + "summary_zh": "观察：毛笔约视频 4 s 蘸墨（节点1达成），3 笔写出“真”但 iou 0.756<0.80、boundary_f 0.398、stray_frac 0.134，未达成（1/2）。断点在写字步骤：笔迹过粗、轮廓外游离墨多。推断为开环轨迹与笔刷印迹不匹配，子类型无法确定。", + "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1（蘸墨约3.4-4 s）、节点2未达成（iou 0.756<0.80 等）、断点在写字步骤、位姿不准+控制根因（子类不明，已写gap_zh）均与视频、评分器字段和log一致；未发现须改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:08Z", + "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/robopaint-caoshu-zhen-i00-standard--4y4t8jd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-caoshu-zhen-i00-standard--4y4t8jd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--brijkap.json b/phaseR/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--brijkap.json new file mode 100644 index 0000000000000000000000000000000000000000..3eae66b5269a955e17d91561fe53b56c6916baf8 --- /dev/null +++ b/phaseR/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--brijkap.json @@ -0,0 +1,402 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-kaishu-linfengguilong-i00-standard--brijkap", + "taskKey": "robopaint/kaishu_linfengguilong", + "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed", + "outcome": { + "success": 0, + "reward": 0.49076, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + 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"stroke_order_concordance": 0.119931, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 47.0, + "max_strokes": 71.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.2219, + "register_dy_mm": -0.4437, + "register_shift_mm": 0.4961, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.484375, + "boundary_f_unregistered": 0.563684, + "min_stroke_coverage_unregistered": 0.227876, + "stray_frac_unregistered": 0.167123, + "path_mm": 2061.74, + "longest_stroke_mm": 221.27, + "mark_width_mm": 4.1104, + "max_path_mm": 7880.0, + "min_mark_width_mm": 0.99, + "colour_in": 0.0, + "n_marked_pieces": 60.0, + "n_strokes_counted": 60.0, + "max_stroke_path_mm": 920.0, + "longest_counted_stroke_mm": 221.21, + "strokes_counted_ok": 1.0, + "scribble_max": 3.2187, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.49076, + "sim_steps": 15200, + "resets": 0.0, + "n_contacts": 137.0, + "samples": 76000.0, + "contact_samples": 31797.0, + "max_press_m": 0.030025, + "max_tilt_deg_in_contact": 0.650417, + "max_speed_in_contact_mps": 0.234786, + "handle_contact_samples": 78.0, + "n_dips": 3.0, + "dry_strokes": 2.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 15200, + "physics_steps": 76000, + "steps": 14621, + "calls": 194, + "elapsed_s": 2203.1, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.27, + "peak_processes": 9, + "peak_disk_gb": 0.383, + "peak_cpus": 1.0, + "peak_pids": 55, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-kaishu-linfengguilong-i00-standard--brijkap.mp4", + "duration_s": 58.6, + "fps": 10.0, + "frames": 586, + "sha256": "507efd0bfc6f184c48bdcac5087736b148844dc0c1f08e0f0b0ac7d0cf556ce2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_ink_loaded": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2-4 s 侧视图中机械臂把笔下探到砚台处，随后笔毫呈黑色；视频 5 s 起练习纸上出现墨点，说明已装墨（推断：首次装墨约视频 2 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 臂端安装的毛笔笔毫浸入砚台墨液（候选：浸蘸）。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.5, + "log_step": null, + "text_zh": "观察：视频末帧主纸上四字均已写出，但龜、龍、鳳笔画粗细不均、有杂墨与断笔，形状与目标有明显差异。