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reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第21位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_22_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第22位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_23_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第23位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + 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"unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第28位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_29_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第29位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_30_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第30位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_31_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第31位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_32_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第32位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_33_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第33位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_34_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第34位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + 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reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_37_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第37位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + }, + "brush_pose_38_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0、progress=0.0；本作业无视频、无状态日志，也无已交付评分回放的第38位姿验收结果。缺交付时的零进度不作为该位姿的实测判据，节点终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话中灵巧手与刷子的测试接触不计入此轨迹节点。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 117, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、grader_error=0，未形成可供验收的交付轨迹；log step 117 仍是 agent 脚本比较两组机械臂位姿的诊断输出，日志没有后续保存、提交或完成报告。推断：没有可定位物理断点的评分尝试，按未交付规则记 unknown／首步前，不把会话测试卡住的位姿当作评分断点。" + }, + "unmet": { + "brush_pose_01_reached": null, + "brush_pose_02_reached": null, + "brush_pose_03_reached": null, + "brush_pose_04_reached": null, + "brush_pose_05_reached": null, + "brush_pose_06_reached": null, + "brush_pose_07_reached": null, + "brush_pose_08_reached": null, + "brush_pose_09_reached": null, + "brush_pose_10_reached": null, + "brush_pose_11_reached": null, + "brush_pose_12_reached": null, + 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MANIFEST.json；video.kind=none，无评分视频、无状态日志，评分器报告 missing_trajectory=1。日志记录多次抓取、逆解和闭环控制测试（例如 log step 82、105、115），其中的目标通过、掉落及机械臂碰桌只属于会话测试；没有被选中、保存并交付的轨迹可供归属。观察：run.wall_s=3603、time_limit_s=3600，最后的 agent 发言在 log step 110，称等待测试输出，之后至 log step 117 仍在诊断；未见明确外部中断记录。推断：会话在工作预算附近结束但没有交付，按 DECISIONS.md D23 留空现象和根因；不能从缺交付或预算用尽反推没尝试、控制、规划或交付操作出错。38个节点均无评分尝试的逐节点结果，故终值未知；reward.progress=0.0保留为原生评分指标。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1、progress=0.0，没有交付轨迹；38个有序位姿节点均无可核实的评分终值，接触记不适用。日志中的控制测试曾打印通过前7个位姿（log step 82、115），但没有保存或提交为评分轨迹的证据，不能计入节点进度。无视频和状态日志，断点记 unknown／首步前，按 D23 将现象与根因留空；日志末尾仍在诊断（log step 117），不能把工作预算用尽作为失败原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1；日志全程为会话内测试，未见保存或提交轨迹，节点终值 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)，未发现需要修改的错误。", + "n_issues": 0, + 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"unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第1个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_02_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第2个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_03_reached": { + "method": "unknown", + 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null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第5个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_06_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第6个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_07_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第7个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_08_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第8个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_09_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第9个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_10_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第10个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_11_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第11个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_12_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第12个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_13_reached": { + "method": "unknown", + "intervals": null, + "final": null, + 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"evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第37个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + }, + "brush_pose_38_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：评分器 reward.missing_trajectory=1；inputs/video.json 的 kind=none，且无状态日志。log step 27 仍是 agent 准备继续抓取调试的消息，没有交付或完成报告，故无可核验的评分轨迹来判断第38个位姿；reward.progress=0.0 伴随交付缺失，不作为该物理节点未达成的实测结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付评分轨迹；调试会话中的灵巧手与刷子接触不计入本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 27, + "where": "首步前", + "evidence_zh": "观察：评分器 missing_trajectory=1、success=0、grader_error=0；log step 25–26 是 agent 运行 GRASP_ONLY=1 的抓取调试，log step 27 最后自述准备重新捕获输出。日志未记录交付轨迹成功保存或重放验收，没有评分轨迹可用于定位失败的物理步骤。" + }, + "unmet": { + "brush_pose_01_reached": null, + "brush_pose_02_reached": null, + "brush_pose_03_reached": null, + "brush_pose_04_reached": null, + "brush_pose_05_reached": null, + "brush_pose_06_reached": null, + "brush_pose_07_reached": null, + "brush_pose_08_reached": null, + "brush_pose_09_reached": null, + "brush_pose_10_reached": null, + "brush_pose_11_reached": null, + "brush_pose_12_reached": null, + "brush_pose_13_reached": null, + "brush_pose_14_reached": null, + "brush_pose_15_reached": null, + "brush_pose_16_reached": null, + "brush_pose_17_reached": null, + "brush_pose_18_reached": null, + "brush_pose_19_reached": null, + "brush_pose_20_reached": null, + "brush_pose_21_reached": null, + "brush_pose_22_reached": null, + "brush_pose_23_reached": null, + "brush_pose_24_reached": null, + "brush_pose_25_reached": null, + "brush_pose_26_reached": null, + "brush_pose_27_reached": null, + "brush_pose_28_reached": null, + "brush_pose_29_reached": null, + "brush_pose_30_reached": null, + "brush_pose_31_reached": null, + "brush_pose_32_reached": null, + "brush_pose_33_reached": null, + "brush_pose_34_reached": null, + "brush_pose_35_reached": null, + "brush_pose_36_reached": null, + "brush_pose_37_reached": null, + "brush_pose_38_reached": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json，无视频、状态日志或交付轨迹；评分器 missing_trajectory=1。log step 11、23 的脚本仅在 SAVE=1 时保存轨迹，已记录的抓取测试未设置 SAVE=1；log step 25 的调试输出 contacts_close=[]、lift_dz=0.0、reached=0 只属于会话测试，不是评分轨迹证据。log step 27 仍表示准备继续调试，未说明会话为何结束；run.wall_s=1576、time_limit_s=3600，不能断言预算耗尽，也无证据确认外部中断。推断：无法判断评分尝试的实际接触、各位姿达成情况或物理失败现象，也不能仅由缺交付归因于控制、规划或交付操作；按无交付规则将现象与根因留空，所有视频时间及节点终值保留 null。" + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1；本次没有交付评分轨迹，38 个位姿节点均无可核验终值。日志止于抓取调试后的继续调试消息（log step 27），因此断点记为 unknown／首步前，现象与根因留空。观察：无视频及状态日志，且会话终止原因未记录，调试结果不能替代评分轨迹。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "同意：无视频、无状态日志、missing_trajectory=1，日志也未记录交付轨迹保存，故节点 unknown、断点 unknown、现象与根因留空并写 gap_zh 的做法合理，没有把会话测试当作评分证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:54:14Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_right-privileged--tnbmepd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_brush_red_brush_sweep_right-privileged--tnbmepd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "59db98377f08c9d3b8145fc844b2e4e5d25b8b8b1e84e69fc59393be85de099a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-standard--3kfi2px.json b/phase2/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-standard--3kfi2px.json new file mode 100644 index 0000000000000000000000000000000000000000..633c557c2afa7a42b594a3deb01a9df4f1997f97 --- /dev/null +++ b/phase2/dextoolbench/brush_red_brush_sweep_right/trajectories/dextoolbench_brush_red_brush_sweep_right-standard--3kfi2px.json @@ -0,0 +1,672 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_brush_red_brush_sweep_right-standard--3kfi2px", + "taskKey": "dextoolbench/brush_red_brush_sweep_right", + "dag_sha256": "ecd315bdedfe165f67df5c8fb6ff6cb831da321ad7c1394e78085f12c5382b46", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "finalized": 1, + "control_steps": 191365, + "calls": 10022, + "elapsed_s": 3627.5, + "video_rendered": 0, + "infra_error": 0, + "grader_error": 0, + "no_verdict": 0, + "sim_error": 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": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.541, + "peak_processes": 7, + "peak_disk_gb": 0.486, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 38, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "brush_pose_01_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第1个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + }, + { + "t": null, + "log_step": 361, + "text_zh": "观察：log step 360 的服务状态为 episode=20、resets_left=1；log step 361 记录启动 gen.py，sim.reset=1、sim.submit=41，log step 362 的 sim.submit=9520，但没有脚本的任务反馈或完成输出。推断：结合最终评分器 resets=20、reset_budget=20，评分集很可能是脚本运行的最后一集；log step 358 的代码安排手部预成形、向刷柄对齐及首目标控制，调用计数支持已启动控制尝试，不能据此确定脚本执行阶段、实际抓握或首目标搜索是否完成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 358 的脚本包含灵巧手对准刷柄的控制安排，log step 361 记录脚本启动；本作业无视频、状态日志或接触对，不能确认末端手指与受评刷子的实际接触及抓握方式。" + } + ] + }, + "brush_pose_02_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第2个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_03_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第3个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_04_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第4个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_05_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第5个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_06_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第6个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_07_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第7个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_08_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第8个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_09_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第9个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_10_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第10个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_11_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第11个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_12_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第12个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_13_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第13个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_14_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第14个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_15_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第15个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_16_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第16个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_17_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第17个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_18_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第18个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_19_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第19个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_20_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第20个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_21_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第21个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_22_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第22个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第23个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第24个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第25个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第26个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第27个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第28个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第29个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第30个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_31_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第31个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_32_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第32个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_33_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第33个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_34_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第34个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_35_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第35个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_36_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第36个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_37_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第37个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + }, + "brush_pose_38_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的最终评分器字段 goals_reached=0、n_goals=38、finalized=1；本节点是按序锁存的第38个位姿事件，故该评分集结束时未通过。