评分器字段：iou 0.491<0.80、boundary_f 0.567<0.75、min_stroke_coverage 0.229<0.80、stray_frac 0.164>0.04，故整幅临帖未达标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔毫压在主纸上沿笔画滑动落墨，共 60 笔（评分器 n_strokes=60）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.49076, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.566686, + "unit": "1", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.228926, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.163864, + "unit": "1", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 60.0, + "unit": "count", + "threshold": 71, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 60.0, + "unit": "count", + "threshold": 71, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 2061.74, + "unit": "mm", + "threshold": 7880, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 4.1104, + "unit": "mm", + "threshold": 0.99, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "exemplar_copied", + "where": "操作中", + "t": 58.0, + "log_step": null, + "evidence_zh": "观察：视频末帧（58.5 s）四字均已写出，但笔画形状偏离、杂墨多；评分器字段 iou 0.491、stray_frac 0.164、min_stroke_coverage 0.229 均未达阈值。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 58.0, + "log_step": null, + "evidence_zh": "观察：视频 50-58.5 s 画布视图中，龜、鳳的笔画扭曲、边缘毛糙，与目标字形有偏差；评分器 stray_frac 0.164、missing_frac 0.185。agent 自述最终报告中称每笔有约 ±1.5 mm 垂直抖动（log 最后一步）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述：A/B 测试显示每条运动笔画有与速度无关的约 ±1.5 mm 垂直抖动，疑为软笔毫在横向运动中的挠曲/迟滞，规划（60 笔、位置配准≈0）本身按计划执行（log 最后一步）；视频中笔画边缘毛糙与之一致。", + "source_zh": "agent 自述 / 视频 / 评分器字段" + } + ], + "gap_zh": "无状态日志；agent 的根因解释未被独立验证，故根因只到'控制'层。", + "unmet": { + "exemplar_copied": false + } + }, + "summary_zh": "观察：视频约 2 s 毛笔蘸墨（节点达成），随后写完四字共 60 笔，但整幅临帖未达标（IoU 0.491、边界F 0.567、最小笔画覆盖 0.229、杂墨 0.164）。断点为整幅临帖的书写过程，现象位姿不准，推断与笔毫挠曲导致的笔画抖动有关（agent 自述）。无状态日志，时间来自视频。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点（蘸墨约 2 s 达成、整幅临帖未达标）、断点（exemplar_copied，操作中）与评分器字段一致；现象位姿不准有末帧可见的笔画变形和杂墨支持，根因停在'控制'层并注明来自 agent 自述，诚实可接受。未发现须修改之处。", + "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": "2026-11-08T20:51:50Z", + "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/robopaint-kaishu-linfengguilong-i00-standard--brijkap/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--brijkap/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b5984cc4648c42f58dc172d40b09d0497456c6fff0d59e676b7a29c79516ba97", + "video_sha256": "507efd0bfc6f184c48bdcac5087736b148844dc0c1f08e0f0b0ac7d0cf556ce2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--xnwzlmf.json b/phaseR/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--xnwzlmf.json new file mode 100644 index 0000000000000000000000000000000000000000..24f9fe881dcfcfa18358e7ab53c5b8cb732b1d37 --- /dev/null +++ b/phaseR/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--xnwzlmf.json @@ -0,0 +1,316 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-oil-starrynight-i01-standard--xnwzlmf", + "taskKey": "robopaint/oil_starrynight_i01", + "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf", + "outcome": { + "success": 1, + "reward": 0.726545, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.726545, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 5.4691, + "de_p90": 9.4824, + "de_bad_frac": 0.080016, + "de_mean_sheet": 5.4691, + "ssim_L": 0.75531, + "paint_iou": 0.999714, + "paint_area_mm2": 44597.2, + "target_paint_area_mm2": 44609.9, + "n_target_strokes": 1678.0, + "de_mean_coarse": 2.475, + "ssim_L_fine": 0.550026, + "edge_corr": 0.594637, + "region_cov_min": 0.209332, + "region_cov_mean": 0.930928, + "n_regions": 211.0, + "n_strokes": 2411.0, + "n_practice_strokes": 25.0, + "n_dry_strokes": 0.0, + "max_strokes": 2517.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "score_inset_mm": 7.987, + "de_mean_unregistered": 5.4759, + "de_p90_unregistered": 9.4989, + "ssim_L_unregistered": 0.755247, + "edge_corr_unregistered": 0.596898, + "paint_iou_unregistered": 0.999719, + "path_mm": 24301.86, + "longest_stroke_mm": 71.09, + "max_path_mm": 62300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2512, + "scribble_share": 0.0, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.726545, + "sim_steps": 55169, + "resets": 0.0, + "n_contacts": 2436.0, + "samples": 275845.0, + "contact_samples": 86066.0, + "max_press_m": 0.011993, + "max_tilt_deg_in_contact": 0.317589, + "max_speed_in_contact_mps": 0.144172, + "handle_contact_samples": 0.0, + "n_dips": 209.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 55169, + "physics_steps": 275845, + "steps": 55097, + "calls": 338, + "elapsed_s": 3065.2, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 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:robopaint-oil-starrynight-i01-standard--xnwzlmf.mp4", + "duration_s": 60.1, + "fps": 10.0, + "frames": 601, + "sha256": "6602997e85b9c6181743e65976ae4f705c5b2c73910cbc81cba5f3052f4e2e9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 3.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.2, + "log_step": null, + "text_zh": "观察：视频 0–3 s 主纸画面空白，约 3.2 s 起出现有色笔迹，故蘸料不晚于约 3.2 s（蘸料瞬间在其前，≤3.2 s）。评分器字段 n_dips=209。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端安装画笔的刷毛浸入颜料槽装载颜料（候选：蘸取）；grader n_dips=209。" + } + ] + }, + "starry_night_painted": { + "method": "visual", + "intervals": [ + [ + 24.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 24.0, + "log_step": null, + "text_zh": "观察：视频 12 s 起主纸已呈蓝色旋涡天空、黄色星月、左侧深色柏树；24 s 至 59.9 s 画面与成功画面一致，仅细节微调。评分器字段 de_mean 5.47≤6.5、p90 9.48≤11.5、ssim_L 0.755、edge_corr 0.595、paint_iou 0.9997、n_strokes 2411≤2517、strict_ok=1。推断：达成时刻约 24 s，不确定（视频为加速画面，细节在持续改进）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端画笔刷毛压在主画纸上移动铺色，视频全程可见。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 5.4691, + "unit": "DeltaE_ab", + "threshold": 6.5, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 9.4824, + "unit": "DeltaE_ab", + "threshold": 11.5, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.75531, + "unit": "ratio", + "threshold": 0.68, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.594637, + "unit": "correlation", + "threshold": 0.52, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.999714, + "unit": "ratio", + "threshold": 0.96, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 2411.0, + "unit": "count", + "threshold": 2517, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 24301.86, + "unit": "mm", + "threshold": 62300, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "成功：2 个节点均达成。笔刷蘸料不晚于视频约 3.2 s（0–3 s 主纸空白，约 3.2 s 起出现笔迹）；主纸在约视频 24 s 起已呈完整星夜构图，评分器各项指标均通过（de_mean 5.47、n_strokes 2411/2517）。证据缺口：无状态日志，达成时刻为目视估计，蘸料瞬间的精确时刻未确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "starry_night_painted 与成功判定基本可信；但 brush_loaded 的 0.0 s 起点与“首帧已有深色笔迹”的观察不实：视频 0–3 s 主纸为空白，首个笔迹约 3.2 s 才出现。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "成功运行，两个节点均达成；brush_loaded 已按上一轮修正为约 3.2 s，starry_night_painted 的终态由评分器各项指标支撑，约 24 s 的时刻已标注为不确定估计，无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:54:29Z", + "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/robopaint-oil-starrynight-i01-standard--xnwzlmf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-oil-starrynight-i01-standard--xnwzlmf/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-oil-starrynight-i01-standard--xnwzlmf/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-oil-starrynight-i01-standard--xnwzlmf/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd124a5db86c1d06dad4be61fa16053bd6d9cd18784c65020a8670ac04172958", + "video_sha256": "6602997e85b9c6181743e65976ae4f705c5b2c73910cbc81cba5f3052f4e2e9d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--hje2ipp.json b/phaseR/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--hje2ipp.json new file mode 100644 index 0000000000000000000000000000000000000000..5e1116eb7a2e4ae6e2ce44bd8f5625a552fb742f --- /dev/null +++ b/phaseR/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--hje2ipp.json @@ -0,0 +1,345 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-he-i00-standard--hje2ipp", + "taskKey": "robopaint/xingshu_he", + "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6", + "outcome": { + "success": 