判定依据为累计目标计数，而非仅凭 success=0；无视频，无法给出视频时间区间。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "fraction", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "brush_pose_01_reached", + "t": null, + "log_step": 361, + "where": "操作中", + "evidence_zh": "推断：最终评分器 reward.goals_reached=0、n_goals=38、finalized=1，说明首个锁存事件未通过，后续目标未解锁，断点保留为到达第1位姿的操作过程。log step 360 的服务状态为 episode=20、resets_left=1；log step 358 的代码在有重置预算时安排重置，log step 361 记录启动 gen.py，sim.reset=1、sim.submit=41，log step 362 的 sim.submit=9520。reward.resets=20、reset_budget=20 与 agent 在 log step 362 所称 episode=20→21 一致，因此评分集很可能是该脚本运行的最后一集；这些调用计数不证明脚本完整执行，脚本输出未记录。无视频，t 留空，log step 361 仅作为脚本启动的日志锚点。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json；video.json.kind=none，本作业没有视频、状态日志或可用图像，故所有 intervals 和视频时间均为 null。log step 361 仅返回后台启动信息，log step 362 的 out.text 为空，没有最终脚本的任务反馈、完成输出或退出状态；log step 358 的代码中段还被原始记录截去3758字符。推断：最终评分器 goals_reached=0/38 足以判定38个有序锁存事件均未通过，但不能据此区分抓取、抬起、轨迹或首目标位姿搜索的失败，也不能证明脚本运行到了标定或跟踪分支。标定逻辑位于首目标搜索之后，不能仅据该代码观察解释搜索阶段为何未达标，故根因层与现象层均留空，首节点接触为未知。log step 335、348、349 的自编点云诊断及 log step 361 之前的调试记录只属会话证据，不代表最终评分集的物理经过；后续37个节点未获顺序解锁，不另标为尝试。" + }, + "summary_zh": "观察：最终评分器记录 goals_reached=0/38、progress=0、success=0，全部38个有序位姿事件均未通过，断点保留为到达第1位姿的操作中。观察：未验证的代码观察——log step 358 在首目标搜索结束后无条件以目标位姿标定手刷变换；该分支是否实际执行及其与本次失败的因果联系均未验证，不作根因。推断：评分集很可能是 log step 361 启动的最后一集，但没有脚本完成输出、视频或状态日志，不能区分具体物理失败或控制机理，现象和根因均留空，整体 conf 降至4。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": 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不能在缺交付时证明本节点为假，会话试验不作为本节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注灵巧手与羊角锤的实际接触；会话调试接触不计入受评轨迹。" + } + ] + }, + "pose_02_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 143, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 143 记录 Gemini 过滤器阻断。本运行无视频、无状态日志，也无交付轨迹的第2个位姿验收结果；reward.progress=0.0 不能在缺交付时证明本节点为假，会话试验不作为本节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注灵巧手与羊角锤的实际接触；会话调试接触不计入受评轨迹。" + } + ] + }, + "pose_03_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 143, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；log step 143 记录 Gemini 过滤器阻断。本运行无视频、无状态日志，也无交付轨迹的第3个位姿验收结果；reward.progress=0.0 不能在缺交付时证明本节点为假，会话试验不作为本节点值。" + } + ], + "contact_actual": [ + { + 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"who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，无交付轨迹可标注灵巧手与羊角锤的实际接触；会话调试接触不计入受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 143, + "where": "首步前", + "evidence_zh": "观察：log step 140 启动抓取参数扫描，log step 141 中 agent 自述仍在寻找抬升时的稳定持握，log step 143 出现“This request was blocked by Gemini's filters”。评分器报告 missing_trajectory=1；没有已交付并验证的受评轨迹，无法定位物理失败步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本运行 inputs/video.json 的 kind=none，未提供状态日志；评分器 missing_trajectory=1。log step 143 为模型供应商过滤器中断，此前 log step 140–141 仍是抓取调试，未有受评交付。推断：按 CASES.md FAIL-5 / D37 属于结果确定前的外部中断，应重试并排除出机器人失败归因；保留原始 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{ + "t": null, + "log_step": 400, + "text_zh": "观察：评分器字段 missing_trajectory=1，且 log step 400 的输出目录清单仅列出两张测试图片，没有交付轨迹；本次无视频或状态日志。评分器未报告已达目标计数，不能判定第38目标在受评轨迹中的终值；其他测试回合的计数不计入本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，无交付轨迹；会话测试中灵巧手与羊角锤的接触不作为本次轨迹的实际接触。" + } + ] + }, + "goal_pose_39_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 400, + "text_zh": "观察：评分器字段 missing_trajectory=1，且 log step 400 的输出目录清单仅列出两张测试图片，没有交付轨迹；本次无视频或状态日志。评分器未报告已达目标计数，不能判定第39目标在受评轨迹中的终值；其他测试回合的计数不计入本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，无交付轨迹；会话测试中灵巧手与羊角锤的接触不作为本次轨迹的实际接触。" + } + ] + }, + "goal_pose_40_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 400, + "text_zh": "观察：评分器字段 missing_trajectory=1，且 log step 400 的输出目录清单仅列出两张测试图片，没有交付轨迹；本次无视频或状态日志。评分器未报告已达目标计数，不能判定第40目标在受评轨迹中的终值；其他测试回合的计数不计入本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，无交付轨迹；会话测试中灵巧手与羊角锤的接触不作为本次轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goals_reached", + "unit": "count", + "threshold": 40, + "direction": "higher_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + }, + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 484, + "where": "首步前", + "evidence_zh": "观察：评分器字段 success=0、missing_trajectory=1、grader_error=0。log step 400 的输出目录仅有 start_scene.png、lift_test.png；全日志未见 agent 调用轨迹录制或保存，末尾 log step 480 仍在启动抓取偏移测试，最后一次发言（log step 481）称在等待测试结果，log step 484 仍是目标逆解误差诊断。推断：没有交付可供评分的物理轨迹，因此无法指定发生物理失败的目标节点，断点记为 unknown / 首步前。" + }, + "unmet": { + "goal_pose_01_reached": null, + "goal_pose_02_reached": null, + "goal_pose_03_reached": null, + "goal_pose_04_reached": null, + "goal_pose_05_reached": null, + "goal_pose_06_reached": null, + "goal_pose_07_reached": null, + "goal_pose_08_reached": null, + "goal_pose_09_reached": null, + "goal_pose_10_reached": null, + "goal_pose_11_reached": null, + "goal_pose_12_reached": null, + "goal_pose_13_reached": null, + "goal_pose_14_reached": null, + "goal_pose_15_reached": null, + "goal_pose_16_reached": null, + "goal_pose_17_reached": null, + "goal_pose_18_reached": null, + "goal_pose_19_reached": null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + "goal_pose_29_reached": null, + "goal_pose_30_reached": null, + "goal_pose_31_reached": null, + "goal_pose_32_reached": null, + "goal_pose_33_reached": null, + "goal_pose_34_reached": null, + "goal_pose_35_reached": null, + "goal_pose_36_reached": null, + "goal_pose_37_reached": null, + "goal_pose_38_reached": null, + "goal_pose_39_reached": null, + "goal_pose_40_reached": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，未提供受评视频或状态日志，评分器报告 missing_trajectory=1；有另一成功回合的 oracle 视频，但不能用它证明本次动作。log step 84、294、347 的测试计数分别包含到达若干目标的记录，均无轨迹保存或交付记录，不能作为受评节点、接触或失败现象的证据；reward.progress=0.0 同时伴随缺交付，未报告受评回合的 goals_reached，故不据此把40个节点判为物理上未达，全部终值保持未知。推断：会话日志末尾 agent 时间为3584 s（log step 484），整次 wall_s=3602，接近3600 s预算，符合持续调试后未交付；没有证据指向外部过滤、网络或运行框架中断。依 DECISIONS.md D23，无交付时现象和根因留空；会话中的滑脱、逆解失败不足以确定最终受评尝试的物理现象或致因，亦不从缺交付本身推断交付操作出错。" + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，本次未交付受评轨迹，40个目标节点均无可判定的终值。日志中的多次抓取和逆解测试未转成录制或保存的轨迹，断点为 unknown / 首步前，依无交付规则保留空现象和根因。没有本次视频或状态日志，成功参考视频也不能替代本次证据；评分进度0不用于反推物理节点值。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1，未交付受评轨迹。40个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23 与 03 的无交付规则，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:56:28Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", 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"evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第2目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_03_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第3目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_04_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第4目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_05_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第5目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_06_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": 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missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第30目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_31_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第31目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_32_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第32目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_33_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第33目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_34_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第34目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_35_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第35目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_36_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第36目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_37_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第37目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_38_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第38目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_39_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第39目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + }, + "goal_pose_40_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：评分器字段 missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无状态日志。log step 107 仅编写测试脚本，log step 108 运行该脚本后无结果输出，未见正式轨迹保存记录；没有可归属正式交付的第40目标验收记录，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付的受评控制轨迹；会话调试中的手指与羊角锤接触不计为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goals_reached", + "unit": "count", + "threshold": 40, + "direction": "higher_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + }, + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 108, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、grader_error=0。log step 103 的最后一条 agent 自述为已启动测试并等待结果；log step 107 改写测试脚本，log step 108 再次运行，输出为空，日志到此结束。会话记录未见正式控制轨迹保存或验收，无法定位受评物理步骤，断点记为 unknown／首步前。" + }, + "unmet": { + "goal_pose_01_reached": null, + "goal_pose_02_reached": null, + "goal_pose_03_reached": null, + "goal_pose_04_reached": null, + "goal_pose_05_reached": null, + "goal_pose_06_reached": null, + "goal_pose_07_reached": null, + "goal_pose_08_reached": null, + "goal_pose_09_reached": null, + "goal_pose_10_reached": null, + "goal_pose_11_reached": null, + "goal_pose_12_reached": null, + "goal_pose_13_reached": null, + "goal_pose_14_reached": null, + "goal_pose_15_reached": null, + "goal_pose_16_reached": null, + "goal_pose_17_reached": null, + "goal_pose_18_reached": null, + "goal_pose_19_reached": null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + "goal_pose_29_reached": null, + "goal_pose_30_reached": null, + "goal_pose_31_reached": null, + "goal_pose_32_reached": null, + "goal_pose_33_reached": null, + "goal_pose_34_reached": null, + "goal_pose_35_reached": null, + "goal_pose_36_reached": null, + "goal_pose_37_reached": null, + "goal_pose_38_reached": null, + "goal_pose_39_reached": null, + "goal_pose_40_reached": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无本次受评视频（inputs/video.json: kind=none），无状态日志，评分器报告 missing_trajectory=1，缺少可核对的正式交付轨迹。log step 105 引用的 reached=13/40 是会话调试结果；log step 88、96 的机械臂与桌面接触以及 log step 100 的脚本异常也均属会话测试，不能作为正式尝试的节点值或失败现象。run.json 的 wall_s=3602、time_limit_s=3600，末尾 log step 108 仍在测试，但没有足够证据确定未交付的具体能力根因；依无交付规则，两层均留空，不以时限或交付缺失反推原因。评分 progress=0.0 保留为原生指标，但缺轨迹时不能据此断言40个物理节点均未到达。参考成功视频属于另一条运行，不能补足本次证据。" + }, + "summary_zh": "评分器报告未交付控制轨迹（missing_trajectory=1），本次无视频和状态日志，40个目标节点的终值均无法确认。会话调试曾报告13/40（log step 105），但没有证据表明其成为正式提交；日志末尾 log step 108 仍在运行测试。