0, + "reward": 0.73876, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.73876, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "iou": 0.73876, + "boundary_precision": 0.455303, + "boundary_recall": 0.438899, + "boundary_f": 0.446951, + "ink_precision": 0.819399, + "ink_recall": 0.882447, + "min_stroke_coverage": 0.233498, + "mean_stroke_coverage": 0.80089, + "stray_frac": 0.10961, + "missing_frac": 0.079998, + "ink_area_mm2": 3610.67, + "target_area_mm2": 3352.69, + "n_target_strokes": 7.0, + "stroke_coverage_01": 1.0, + "stroke_coverage_02": 0.973757, + "stroke_coverage_03": 0.904369, + "stroke_coverage_04": 0.8469, + "stroke_coverage_05": 0.969305, + "stroke_coverage_06": 0.233498, + "stroke_coverage_07": 0.678403, + "n_strokes": 6.0, + "n_practice_strokes": 14.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 0.666667, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 4.0, + "max_strokes": 6.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -1.1093, + "register_dy_mm": 0.0, + "register_shift_mm": 1.1093, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.728224, + "boundary_f_unregistered": 0.427318, + "min_stroke_coverage_unregistered": 0.288729, + "stray_frac_unregistered": 0.119065, + "path_mm": 348.92, + "longest_stroke_mm": 75.21, + "mark_width_mm": 12.9432, + "max_path_mm": 1850.0, + "min_mark_width_mm": 1.93, + "colour_in": 0.0, + "n_marked_pieces": 6.0, + "n_strokes_counted": 6.0, + "max_stroke_path_mm": 1770.0, + "longest_counted_stroke_mm": 75.21, + "strokes_counted_ok": 1.0, + "scribble_max": 1.6792, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.73876, + "sim_steps": 3737, + "resets": 0.0, + "n_contacts": 20.0, + "samples": 18685.0, + "contact_samples": 4931.0, + "max_press_m": 0.021755, + "max_tilt_deg_in_contact": 0.325068, + "max_speed_in_contact_mps": 0.097872, + "handle_contact_samples": 0.0, + "n_dips": 16.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 3737, + "physics_steps": 18685, + "steps": 3401, + "calls": 240, + "elapsed_s": 880.1, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 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:robopaint-xingshu-he-i00-standard--hje2ipp.mp4", + "duration_s": 53.5, + "fps": 10.0, + "frames": 535, + "sha256": "dacf1779ae70b3e6ca67f03a778c323e0267eb895fee8c1163eb4cfa661f21fb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": 12, + "text_zh": "观察：视频约 2 s 起练习纸相机里毛笔笔尖变黑，随后练习纸上出现墨迹（视频 5-30 s 练习纸笔画不断增多），主纸此时仍空白；推断：毛笔已在砚台蘸墨，时间约 ±1.5 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端毛笔笔毫浸入砚台墨液吸墨（候选名“浸蘸”）；评分器 n_dips=16。" + } + ] + }, + "he_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 38.3, + "log_step": 63, + "text_zh": "观察：主纸首次出现墨迹约视频 38.3 s；至视频 53.5 s 末帧主纸上是一团黑墨，左撇长笔与下垂竖笔大致成形但右部口形被墨填塞并有散墨，不是完整的“和”。评分器字段 iou 0.739<0.80、boundary_f 0.447<0.75、min_stroke_coverage 0.233<0.80、stray_frac 0.110>0.04；整字从未达标，故 final 为 false。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：毛笔笔毫在主纸上按压并拖动成笔画，视频 38.3-53.5 s；评分器 n_strokes=6，另有 14 笔写在练习纸上。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.73876, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.446951, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.233498, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.10961, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 348.92, + "unit": "mm", + "threshold": 1850, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 12.9432, + "unit": "mm", + "threshold": 1.93, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.73876, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "he_written", + "t": 45.0, + "where": "操作中", + "evidence_zh": "观察：主纸图在视频 38-53.5 s 逐步变成一团黑墨，右部口形被填塞（末帧）；评分器 iou 0.739、min_stroke_coverage 0.233（第6个区域）、stray_frac 0.110，整字未达标。", + "log_step": 62 + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 45.0, + "log_step": 62, + "evidence_zh": "观察：视频 45-53.5 s 主纸上的墨形偏离目标字形，局部缺失（第6区域覆盖 0.23）且多处墨迹溢出，散墨占 11%（限 4%）。推断：笔迹位置/宽度与目标不符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "观察：agent 在 log step 63 自述“最佳第7笔约0.69，低于当前0.74，故停止”，并在 log step 64 自述估计杂墨约 10% 不达标；其规划轨迹在 6 笔限制下的墨宽/位置未能同时满足各项指标，具体子类型不明。", + "source_zh": "日志/评分器字段" + } + ], + "gap_zh": "视频同时拼接多个相机视角且无状态日志，笔画逐笔对应与根因子类型只能推断。", + "unmet": { + "he_written": false + } + }, + "summary_zh": "观察：毛笔约视频 2 s 蘸墨（brush_inked 达成），之后在练习纸写了 14 笔，视频约 38.3 s 起在主纸用 6 笔写字，但最终 iou 0.739、边界F 0.447、最小区域覆盖 0.233、杂墨 0.110 均未过线，he_written 未达成。断点在写字步骤的操作中，现象为位姿不准；根因只能归到控制（子类型不明）。缺口：无状态日志，逐笔时间靠视频粗读。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值、时间、断点与现象均有评分器字段和视频支持；根因控制（子类型不明）保守且有依据。末帧右下图“一团黑墨”略夸大（口形仍是环形），但不改变结论。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:39Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-standard--hje2ipp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-standard--hje2ipp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bc19e0b856eca4bed77742062eb36f7fc8e797e6012e57a45dc19a7617b1dd5b", + "video_sha256": "dacf1779ae70b3e6ca67f03a778c323e0267eb895fee8c1163eb4cfa661f21fb", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseR/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-standard--yqsbefk.json b/phaseR/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-standard--yqsbefk.json new file mode 100644 index 0000000000000000000000000000000000000000..2ca51aafaf44bb0503bb556f45e8c78b1bb04000 --- /dev/null +++ b/phaseR/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-standard--yqsbefk.json @@ -0,0 +1,340 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-yong-i00-standard--yqsbefk", + "taskKey": "robopaint/xingshu_yong", + "dag_sha256": "f0a37ecca46b4338ba9e5150c7460e29ad0252d458d19ec0eed7b70a3f9729a2", + "outcome": { + "success": 0, + "reward": 0.784615, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.784615, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "iou": 0.784615, + "boundary_precision": 0.606852, + "boundary_recall": 0.638589, + "boundary_f": 0.622316, + "ink_precision": 0.841364, + "ink_recall": 0.920841, + "min_stroke_coverage": 0.723888, + "mean_stroke_coverage": 0.898501, + "stray_frac": 0.101966, + "missing_frac": 0.027667, + "ink_area_mm2": 3647.04, + "target_area_mm2": 3332.27, + "n_target_strokes": 9.0, + "stroke_coverage_01": 0.815195, + "stroke_coverage_02": 0.825549, + "stroke_coverage_03": 0.985518, + "stroke_coverage_04": 0.937253, + "stroke_coverage_05": 0.953435, + "stroke_coverage_06": 0.952045, + "stroke_coverage_07": 0.955951, + "stroke_coverage_08": 0.937678, + "stroke_coverage_09": 0.723888, + "n_strokes": 6.0, + "n_practice_strokes": 22.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 1.0, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 5.0, + "max_strokes": 6.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.2219, + "register_dy_mm": -0.2219, + "register_shift_mm": 0.3138, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.781924, + "boundary_f_unregistered": 0.62908, + "min_stroke_coverage_unregistered": 0.700946, + "stray_frac_unregistered": 0.105526, + "path_mm": 440.22, + "longest_stroke_mm": 154.21, + "mark_width_mm": 8.9864, + "max_path_mm": 1450.0, + "min_mark_width_mm": 2.25, + "colour_in": 0.0, + "n_marked_pieces": 6.0, + "n_strokes_counted": 6.0, + "max_stroke_path_mm": 1330.0, + "longest_counted_stroke_mm": 153.92, + "strokes_counted_ok": 1.0, + "scribble_max": 1.7049, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.784615, + "sim_steps": 2068, + "resets": 0.0, + "n_contacts": 28.0, + "samples": 10340.0, + "contact_samples": 3307.0, + "max_press_m": 0.026816, + "max_tilt_deg_in_contact": 0.464897, + "max_speed_in_contact_mps": 0.152594, + "handle_contact_samples": 0.0, + "n_dips": 10.