断点记为unknown／首步前，接触均为不适用，现象和根因因缺少受评轨迹证据留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1：40个节点 unknown、断点 unknown/首步前、两层留空并写 gap_zh，符合 D23(a) 与 03 Step 3 规则；会话测试的13/40未被当作受评事实，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:55:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_side-privileged--v7ghbsu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_hammer_claw_hammer_swing_side-privileged--v7ghbsu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3fefdea2e93305bf39a3ad6cab88b4fa8c35f26cd4870b3bfa049d4690f5b599", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/hammer_mallet_hammer_swing_down/trajectories/dextoolbench_hammer_mallet_hammer_swing_down-privileged--b9zvbpv.json b/phase2/dextoolbench/hammer_mallet_hammer_swing_down/trajectories/dextoolbench_hammer_mallet_hammer_swing_down-privileged--b9zvbpv.json new file mode 100644 index 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missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿22，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿23，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿24，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿25，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿26，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿27，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿28，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿29，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿30，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_31_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿31，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_32_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿32，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_33_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿33，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_34_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿34，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_35_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿35，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + }, + "pose_36_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器结果为 missing_trajectory=1、progress=0.0、success=0；DAG 的 progress 按顺序到达数/36计，因此评分结果未计入位姿36，final=false。这不表示会话测试中未到达该位姿；本次无交付轨迹、无视频及状态日志，不能给出视频时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未收到可评分的关节轨迹；会话测试中的灵巧手与木槌接触不作为本次交付的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 108, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、progress=0.0、grader_error=0；最后的 log step 108 仍由 agent 脚本重新建立仿真会话并输出目标跟踪误差，未保存或提交轨迹。推断：没有可评分的交付执行，无法把会话中的物理失败指定为本次断点，故 ref=unknown、位置为首步前。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频、无状态日志，且评分器明确报告 missing_trajectory=1。log step 85、95、96、108 的目标计数、工具位姿和接触输出来自 agent 自行建立或重置的测试会话，不能转作交付节点或失败现象；最后一条 agent 自述（log step 93）仅说启动参数扫描并等待，没有最终完成报告。运行 wall_s=3603，预算 time_limit_s=3600，日志末尾仍在诊断；这些信息不能单独证明具体控制或交付操作根因。按 D23，缺交付时现象和根因均留空，不以超时或缺交付本身归因；全部视频时间为null。评分的0/36只表示没有计入交付进度，不否认会话测试中的局部进展。" + }, + "summary_zh": "评分器报告缺少轨迹（missing_trajectory=1），本次交付的36个顺序位姿均未计入，评分进度为0/36。agent 在日志末尾仍进行木槌抓握与闭环跟踪测试（log step 95—108），没有可评分执行，断点记为unknown／首步前。无本次视频、状态日志或已交付轨迹，不能将测试中的进展、脱手等结果转为交付标签，现象和根因依D23留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器 missing_trajectory=1、无视频/状态日志；文件按 D23(a) 留空现象与根因并给出 gap_zh，36 个节点 final=false 并说明会话测试不计入，未把超时或会话进展转为标签。未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": 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"states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/hammer_mallet_hammer_swing_down/trajectories/dextoolbench_hammer_mallet_hammer_swing_down-standard--cefm6yd.json b/phase2/dextoolbench/hammer_mallet_hammer_swing_down/trajectories/dextoolbench_hammer_mallet_hammer_swing_down-standard--cefm6yd.json new file mode 100644 index 0000000000000000000000000000000000000000..36c89fde563bb26f31c86e865d559baafd232318 --- /dev/null +++ b/phase2/dextoolbench/hammer_mallet_hammer_swing_down/trajectories/dextoolbench_hammer_mallet_hammer_swing_down-standard--cefm6yd.json @@ -0,0 +1,624 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_hammer_mallet_hammer_swing_down-standard--cefm6yd", + "taskKey": "dextoolbench/hammer_mallet_hammer_swing_down", + "dag_sha256": "3b2b7cf12b3569d4ba99132ef512bcdb4b2b47a075d89cce145eb426eba8adeb", + "outcome": { + "success": 0, + "reward": 0.0, + "source": 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"intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第1目标定义为按序通过后锁存的事件，最终累计计数0小于1，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + }, + { + "t": null, + "log_step": 223, + "text_zh": "观察：log step 223 启动最终 gen.py 控制脚本，记录 sim.reset=1、sim.submit=84；log step 224 的 sim.submit=21751，agent 自述已在 Episode 21 启动控制器并等待执行。log step 4 的服务协议说明重置后仅最后回合评分。推断：最终回合已提交首目标操作，但评分器 goals_reached=0 表明首个位姿未被接受；无法从提交数量判定木槌是否被抓住。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：最终控制器在 log step 223 启动且随后有动作提交；本次无视频、无状态日志或接触对记录。推断：左侧灵巧手与木槌之间实际是否接触、是否形成对向夹持均不可核实，不能将脚本中的抓取意图标为实际抓握。" + } + ] + }, + "pose_02_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第2目标定义为按序通过后锁存的事件，最终累计计数0小于2，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_03_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第3目标定义为按序通过后锁存的事件，最终累计计数0小于3，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_04_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第4目标定义为按序通过后锁存的事件，最终累计计数0小于4，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_05_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第5目标定义为按序通过后锁存的事件，最终累计计数0小于5，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_06_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第6目标定义为按序通过后锁存的事件，最终累计计数0小于6，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_07_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第7目标定义为按序通过后锁存的事件，最终累计计数0小于7，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_08_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第8目标定义为按序通过后锁存的事件，最终累计计数0小于8，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_09_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第9目标定义为按序通过后锁存的事件，最终累计计数0小于9，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_10_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第10目标定义为按序通过后锁存的事件，最终累计计数0小于10，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_11_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第11目标定义为按序通过后锁存的事件，最终累计计数0小于11，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_12_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第12目标定义为按序通过后锁存的事件，最终累计计数0小于12，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_13_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第13目标定义为按序通过后锁存的事件，最终累计计数0小于13，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_14_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第14目标定义为按序通过后锁存的事件，最终累计计数0小于14，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_15_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第15目标定义为按序通过后锁存的事件，最终累计计数0小于15，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_16_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第16目标定义为按序通过后锁存的事件，最终累计计数0小于16，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_17_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第17目标定义为按序通过后锁存的事件，最终累计计数0小于17，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_18_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第18目标定义为按序通过后锁存的事件，最终累计计数0小于18，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_19_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第19目标定义为按序通过后锁存的事件，最终累计计数0小于19，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_20_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第20目标定义为按序通过后锁存的事件，最终累计计数0小于20，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_21_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第21目标定义为按序通过后锁存的事件，最终累计计数0小于21，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_22_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第22目标定义为按序通过后锁存的事件，最终累计计数0小于22，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第23目标定义为按序通过后锁存的事件，最终累计计数0小于23，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第24目标定义为按序通过后锁存的事件，最终累计计数0小于24，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第25目标定义为按序通过后锁存的事件，最终累计计数0小于25，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第26目标定义为按序通过后锁存的事件，最终累计计数0小于26，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第27目标定义为按序通过后锁存的事件，最终累计计数0小于27，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第28目标定义为按序通过后锁存的事件，最终累计计数0小于28，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第29目标定义为按序通过后锁存的事件，最终累计计数0小于29，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第30目标定义为按序通过后锁存的事件，最终累计计数0小于30，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_31_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第31目标定义为按序通过后锁存的事件，最终累计计数0小于31，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_32_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第32目标定义为按序通过后锁存的事件，最终累计计数0小于32，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_33_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第33目标定义为按序通过后锁存的事件，最终累计计数0小于33，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_34_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第34目标定义为按序通过后锁存的事件，最终累计计数0小于34，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_35_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第35目标定义为按序通过后锁存的事件，最终累计计数0小于35，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + }, + "pose_36_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的最终评分器字段为 goals_reached=0、n_goals=36、progress=0.0、finalized=1。推断：DAG 将第36目标定义为按序通过后锁存的事件，最终累计计数0小于36，故该节点终值为 false；本次无视频，不能提供视频时间区间。" + } + ] + } + }, + "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": "pose_01_reached", + "t": null, + "log_step": 223, + "where": "操作中", + "evidence_zh": "观察：log step 4 服务协议规定仅最后回合评分；log step 223 启动最终 gen.py，sim.reset=1，log step 224 记有21751次动作提交，agent 自述为 Episode 21；最终评分器 goals_reached=0/36。推断：最后回合实际提交了首目标控制且始终未通过首个位姿，断点为 pose_01_reached 的操作中；无本次视频，不能定位具体失误时刻或动作阶段。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 中无本次 replay.mp4 或 states.jsonl；仅有另一次成功运行的 oracle 视频。log step 223 后未记录最终控制器的运行输出或木槌姿态、持握与接触读数，log step 221 的脚本中段也被原日志截断。推断：评分器的累计 goals_reached=0 足以决定全部36个事件节点终值为 false，但无法区分首目标失败是未接触、滑脱还是位置或朝向偏差，故现象层留空；log steps 178–180 查出的逆解角度单位问题已在最终脚本（log step 221）加入 radian 设置，不能把此前已修复的问题归为最后回合根因，根因层亦留空。成功参照的接触不构成本次证据，所有视频时间和区间均为 null。" + }, + "summary_zh": "评分器最终报告 goals_reached=0/36，按顺序锁存的36个位姿节点均未通过；最后回合在 log step 223 启动控制脚本并持续提交动作，断点为首个位姿操作中。此前多次重置后的调试结果不计入最后回合，且已修复的逆解单位错误不足以解释最终失败。本次无视频或状态日志，最终脚本执行反馈缺失，实际接触、物理失败现象及根因无法确定。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频/状态日志；36个事件节点终值 false 由评分器 goals_reached=0/36 决定，断点 pose_01_reached、现象与根因层留空并有 gap_zh，均有依据，未发现需改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:24Z", + "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_down-standard--cefm6yd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_hammer_mallet_hammer_swing_down-standard--cefm6yd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f33f2f1ac74c072d4080f53cf3563036647207a270c9d9ee6cfb2569da1cefe3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/hammer_mallet_hammer_swing_side/trajectories/dextoolbench_hammer_mallet_hammer_swing_side-privileged--oymm8sy.json b/phase2/dextoolbench/hammer_mallet_hammer_swing_side/trajectories/dextoolbench_hammer_mallet_hammer_swing_side-privileged--oymm8sy.json new file mode 100644 index 0000000000000000000000000000000000000000..5a9e0ec3c7b152178b29eef7ea5a31e6584ba864 --- /dev/null +++ b/phase2/dextoolbench/hammer_mallet_hammer_swing_side/trajectories/dextoolbench_hammer_mallet_hammer_swing_side-privileged--oymm8sy.json @@ -0,0 +1,783 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_hammer_mallet_hammer_swing_side-privileged--oymm8sy", + "taskKey": "dextoolbench/hammer_mallet_hammer_swing_side", + "dag_sha256": "1b4953334f59b04918d63eec93271bbf98e9f071d6cb3516fcc1b176027cd459", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "progress": 0.0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 48, + "agent_resets": 108, + "agent_control_steps": 21896, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 32, + "base": null, + "peak": null, + "final": null, + "nodes": { + "goal_pose_01_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第1个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_02_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第2个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_03_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第3个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_04_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第4个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_05_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第5个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_06_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第6个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_07_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：评分器reward记录missing_trajectory=1，inputs/video.json为kind=none，且无状态日志；未提供受评轨迹中第7个位姿的验收结果。log step 73为模型提供方过滤器中断通知；log step 72脚本输出的reached=32属于未交付的会话测试，不能据此判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录missing_trajectory=1，没有交付轨迹；会话测试的灵巧手与木槌接触不作为受评轨迹接触。" + } + ] + }, + "goal_pose_08_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": 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filters”，之后没有调用；评分器reward明确记录missing_trajectory=1、success=0。" + }, + "unmet": { + "goal_pose_01_reached": null, + "goal_pose_02_reached": null, + "goal_pose_03_reached": null, + "goal_pose_04_reached": null, + "goal_pose_05_reached": null, + "goal_pose_06_reached": null, + "goal_pose_07_reached": null, + "goal_pose_08_reached": null, + "goal_pose_09_reached": null, + "goal_pose_10_reached": null, + "goal_pose_11_reached": null, + "goal_pose_12_reached": null, + "goal_pose_13_reached": null, + "goal_pose_14_reached": null, + "goal_pose_15_reached": null, + "goal_pose_16_reached": null, + "goal_pose_17_reached": null, + "goal_pose_18_reached": null, + "goal_pose_19_reached": null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + 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missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_06_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第6目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_07_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第7目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_08_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第8目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_09_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第9目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_10_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第10目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_11_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第11目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_12_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第12目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_13_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第13目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_14_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第14目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_15_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第15目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_16_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第16目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_17_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第17目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_18_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第18目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_19_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第19目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_20_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第20目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_21_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第21目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_22_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第22目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第23目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第24目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第25目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第26目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第27目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第28目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第29目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第30目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_31_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第31目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_32_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第32目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_33_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第33目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_34_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第34目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_35_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第35目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + }, + "goal_36_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "推断：inputs/run.json 的评分器结果 reward.progress=0.0，log step 2 所读工具说明 progress 为已接受目标数除以目标总数；本任务共36个有序目标，故评分终值为0/36，第36目标未获接受。reward.missing_trajectory=1 且 log step 92 显示交付目录为空；此结论指评分结果，不否认会话测试曾达成目标。无视频，intervals 保持 null（03 Step 2 的总量上界规则、N9）。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的灵巧手与记号笔接触不属于已交付的评分尝试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "goals_reached", + "unit": "count", + "threshold": 36, + "direction": "higher_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "goal_01_reached", + "t": null, + "log_step": 129, + "where": "首步前", + "evidence_zh": "推断：评分器 reward.missing_trajectory=1、progress=0.0、success=0、grader_error=0；log step 92 显示交付目录为空，log step 129 仍是新建仿真会话后的抓笔及目标跟踪测试，未含保存或提交操作，且无返回结果。正式评分没有已交付轨迹，首个有序目标 goal_01_reached 未获接受，故断点为该步骤／首步前；无视频时间锚点，t 保持 null（03 Step 3.1）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频、状态日志或已交付动作轨迹；inputs/oracle/replay.mp4 属于另一次成功运行，不能证明本次接触或节点达成。log step 91 的 reached=11/36 来自 agent 脚本新建的会话测试，不能计入评分进度；36个节点的 final=false 是依据 reward.progress=0.0 的评分终值推断，不提供任何物理过程或达成时刻。run.json 记载 wall_s=3603、time_limit_s=3600，最后 log step 129 无工具返回，未提供明确结束原因；没有证据确认外部因素截断，亦不能仅据预算附近结束及交付缺失推定物理失败现象或具体根因。按03 Step 3.5、DECISIONS.md D23 当前处理保留空现象和空根因层。", + "unmet": { + "goal_01_reached": false, + "goal_02_reached": false, + "goal_03_reached": false, + "goal_04_reached": false, + "goal_05_reached": false, + "goal_06_reached": false, + "goal_07_reached": false, + "goal_08_reached": false, + "goal_09_reached": false, + "goal_10_reached": false, + "goal_11_reached": false, + "goal_12_reached": false, + "goal_13_reached": false, + "goal_14_reached": false, + "goal_15_reached": false, + "goal_16_reached": false, + "goal_17_reached": false, + "goal_18_reached": false, + "goal_19_reached": false, + "goal_20_reached": false, + "goal_21_reached": false, + "goal_22_reached": false, + "goal_23_reached": false, + "goal_24_reached": false, + "goal_25_reached": false, + "goal_26_reached": false, + "goal_27_reached": false, + "goal_28_reached": false, + "goal_29_reached": false, + "goal_30_reached": false, + "goal_31_reached": false, + "goal_32_reached": false, + "goal_33_reached": false, + "goal_34_reached": false, + "goal_35_reached": false, + "goal_36_reached": false + } + }, + "summary_zh": "推断：评分器报告 missing_trajectory=1、progress=0.0，本次没有可评分动作轨迹，按目标总量上界将36个节点终值均记为 false，接触均记为不适用。观察：log step 91 的会话测试报告11/36，log step 92 的交付目录为空，最后 log step 129 仍在测试；推断：正式评分的断点为 goal_01_reached／首步前。观察：本次无视频或状态日志，也无明确结束原因，无法支持物理失败现象或根因标签。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频、无状态日志；空的现象/根因层加 gap_zh 符合 03 第5条（智能体侧未交付）。但断点 ref 写成 unknown 不妥：未交付且第1目标从未达成，被卡的步骤明确就是 goal_01（参照 FAIL-22 的断点“第1个位姿/首步前”）；另外评分器 reward.progress=0.0 是评分结果字段，可作为 36 个节点未达成的上界，不应全部 unknown。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志的未交付运行：36 个节点 final=false 来自评分器 progress=0.0 的总量上界，断点 goal_01_reached／首步前，现象与根因层留空并带 gap_zh，均符合 03 与 D23(a)；会话测试的 11/36 未被计入评分进度。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:11Z", + "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_marker_sharpie_marker_draw_smile-privileged--vta8m6f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-privileged--vta8m6f/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-privileged--vta8m6f/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/dextoolbench_marker_sharpie_marker_draw_smile-privileged--vta8m6f/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7724f338baa142a9876c79a035835e409f58511ea7ca1f2842bbd9c56eae6fb6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/marker_sharpie_marker_write_c/trajectories/dextoolbench_marker_sharpie_marker_write_c-privileged--nmfnmoq.json b/phase2/dextoolbench/marker_sharpie_marker_write_c/trajectories/dextoolbench_marker_sharpie_marker_write_c-privileged--nmfnmoq.json new file mode 100644 index 0000000000000000000000000000000000000000..6af008f94ea733c8779cfcba4dc2e030225135fd --- /dev/null +++ b/phase2/dextoolbench/marker_sharpie_marker_write_c/trajectories/dextoolbench_marker_sharpie_marker_write_c-privileged--nmfnmoq.json @@ -0,0 +1,643 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_marker_sharpie_marker_write_c-privileged--nmfnmoq", + "taskKey": "dextoolbench/marker_sharpie_marker_write_c", + "dag_sha256": "aba8e2f6a924e0d4f5d7a906909cd0c46aad997e7a98d3c8a20ed70b8199339e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "progress": 0.0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 305, + "agent_resets": 619, + "agent_control_steps": 99736, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 25, + "base": null, + "peak": null, + "final": null, + "nodes": { + "goal_pose_01_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 413, + "text_zh": "观察：评分器reward.missing_trajectory=1；log step 413的输出目录清单只有三张诊断PNG，未见动作轨迹。本次无视频及状态日志，没有受评第1个位姿的确认记录；缺交付时的progress=0.0不作为该节点的物理状态观测，final保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": 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"root_causes": [], + "gap_zh": "观察：inputs/video.json为kind=none，inputs中无本次回放视频或状态日志；评分器missing_trajectory=1，未报告受评goals_reached或goal_distance_m。log step 407的脚本只把动作追加到内存列表，未见保存；log step 408的reached=2来自该会话测试，log step 411又新建Session并reset作诊断，均不是交付重放。日志止于log step 414，没有最终say或明确的终止原因；run.json的wall_s=3603、time_limit_s=3600仅描述会话耗时与预算，不能据此补造物理失败原因。按DECISIONS.md N9及D23，节点保持未知，现象与根因留空；不能仅因缺交付标没尝试或交付操作出错。" + }, + "summary_zh": "评分器判失败并记录missing_trajectory=1；无本次视频、状态日志或受评逐节点结果，25个位姿节点均无法判定，原生progress=0.0保留为评分器结果。log step 408的会话测试虽打印reached=2，但log step 413输出目录仍只有诊断图片，不能把测试进展计入受评轨迹。断点为unknown／首步前；无交付且日志未明确说明最终终止原因，现象与根因留空。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、progress=0.0。25 个节点保持 unknown，断点 unknown／首步前，现象与根因留空并写 gap_zh，符合 N9 与 D23(a)。会话测试的 reached=2 没有被计入受评轨迹。未发现需要修改的内容。", + "n_issues": 0, + 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"goal_pose_05_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第5个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_06_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第6个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_07_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第7个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_08_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第8个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_09_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第9个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_10_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第10个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": 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"note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_13_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第13个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器reward.missing_trajectory=1；没有交付轨迹，故不把会话试验中的灵巧手与记号笔接触记为本节点的实际接触。" + } + ] + }, + "goal_pose_14_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：评分器reward.missing_trajectory=1，本次无交付轨迹；inputs/video.json为kind=none，也无状态日志。log step 102仅有agent的闭环跟踪测试调用且out.text为空，没有评分器或服务报告第14个目标的确认结果；reward.progress=0.0伴随缺交付标志，不能据此认定该物理节点未达成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": 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missing_trajectory=1，没有交付轨迹；调试会话中灵巧手与记号笔的交互不计为本节点的实际接触。" + } + ] + }, + "goal_pose_43_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；log step 49 的候选脚本仅将动作保存为调试文件 partial.npy，log step 57 最后仅修改该脚本，未见正式交付。没有本次视频或状态日志，也没有受评回合到达位姿43的结果字段，故此节点终值未知；缺交付时的 progress=0.0 不作为物理节点未完成的证明。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；调试会话中灵巧手与记号笔的交互不计为本节点的实际接触。" + } + ] + }, + "goal_pose_44_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；log step 49 的候选脚本仅将动作保存为调试文件 partial.npy，log step 57 最后仅修改该脚本，未见正式交付。没有本次视频或状态日志，也没有受评回合到达位姿44的结果字段，故此节点终值未知；缺交付时的 progress=0.0 不作为物理节点未完成的证明。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": 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"t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第7个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_08_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第8个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_09_reached": { + "method": "unknown", + "intervals": null, + "final": null, + 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"unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第15个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_16_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第16个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_17_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第17个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_18_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第18个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + 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} + ] + }, + "goal_pose_21_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第21个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_22_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第22个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_23_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第23个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_24_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第24个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_25_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第25个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_26_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第26个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_27_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第27个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_28_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第28个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_29_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第29个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_30_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第30个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_31_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第31个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_32_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第32个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_33_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第33个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_34_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第34个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_35_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第35个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_36_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第36个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_37_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第37个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_38_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第38个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_39_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第39个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_40_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第40个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_41_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第41个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_42_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第42个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_43_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第43个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_44_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第44个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_45_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第45个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_46_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第46个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_47_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第47个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_48_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第48个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + }, + "goal_pose_49_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 114, + "text_zh": "观察：inputs/video.json 标明本次无视频，且无状态日志；评分器 reward.missing_trajectory=1，未报告交付轨迹的 goal_index 或第49个目标的验收结果。log step 114 仍是 agent 自建 Session 中的合指位置诊断，不能作为此节点的评分结果；reward.progress=0.0 不足以证明缺失轨迹中的物理节点未完成。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，未交付受评轨迹；会话中机械手与记号笔的调试接触不计入轨迹级接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "goals_reached", + "unit": "count", + "threshold": 49, + "direction": "higher_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 114, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、success=0、grader_error=0；log step 114 是 agent 新建并 reset 的 Session 内合指诊断，正常返回后日志结束；全部调用中未见轨迹保存或提交动作。推断：没有可标注的交付评分回合，只能定位为首步前，无法选择某个物理目标位姿作为失败节点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频、无状态日志，评分器明确报告缺少轨迹，未提供逐目标验收值；唯一视频 inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次的进度或接触。log step 94、95 的 0/49 跟踪测试及 log step 112 的持笔稳定性诊断均来自 agent 自建并重置的会话，未被保存为交付轨迹，不能作为受评尝试的物理现象。run.json 记录 agent 工作总用时 wall_s=3603 s、预算 time_limit_s=3600 s，log step 103 最后一次发言只称正在等待参数扫描，log step 114 仍在诊断；没有明确的最终交付报告或中断原因记录。推断：依缺交付规则保留空现象与空根因，不把会话测试失败、预算耗尽或缺交付本身推定为具体能力根因。", + "unmet": { + "goal_pose_01_reached": null, + "goal_pose_02_reached": null, + "goal_pose_03_reached": null, + "goal_pose_04_reached": null, + "goal_pose_05_reached": null, + "goal_pose_06_reached": null, + "goal_pose_07_reached": null, + "goal_pose_08_reached": null, + "goal_pose_09_reached": null, + "goal_pose_10_reached": null, + "goal_pose_11_reached": null, + "goal_pose_12_reached": null, + "goal_pose_13_reached": null, + "goal_pose_14_reached": null, + "goal_pose_15_reached": null, + "goal_pose_16_reached": null, + "goal_pose_17_reached": null, + "goal_pose_18_reached": null, + "goal_pose_19_reached": null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + "goal_pose_29_reached": null, + "goal_pose_30_reached": null, + "goal_pose_31_reached": null, + "goal_pose_32_reached": null, + "goal_pose_33_reached": null, + "goal_pose_34_reached": null, + "goal_pose_35_reached": null, + "goal_pose_36_reached": null, + "goal_pose_37_reached": null, + "goal_pose_38_reached": null, + "goal_pose_39_reached": null, + "goal_pose_40_reached": null, + "goal_pose_41_reached": null, + "goal_pose_42_reached": null, + "goal_pose_43_reached": null, + "goal_pose_44_reached": null, + "goal_pose_45_reached": null, + "goal_pose_46_reached": null, + "goal_pose_47_reached": null, + "goal_pose_48_reached": null, + "goal_pose_49_reached": null + } + }, + "summary_zh": "评分器报告 success=0、progress=0.0、missing_trajectory=1，未形成可核查的交付轨迹，49个有序目标节点的终值均未知。日志显示 agent 持续进行记号笔抓握、逆解和跟踪调试，直到 log step 114 仍未见轨迹保存；断点只能记为 unknown／首步前，按缺交付规则不填物理现象或根因。没有本次视频或状态日志，会话测试及另一成功运行的参考视频均不能替代本次节点证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1：49个节点 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 03 第5条与 D23(a)；没有把会话测试（log 94/95/112）当作受评尝试，也没有把超时或缺交付推成根因。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:55:53Z", + "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": 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"unknown", + "t": null, + "log_step": 487, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、success=0；log step 487 的交付目录仅列三张调试图片。log step 543 启动的是新建 Session 的控制器测试，log step 544 的 agent 最后发言仍称等待该测试结果，未记录保存交付动作。推断：没有可识别的已交付评分回合，不能把会话中某次目标跟踪失败定位为本次评分断点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频（inputs/video.json 的 kind=none）、无状态日志，且评分器明确报告 missing_trajectory=1，无法观察任何已交付评分尝试的动作、接触或失败时刻。评分器 progress=0.0 与缺交付同时出现，未报告 goals_reached 或逐节点结果，不能据此把 29 个节点都判为 false。log step 530 的 1/29、log step 477 的 12/29 等均来自会话测试，不是交付结果；log step 544 也只是 agent 自述等待测试。运行记录 wall_s=3602、time_limit_s=3600，说明会话持续至预算附近，但预算耗尽本身不是现象或根因；未查到具体保存、录制或封装错误的证据。按 D23／CASES.md OPEN-16，缺交付时现象和根因均留空，不从会话测试推定评分回合的物理失败。", + "unmet": { + "marker_pose_01_reached": null, + "marker_pose_02_reached": null, + "marker_pose_03_reached": null, + "marker_pose_04_reached": null, + "marker_pose_05_reached": null, + "marker_pose_06_reached": null, + "marker_pose_07_reached": null, + 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a/phase2/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_horizontal-privileged--mrl3uwa.json b/phase2/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_horizontal-privileged--mrl3uwa.json new file mode 100644 index 0000000000000000000000000000000000000000..5504f5e535b82bba5165b062f5300705d2988b11 --- /dev/null +++ b/phase2/dextoolbench/screwdriver_long_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_long_screwdriver_spin_horizontal-privileged--mrl3uwa.json @@ -0,0 +1,756 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_long_screwdriver_spin_horizontal-privileged--mrl3uwa", + "taskKey": "dextoolbench/screwdriver_long_screwdriver_spin_horizontal", + "dag_sha256": "0724cd6f02e1fc1cc5160ff180fd069cca8f8ce23b4b11f9a955edcfd8d95319", + "outcome": { + "success": 0, + "reward": 0.0, + 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"推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第1个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_02_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第2个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_03_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第3个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_04_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第4个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_05_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第5个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_06_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第6个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_07_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第7个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_08_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第8个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_09_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第9个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_10_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第10个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_11_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第11个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_12_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第12个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_13_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第13个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_14_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第14个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_15_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第15个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_16_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第16个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_17_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第17个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_18_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第18个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_19_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第19个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_20_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第20个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_21_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第21个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_22_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第22个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第23个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第24个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第25个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第26个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第27个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第28个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第29个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第30个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_31_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器字段 reward.progress=0.0、missing_trajectory=1；本任务进度为依次通过的目标数除以31，因此受评分结果未通过第31个位姿，final=false。此处记录验收结果，不把会话测试的到达计数当作交付轨迹进展；无本次视频及状态日志，无法确定到达时刻。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付的受评动作轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 109, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、progress=0.0、success=0；log step 109 中 agent 的脚本新建 Session、reset 后执行控制测试并打印 reached，未保存或提交动作轨迹，输出止于本次测试。推断：没有交付轨迹可定位物理失败步骤，按未交付处理为 unknown／首步前，不将该会话测试停留的目标当作受评断点。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 中无本次 replay.mp4 或 states.jsonl；评分器 missing_trajectory=1。log step 89 的会话测试打印 reached=16/31，log step 109 的另一次测试打印 reached=9/31，均不是交付轨迹的回放；最后一条 say 是 log step 84 对后台测试的等待说明，未见最终完成报告。推断：本次仅能按评分器累计进度确定验收终值，无法重建物理过程、节点时间或实际失败现象；按 DECISIONS.md D23，未交付时现象与根因均留空，不从预算用尽、缺交付或会话测试失稳反推根因。oracle 视频属于另一条成功运行，不能补足本次证据。" + }, + "summary_zh": "评分器报告未交付动作轨迹（missing_trajectory=1），累计进度为0/31，故31个有序位姿节点均按验收结果记为未通过。日志含多次独立控制测试，其中 log step 89 打印通过16个位姿、log step 109 打印通过9个位姿，但不能计入受评交付；断点记为 unknown／首步前，依 D23 不填物理现象或根因。本次没有视频和状态日志，无法确定受评动作、接触及节点时刻，全部时间区间为null。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、progress=0，31 个节点均 false，断点 unknown/首步前，现象与根因留空并附 gap_zh，符合 D23(a)。会话测试的 16/31、9/31 未计入受评结果，未发现需要修改的内容。", + "n_issues": 0, + 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reward.missing_trajectory=1，本次无已交付评分轨迹、无本运行视频或状态日志，未报告第71个目标的评分到达结果。会话测试的 reached 计数不能作为此节点评分值，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有已交付评分轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_072_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 109 记录 Gemini 过滤器阻断；评分器 reward.missing_trajectory=1，本次无已交付评分轨迹、无本运行视频或状态日志，未报告第72个目标的评分到达结果。会话测试的 reached 计数不能作为此节点评分值，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有已交付评分轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_073_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 109 记录 Gemini 过滤器阻断；评分器 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reward.missing_trajectory=1，本次无已交付评分轨迹、无本运行视频或状态日志，未报告第75个目标的评分到达结果。会话测试的 reached 计数不能作为此节点评分值，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有已交付评分轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_076_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 109 记录 Gemini 过滤器阻断；评分器 reward.missing_trajectory=1，本次无已交付评分轨迹、无本运行视频或状态日志，未报告第76个目标的评分到达结果。会话测试的 reached 计数不能作为此节点评分值，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有已交付评分轨迹；会话测试中的灵巧手与螺丝刀接触不作为本节点的实际接触。" + } + ] + }, + "goal_pose_077_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：log step 109 记录 Gemini 过滤器阻断；评分器 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null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + "goal_pose_29_reached": null, + "goal_pose_30_reached": null, + "goal_pose_31_reached": null, + "goal_pose_32_reached": null, + "goal_pose_33_reached": null, + "goal_pose_34_reached": null, + "goal_pose_35_reached": null, + "goal_pose_36_reached": null, + "goal_pose_37_reached": null, + "goal_pose_38_reached": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，本次运行无视频、无状态日志，评分器报告 missing_trajectory=1；仅提供另一成功运行的 oracle 视频，不能证明本次进度。log step 98 的测试曾输出 reached=2，log step 103 和 log step 108 的其他测试则输出 reached=0，均未被保存交付；这些是会话证据，不能据此填写受评节点或失败现象。运行记录 wall_s=3603、time_limit_s=3600，末尾仍为测试且无最终完成报告，未见造成最终中断的外部错误记录；时限本身不作为根因。依 DECISIONS.md D23，未交付且无已证实外因时两层留空；没有足够证据独立判断缺交付背后的能力或保存操作错误。评分器 progress=0 是缺交付结果，不据此断言38个位姿物理上均未到达，所有节点终值及视频时间保持未知。" + }, + "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1、progress=0，本次没有可供标注的交付轨迹，38个节点均无可确认的受评终值。观察：log step 98 的独立测试达到计数2，但会话持续修改抓取方案，至 log step 108 仍在测试，日志中未见保存交付；断点记 unknown／首步前，依 D23 不填失败现象和根因。观察：本次无视频及状态日志，成功参考属于另一运行，无法补足本次的接触、达成时间和物理失败证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、progress=0；标注按 D23(a) 将38个节点终值留 unknown、两层留空并写 gap_zh，断点 unknown／首步前，未把会话测试当作受评事实。日志末尾 step 108 仍是测试，未见保存交付，与文件一致。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", 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+ } + ] + }, + "goal_pose_08_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 467, + "text_zh": "观察：评分器reward记录missing_trajectory=1，未提供已接受目标计数或第8个位姿的终值；inputs/video.json为kind=none，也无状态日志。log step 467中agent列出的输出仅有调试图片和视频，不能据会话测试认定本次交付达到该位姿。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器missing_trajectory=1，没有交付轨迹可标实际接触；会话中的灵巧手调试不作为受评接触。" + } + ] + }, + "goal_pose_09_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 467, + "text_zh": "观察：评分器reward记录missing_trajectory=1，未提供已接受目标计数或第9个位姿的终值；inputs/video.json为kind=none，也无状态日志。log step 467中agent列出的输出仅有调试图片和视频，不能据会话测试认定本次交付达到该位姿。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器missing_trajectory=1，没有交付轨迹可标实际接触；会话中的灵巧手调试不作为受评接触。" + } + ] + }, + "goal_pose_10_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 467, + "text_zh": "观察：评分器reward记录missing_trajectory=1，未提供已接受目标计数或第10个位姿的终值；inputs/video.json为kind=none，也无状态日志。log step 467中agent列出的输出仅有调试图片和视频，不能据会话测试认定本次交付达到该位姿。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器missing_trajectory=1，没有交付轨迹可标实际接触；会话中的灵巧手调试不作为受评接触。" + } + ] + }, + "goal_pose_11_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 467, + "text_zh": "观察：评分器reward记录missing_trajectory=1，未提供已接受目标计数或第11个位姿的终值；inputs/video.json为kind=none，也无状态日志。log step 467中agent列出的输出仅有调试图片和视频，不能据会话测试认定本次交付达到该位姿。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器missing_trajectory=1，没有交付轨迹可标实际接触；会话中的灵巧手调试不作为受评接触。" + } + ] + }, + "goal_pose_12_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 467, + "text_zh": 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"goal_pose_04_reached": null, + "goal_pose_05_reached": null, + "goal_pose_06_reached": null, + "goal_pose_07_reached": null, + "goal_pose_08_reached": null, + "goal_pose_09_reached": null, + "goal_pose_10_reached": null, + "goal_pose_11_reached": null, + "goal_pose_12_reached": null, + "goal_pose_13_reached": null, + "goal_pose_14_reached": null, + "goal_pose_15_reached": null, + "goal_pose_16_reached": null, + "goal_pose_17_reached": null, + "goal_pose_18_reached": null, + "goal_pose_19_reached": null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + "goal_pose_29_reached": null, + "goal_pose_30_reached": null, + "goal_pose_31_reached": null, + "goal_pose_32_reached": null, + "goal_pose_33_reached": null, + "goal_pose_34_reached": null, + "goal_pose_35_reached": null, + "goal_pose_36_reached": null, + "goal_pose_37_reached": null, + "goal_pose_38_reached": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有交付轨迹（评分器missing_trajectory=1），没有本次受评视频（inputs/video.json:kind=none）或状态日志；成功参考视频属于另一运行，不能补充本次执行事实。log step 475—476的Goal 0/1 reached及goal_index=2是agent自行创建的测试Session输出，不能计入受评节点或当作断点现象。run.json的wall_s=3611、time_limit_s=3600，日志末尾仍在调试，没有最终交付报告；结束机制未单独记载，不能仅凭预算耗尽或缺交付推断能力根因。按DECISIONS.md D23，现象和根因均留空；reward.progress=0.0伴随missing_trajectory=1，并非一条实际受评轨迹的逐目标计数，38个节点终值均保留未知。" + }, + "summary_zh": "观察：评分器记录success=0、missing_trajectory=1，本次未交付轨迹；38个有序目标位姿均无法判定受评终值，不能将调试进度计入正式完成数。观察：log step 475—476的agent脚本测试已接受前两个目标，但仍在调试第三个目标，未保存交付轨迹。推断：断点只能记为unknown／首步前；缺少本次受评视频及状态日志，按D23保留空的失败现象和根因，不将缺交付本身归为控制或规划错误。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无交付轨迹（missing_trajectory=1）、无视频和状态日志；38个节点均为unknown、breakpoint unknown/首步前、现象与根因留空并写gap_zh，符合D23(a)。未把会话测试（log step 475-476的Goal reached）计入受评节点，也未把预算耗尽当作原因，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:52Z", + "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/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-privileged--viteugm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-privileged--viteugm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "59c3216fbf440328f9a187f20de71ca56984b56ee357efd22c46612398222cd7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--vnt9qwq.json b/phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--vnt9qwq.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1cf85ec2bfade582e9cc6e9a9087579d344334 --- /dev/null +++ b/phase2/dextoolbench/screwdriver_short_screwdriver_spin_horizontal/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--vnt9qwq.json @@ -0,0 +1,650 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--vnt9qwq", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_horizontal", + "dag_sha256": "f8f3f8ae4dc501fd370dc6fc1212ed16666def60ca6937a9c6f6712b2e429a48", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 1, + "finalized": 1, + "control_steps": 2408, + "calls": 351, + "elapsed_s": 3633.7, + "video_rendered": 0, + "infra_error": 0, + "grader_error": 0, + "no_verdict": 0, + "sim_error": 0, + "resets": 15, + "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": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.424, + "peak_processes": 8, + "peak_disk_gb": 0.298, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 38, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第1个位姿绑定为按序累计已达目标数至少1，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + }, + { + "t": null, + "log_step": 431, + "text_zh": "观察：log step 427 确认最终控制器重置到 episode 16；log step 431、433 中，该控制器从机器人服务返回的 task 元数据打印两段提交后的 goals_reached=0、goal_index=0，后续循环仍为0/38。log step 434 的服务状态确认 episode 16 已执行718个控制步，首目标的动作已启动。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "log step 422 的最终控制器命令左侧Sharpa灵巧手闭指并让机械臂执行抬升、对齐及搜索，log step 431 确认已提交执行；没有本次视频、接触对或持物状态，无法确认手指与短螺丝刀实际是否接触、是否形成对向夹持。" + } + ] + }, + "goal_pose_02_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第2个位姿绑定为按序累计已达目标数至少2，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_03_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第3个位姿绑定为按序累计已达目标数至少3，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_04_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第4个位姿绑定为按序累计已达目标数至少4，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_05_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第5个位姿绑定为按序累计已达目标数至少5，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_06_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第6个位姿绑定为按序累计已达目标数至少6，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_07_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第7个位姿绑定为按序累计已达目标数至少7，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_08_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第8个位姿绑定为按序累计已达目标数至少8，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_09_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第9个位姿绑定为按序累计已达目标数至少9，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_10_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第10个位姿绑定为按序累计已达目标数至少10，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_11_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第11个位姿绑定为按序累计已达目标数至少11，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_12_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第12个位姿绑定为按序累计已达目标数至少12，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_13_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第13个位姿绑定为按序累计已达目标数至少13，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_14_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第14个位姿绑定为按序累计已达目标数至少14，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_15_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第15个位姿绑定为按序累计已达目标数至少15，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_16_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第16个位姿绑定为按序累计已达目标数至少16，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_17_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第17个位姿绑定为按序累计已达目标数至少17，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_18_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第18个位姿绑定为按序累计已达目标数至少18，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_19_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第19个位姿绑定为按序累计已达目标数至少19，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_20_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第20个位姿绑定为按序累计已达目标数至少20，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_21_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第21个位姿绑定为按序累计已达目标数至少21，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_22_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第22个位姿绑定为按序累计已达目标数至少22，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第23个位姿绑定为按序累计已达目标数至少23，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第24个位姿绑定为按序累计已达目标数至少24，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第25个位姿绑定为按序累计已达目标数至少25，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第26个位姿绑定为按序累计已达目标数至少26，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第27个位姿绑定为按序累计已达目标数至少27，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第28个位姿绑定为按序累计已达目标数至少28，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第29个位姿绑定为按序累计已达目标数至少29，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第30个位姿绑定为按序累计已达目标数至少30，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_31_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第31个位姿绑定为按序累计已达目标数至少31，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_32_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第32个位姿绑定为按序累计已达目标数至少32，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_33_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第33个位姿绑定为按序累计已达目标数至少33，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_34_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第34个位姿绑定为按序累计已达目标数至少34，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_35_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第35个位姿绑定为按序累计已达目标数至少35，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_36_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第36个位姿绑定为按序累计已达目标数至少36，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_37_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第37个位姿绑定为按序累计已达目标数至少37，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + }, + "goal_pose_38_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "推断：inputs/run.json 的评分器 reward 明确报告 goals_reached=0、n_goals=38、progress=0.0、finalized=1；DAG 将第38个位姿绑定为按序累计已达目标数至少38，因此本次评分 episode 未完成此事件，终值为 false。无本次视频或状态日志，时间区间不可给出。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "goal_pose_01_reached", + "t": null, + "log_step": 431, + "where": "操作中", + "evidence_zh": "推断：log step 422、423 记录最终控制器的首目标抓取、抬升、对齐和局部搜索命令及启动；log step 427 确认其进入最后一次 episode 16，log step 431、433 的机器人服务返回计数在两段提交及后续循环后仍为 goals_reached=0、goal_index=0。评分器最终也报告0/38且执行2408个控制步，首个位姿始终未被接受，断点归于该步操作中；没有视频时刻可定位。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none，未提供本次 replay.mp4 或 states.jsonl；日志记录15次重置，只有最后的 episode 16 用于本次评分，前面各 episode 的点云估计与测试不能作为本次接触、抓取或位姿事实。最终服务反馈和评分器累计计数足以确定38个事件均未达成，但没有工具实际位姿、角点误差、持物状态或接触读数，无法区分未抓到、失持及位置/朝向偏差，故现象与根因均留空；最终脚本的固定偏移和手腕搜索不能独立证明其中哪种机制导致失败。已查看成功参考视频的抽样四视角画面以核对绿色目标虚影及工具的显示方式，但参考运行不是本次证据；所有视频时间和区间保留null，goal_distance_m未报告。" + }, + "summary_zh": "评分器报告最后一次实时episode已达目标为0/38，38个有序位姿事件终值均为false。最终控制器在episode 16执行首目标的抓取、抬升、对齐及搜索后，服务仍报告goal_index=0（log step 431、433），断点为首个位姿的操作中。没有本次视频或状态日志，不能核实实际接触或区分具体物理失败机制，因此时间区间、失败现象与根因不作猜测。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志（video.kind=none）。评分器 goals_reached=0/38，38 个节点 final=false、区间 null、contact_actual 为未知均与 N9 一致；断点 goal_pose_01_reached/操作中有 log step 422-434 支持；现象与根因留空并给出 gap_zh，合理。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:56:04Z", + "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/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--vnt9qwq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_screwdriver_short_screwdriver_spin_horizontal-standard--vnt9qwq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "35c907b61c056563d6aee81a949bcb1e2b5514392b0410b5ccef2ae96c15db5c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--8w3p7wm.json b/phase2/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--8w3p7wm.json new file mode 100644 index 0000000000000000000000000000000000000000..3d24a430fa7c4c35222f707a8a0a280452587dab --- /dev/null +++ b/phase2/dextoolbench/screwdriver_short_screwdriver_spin_vertical/trajectories/dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--8w3p7wm.json @@ -0,0 +1,1151 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_screwdriver_short_screwdriver_spin_vertical-standard--8w3p7wm", + "taskKey": "dextoolbench/screwdriver_short_screwdriver_spin_vertical", + "dag_sha256": 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+ "denominator": 76, + "base": null, + "peak": null, + "final": 0, + "nodes": { + "goal_pose_01_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为1，且目标按序确认并锁存，因此最终受评 episode 未完成第1个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + }, + { + "t": null, + "log_step": 208, + "text_zh": "观察：log step 166 执行最后一次 reset，log step 174 的服务状态确认 episode=6、resets_left=15、control_steps=264；此后未再重置。log step 176、201、208 的 agent 脚本读取当前目标并提交 joint_position 动作，log step 213 仍打印服务 goal_index=0、goals_reached=0；评分器最终记录此受评尝试有2508个控制步。推断：机器人已尝试首目标，但未完成，不能标为没尝试。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "首目标确有动作尝试（log step 166、176、208）；没有视频、状态接触对或服务抓持结果，无法核实左侧 Sharpa HA4 灵巧手与短螺丝刀是否形成包夹、是否滑动或触及桌面。agent 自述工具随手运动（log step 216）不作为实际接触判定。" + } + ] + }, + "goal_pose_02_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为2，且目标按序确认并锁存，因此最终受评 episode 未完成第2个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_03_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为3，且目标按序确认并锁存，因此最终受评 episode 未完成第3个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_04_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为4，且目标按序确认并锁存，因此最终受评 episode 未完成第4个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_05_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为5，且目标按序确认并锁存，因此最终受评 episode 未完成第5个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_06_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为6，且目标按序确认并锁存，因此最终受评 episode 未完成第6个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_07_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为7，且目标按序确认并锁存，因此最终受评 episode 未完成第7个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_08_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为8，且目标按序确认并锁存，因此最终受评 episode 未完成第8个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_09_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为9，且目标按序确认并锁存，因此最终受评 episode 未完成第9个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_10_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为10，且目标按序确认并锁存，因此最终受评 episode 未完成第10个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_11_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为11，且目标按序确认并锁存，因此最终受评 episode 未完成第11个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_12_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为12，且目标按序确认并锁存，因此最终受评 episode 未完成第12个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_13_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为13，且目标按序确认并锁存，因此最终受评 episode 未完成第13个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_14_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为14，且目标按序确认并锁存，因此最终受评 episode 未完成第14个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_15_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为15，且目标按序确认并锁存，因此最终受评 episode 未完成第15个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_16_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为16，且目标按序确认并锁存，因此最终受评 episode 未完成第16个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_17_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为17，且目标按序确认并锁存，因此最终受评 episode 未完成第17个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_18_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为18，且目标按序确认并锁存，因此最终受评 episode 未完成第18个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_19_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为19，且目标按序确认并锁存，因此最终受评 episode 未完成第19个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_20_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为20，且目标按序确认并锁存，因此最终受评 episode 未完成第20个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_21_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为21，且目标按序确认并锁存，因此最终受评 episode 未完成第21个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_22_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为22，且目标按序确认并锁存，因此最终受评 episode 未完成第22个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_23_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为23，且目标按序确认并锁存，因此最终受评 episode 未完成第23个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_24_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为24，且目标按序确认并锁存，因此最终受评 episode 未完成第24个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_25_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为25，且目标按序确认并锁存，因此最终受评 episode 未完成第25个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_26_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为26，且目标按序确认并锁存，因此最终受评 episode 未完成第26个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_27_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为27，且目标按序确认并锁存，因此最终受评 episode 未完成第27个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_28_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为28，且目标按序确认并锁存，因此最终受评 episode 未完成第28个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_29_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为29，且目标按序确认并锁存，因此最终受评 episode 未完成第29个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_30_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为30，且目标按序确认并锁存，因此最终受评 episode 未完成第30个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_31_reached": { + 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goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为33，且目标按序确认并锁存，因此最终受评 episode 未完成第33个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_34_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为34，且目标按序确认并锁存，因此最终受评 episode 未完成第34个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_35_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为35，且目标按序确认并锁存，因此最终受评 episode 未完成第35个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_36_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为36，且目标按序确认并锁存，因此最终受评 episode 未完成第36个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_37_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为37，且目标按序确认并锁存，因此最终受评 episode 未完成第37个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_38_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为38，且目标按序确认并锁存，因此最终受评 episode 未完成第38个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_39_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为39，且目标按序确认并锁存，因此最终受评 episode 未完成第39个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_40_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为40，且目标按序确认并锁存，因此最终受评 episode 未完成第40个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_41_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 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未完成第46个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_47_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为47，且目标按序确认并锁存，因此最终受评 episode 未完成第47个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_48_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为48，且目标按序确认并锁存，因此最终受评 episode 未完成第48个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_49_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为49，且目标按序确认并锁存，因此最终受评 episode 未完成第49个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_50_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为50，且目标按序确认并锁存，因此最终受评 episode 未完成第50个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_51_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为51，且目标按序确认并锁存，因此最终受评 episode 未完成第51个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_52_reached": { + 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goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为54，且目标按序确认并锁存，因此最终受评 episode 未完成第54个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_55_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为55，且目标按序确认并锁存，因此最终受评 episode 未完成第55个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_56_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为56，且目标按序确认并锁存，因此最终受评 episode 未完成第56个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_57_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为57，且目标按序确认并锁存，因此最终受评 episode 未完成第57个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_58_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为58，且目标按序确认并锁存，因此最终受评 episode 未完成第58个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_59_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为59，且目标按序确认并锁存，因此最终受评 episode 未完成第59个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_60_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为60，且目标按序确认并锁存，因此最终受评 episode 未完成第60个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_61_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为61，且目标按序确认并锁存，因此最终受评 episode 未完成第61个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_62_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 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未完成第67个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_68_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为68，且目标按序确认并锁存，因此最终受评 episode 未完成第68个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_69_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为69，且目标按序确认并锁存，因此最终受评 episode 未完成第69个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_70_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为70，且目标按序确认并锁存，因此最终受评 episode 未完成第70个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_71_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为71，且目标按序确认并锁存，因此最终受评 episode 未完成第71个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_72_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为72，且目标按序确认并锁存，因此最终受评 episode 未完成第72个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_73_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为73，且目标按序确认并锁存，因此最终受评 episode 未完成第73个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_74_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为74，且目标按序确认并锁存，因此最终受评 episode 未完成第74个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_75_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为75，且目标按序确认并锁存，因此最终受评 episode 未完成第75个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + }, + "goal_pose_76_reached": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 189, + "text_zh": "观察：评分器最终记录 goals_reached=0、n_goals=76、progress=0、finalized=1；log step 189 的机器人服务 task 字段亦为 goal_index=0、goals_reached=0。推断：本节点需原生累计到达数至少为76，且目标按序确认并锁存，因此最终受评 episode 未完成第76个目标；此判断来自到达计数而非二元失败分数。无视频，时间区间为 null。" + } + ] + } + }, + "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": null, + "log_step": 206, + "where": "操作中", + "evidence_zh": "观察：log step 166 的最后一次 reset 后，log step 174 的服务状态为 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"推断：首目标的模型与执行闭环未能使真实工具满足位姿验收，归为控制，细类证据不足。依据为 log step 176、185、201、208 的 agent 脚本：用自行拟合的固定法兰到工具变换计算工具位姿，求逆解后提交关节位置动作，再以关节读数代入同一模型计算误差；末段控制未用独立工具位姿测量修正模型。log step 183、193 打印持续关节跟踪残差，log step 206 则已打印模型位置误差0.0002米、角度误差0.02度、关节跟踪误差0.0007，而机器人服务的 goal_index 仍为0；log step 208、213 的平移偏置搜索后仍未确认首目标。该归因依据控制代码和模型预测与服务确认的持续不一致；不足以区分校准偏差、工具相对手的运动、接触阻挡或具体反馈控制缺陷。" + } + ], + "gap_zh": "inputs/ 中只有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，没有视频、状态日志或成功参考视频。所有 intervals 及视频时刻均保留 null；节点最终值来自评分器原生累计到达数，agent 自行计算的位姿误差不作为节点值。评分局为最后一次重置后的 episode=6，之前 episode 的抓持丢失或调试动作不作为本次失败现象。现有日志未报告真实工具位姿、接触对、抓持或接触力，无法在位姿不准、没保持住和被挡/碰撞之间给出有物理证据的判断，故现象层为空、首节点接触为未知；控制根因仅作概括推断。log step 216 的 agent 自述“腕部可能受桌边阻挡”及“工具位姿测量不可靠”未获独立观测验证，不能据此增加碰撞或感知标签；日志中的模型近零误差也不能证明评分器误判。" + }, + "summary_zh": "最终受评的是第5次重置后的 episode=6；评分器原生累计到达数为0/76，全部76个有序目标节点最终未完成。机器人控制脚本持续尝试首目标，模型预测误差虽降得很小，服务仍未确认到达，断点为到达位姿1的操作中，根因概括为控制。没有视频或状态日志，无法核实实际接触、具体物理失败现象及其视频时刻，故接触标未知、现象层留空。", + "conf": 6, + "review": { + "status": "agreed", + 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reward.missing_trajectory=1，未交付可供评分的轨迹；inputs/video.json.kind=none，且无状态日志。log step 160 的 agent 最后发言仍在等待逆解测试；没有受评轨迹中第42个目标的计数或最终状态，故该节点未知；评分器 progress=0.0 不作为实际到达数的测量。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中灵巧手与平铲的接触不属于受评轨迹。" + } + ] + }, + "goal_pose_43_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 160, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未交付可供评分的轨迹；inputs/video.json.kind=none，且无状态日志。log step 160 的 agent 最后发言仍在等待逆解测试；没有受评轨迹中第43个目标的计数或最终状态，故该节点未知；评分器 progress=0.0 不作为实际到达数的测量。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中灵巧手与平铲的接触不属于受评轨迹。" + } + ] + }, + "goal_pose_44_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 160, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未交付可供评分的轨迹；inputs/video.json.kind=none，且无状态日志。log step 160 的 agent 最后发言仍在等待逆解测试；没有受评轨迹中第44个目标的计数或最终状态，故该节点未知；评分器 progress=0.0 不作为实际到达数的测量。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中灵巧手与平铲的接触不属于受评轨迹。" + } + ] + }, + "goal_pose_45_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 160, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未交付可供评分的轨迹；inputs/video.json.kind=none，且无状态日志。log step 160 的 agent 最后发言仍在等待逆解测试；没有受评轨迹中第45个目标的计数或最终状态，故该节点未知；评分器 progress=0.0 不作为实际到达数的测量。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中灵巧手与平铲的接触不属于受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": 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}, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 MANIFEST.json、meta.json、run.json 和 video.json，无视频、无状态日志；评分器 missing_trajectory=1，goal_distance_m 和 goals_reached 均未报告。log step 29、32、47 的抓取和跟踪结果及 log step 116 的纯运动学误差均为 agent 会话测试，未交付为评分轨迹；log step 159—160 仍在进行逆解测试。run.json 记录 wall_s=3603、time_limit_s=3600，不能将预算用尽本身当作现象或根因；也没有足够证据把未交付归为某次保存操作错误。按 D23，无交付时现象与根因留空；按 N9，45个节点的终值与全部视频时间均未知，progress=0.0 仅保留为评分器返回的原生指标。" + }, + "summary_zh": "评分器报告失败且 missing_trajectory=1，没有交付可评分的动作轨迹；45个目标节点均无法确定终值，已确认完成数为0。agent 会话包含抓取、跟踪和逆解测试，但 log step 160 结束时仍在等待新的逆解测试结果，故断点记 unknown／首步前，现象和根因按无交付规则留空。无视频或状态日志，评分器 progress=0.0 不能补出物理执行过程或逐节点到达结果。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1，未交付轨迹；标注按 D23(a) 将 45 个节点记 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，与证据一致，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:54:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--he2uodg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_flip_over-privileged--he2uodg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + 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kind=none，且没有状态日志。没有可核验的评分轨迹或报告第23个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_24_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第24个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_25_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第25个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_26_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第26个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_27_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第27个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_28_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第28个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_29_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第29个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_30_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第30个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_31_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第31个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_32_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第32个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + }, + "goal_pose_33_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、progress=0.0；inputs/video.json 为 kind=none，且没有状态日志。没有可核验的评分轨迹或报告第33个位姿验收结果的有效重放字段，节点终值未知；会话测试结果不作为本节点完成证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹，无法标注该轨迹中灵巧手与平铲的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_distance_m", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 124, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、grader_error=0；agent 在 log step 85 编写的生成脚本只在全部目标通过后保存轨迹，log step 86、88 运行分别因数组形状错误和不存在的 _goal_idx 属性退出。log step 93 替换脚本后仅作测试，log step 94、96、98 输出均停在从零编号的 goal 9（reached=9）；最后 log step 124 仍在测量接触力，没有成功保存并验证交付轨迹的记录。推断：没有可定位物理失败步骤的评分尝试，断点保留 unknown，位置记首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 中仅有 MANIFEST.json、meta.json、run.json、video.json，没有视频、状态日志或成功参考视频；评分器明确报告 missing_trajectory=1。run.json 虽含 trajectory 文件元数据，但输入中没有该文件，也没有评分器认可其为有效关节轨迹的结果，不能据此推翻 missing_trajectory 判定。评分进度 0.0 出现在缺交付判负中，不能证明 33 个物理节点的终值，因此所有节点及所有视频时间均为 null。log step 49、59、70、94、96、98、123 的部分位姿通过、误差与接触读数属于会话测试，不能移入评分轨迹；log step 124 还是直接设置物体位姿的接触诊断。记录的 wall_s=3603 与 time_limit_s=3600 接近，但未提供明确的最终中断消息，不能据此编造外部故障。依 D23（无交付、agent 侧原因的当前处理）将现象和根因均留空，不把会话中的碰撞、滑移或代码错误标为评分轨迹失败。", + "unmet": { + "goal_pose_01_reached": null, + "goal_pose_02_reached": null, + "goal_pose_03_reached": null, + "goal_pose_04_reached": null, + "goal_pose_05_reached": null, + "goal_pose_06_reached": null, + "goal_pose_07_reached": null, + "goal_pose_08_reached": null, + "goal_pose_09_reached": null, + "goal_pose_10_reached": null, + "goal_pose_11_reached": null, + "goal_pose_12_reached": null, + "goal_pose_13_reached": null, + "goal_pose_14_reached": null, + "goal_pose_15_reached": null, + "goal_pose_16_reached": null, + "goal_pose_17_reached": null, + "goal_pose_18_reached": null, + "goal_pose_19_reached": null, + "goal_pose_20_reached": null, + "goal_pose_21_reached": null, + "goal_pose_22_reached": null, + "goal_pose_23_reached": null, + "goal_pose_24_reached": null, + "goal_pose_25_reached": null, + "goal_pose_26_reached": null, + "goal_pose_27_reached": null, + "goal_pose_28_reached": null, + "goal_pose_29_reached": null, + "goal_pose_30_reached": null, + "goal_pose_31_reached": null, + "goal_pose_32_reached": null, + "goal_pose_33_reached": null + } + }, + "summary_zh": "观察：评分器以 missing_trajectory=1 记录失败，原生 progress=0.0；没有已确认完成的评分节点，33 个节点终值均未知。会话测试曾报告累计通过 9 个位姿（如 log step 94），但未形成可核验交付，故断点为 unknown／首步前；无视频及状态日志，依 D23 留空失败现象与根因。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、progress=0；标注依 D23(a) 将现象/根因留空并给出 gap_zh，33 个节点均为 unknown，会话测试读数未被当作评分轨迹事实，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-privileged--2kmzjmp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-privileged--2kmzjmp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a01536e88bc26d8c57fc6c2eac2db30adf015688817f9cbe053c4ace3b13b200", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-privileged--tzv2uya.json b/phase2/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-privileged--tzv2uya.json new file mode 100644 index 0000000000000000000000000000000000000000..fe1eec161c8c11fd53ea07d2aeb0579084eefbf7 --- /dev/null +++ b/phase2/dextoolbench/spatula_flat_spatula_serve_plate/trajectories/dextoolbench_spatula_flat_spatula_serve_plate-privileged--tzv2uya.json @@ -0,0 +1,796 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": 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progress=0.0、missing_trajectory=1、success=0；本任务累计通过数除以33即 progress，且目标按顺序锁存，因此评分结果未认可第33个目标位姿，终值记 false。此为评分总量推断，不表示已观测到机器人对该位姿的物理尝试；会话测试不作为正式交付。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；不把会话中的手与平铲接触当作受评接触。" + } + ] + } + }, + "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": "unknown", + "t": null, + "log_step": 55, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器结果 missing_trajectory=1、progress=0.0、grader_error=0；log step 12 与 log step 36 的 agent 控制器只在启用 RECORD 时录制，并将数组保存到调试用的 traj_last.npy，未显示正式轨迹保存成功。log step 54 仍为会话测试；log step 55 的最后发言只提出绕桌侧增加航点，没有工具调用或交付确认。推断：没有可供评分重放的交付轨迹，无法把调试失败定位为正式轨迹的某一物理节点，故断点 unknown、位置首步前。" + }, + "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 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有 run.json、video.json、meta.json 和 MANIFEST.json；video.kind=none，无视频、状态日志或可重放的交付轨迹。评分器报告 missing_trajectory=1；run.wall_s=3603、time_limit_s=3600，日志止于 log step 55 的继续修改计划，未记录正式保存或最终完成报告。推断：会