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 2068, + "physics_steps": 10340, + "steps": 1163, + "calls": 29, + "elapsed_s": 3475.4, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.361, + "peak_processes": 9, + "peak_disk_gb": 0.364, + "peak_cpus": 1.3, + "peak_pids": 42, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_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:robopaint-xingshu-yong-i00-standard--yqsbefk.mp4", + "duration_s": 51.8, + "fps": 10.0, + "frames": 518, + "sha256": "d3a74465a66a1148e46e811170083856f81ad7933c3602bf1b35cf234989e239" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 1.5 s 侧视图中笔尖为灰色，2.5 s 起笔尖变黑，随后 3.5 s 起练习纸上出现黑色笔迹；推断：笔在视频 2.5 s 左右完成蘸墨。时间约±1 s（多视图拼接画面，砚台处未逐帧核对）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 单臂末端毛笔笔毫浸入砚台墨液（蘸取）；观察：笔尖变黑。" + } + ] + }, + "yong_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 51.5, + "log_step": null, + "text_zh": "观察：视频末帧主纸上可见完整的黑色“永”，笔画形态大体对，但评分器字段 iou 0.785<0.80、boundary_f 0.622<0.75、min_stroke_coverage 0.724<0.80、stray_frac 0.102>0.04，success=0；按评分器判据未达标，故该节点未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：毛笔笔毫压在主纸上并沿笔画移动留下墨迹（先在练习纸上做了多笔标定，评分器 n_practice_strokes 22，主纸 n_strokes 6）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.784615, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.622316, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.723888, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.101966, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 440.22, + "unit": "mm", + "threshold": 1450, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 8.9864, + "unit": "mm", + "threshold": 2.25, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.784615, + "unit": "score", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "yong_written", + "t": 51.0, + "log_step": null, + "where": "终态验收", + "evidence_zh": "观察：视频末帧主纸有完整的“永”，但评分器字段 iou 0.785、boundary_f 0.622、min_stroke_coverage 0.724（第9区）、stray_frac 0.102 均未过阈值；笔数 6、过程约束均通过（strict_ok 1）。" + }, + "unmet": { + "yong_written": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 51.0, + "log_step": null, + "evidence_zh": "观察：评分器 boundary_f 0.62、stray_frac 0.10（墨迹面积 3647 mm² 大于目标 3332 mm²，墨迹精度 0.84），表明笔画位置和粗细与目标有系统偏差并有多余墨迹；视频末帧可见字形整体对但笔画偏粗/外溢。推断：笔迹位置宽度不准，未逐笔对照目标图。" + } + ], + "root_causes": [], + "gap_zh": "根因层留空：只有评分器指标和末帧，没有逐笔对照目标图，也无状态日志，无法区分是笔毫模型标定、轨迹生成还是控制误差；视频为多视图拼接，主纸俯视只占一块，逐笔时间未标注。" + }, + "summary_zh": "观察：毛笔在视频约 2.5 s 蘸墨（节点1达成），之后在练习纸上练笔，再在主纸写出六笔完整的“永”。图像指标 iou 0.785、boundary_f 0.622、min_stroke_coverage 0.724、stray_frac 0.102 均未达阈值，临写永字未达成（1/2）。断点为 yong_written 的终态验收，现象位姿不准；根因证据不足，无状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 brush_inked 约 2.5 s（视频）笔尖由灰变黑，与帧一致；yong_written 终帧字形完整但评分器 iou 0.785<0.80 等未达标，final=false、断点终态验收、现象位姿不准与证据一致，根因留空有 gap_zh，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T20:53:08Z", + "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/robopaint-xingshu-yong-i00-standard--yqsbefk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-yong-i00-standard--yqsbefk/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd291d7553c9266de4fb6e9f785795b6e5f1e4137c38210dcc549cfd4850fe41", + "video_sha256": "d3a74465a66a1148e46e811170083856f81ad7933c3602bf1b35cf234989e239", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; phaseR = counted attempts of the seven original agents that had no phase-2 label (reruns after 2026-11-06 and runs newer than the phase-2 catalog), labelled 2026-11-08 by the owner's decision. Their earlier labels were written by GPT-6.1 Sol in Codex. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +}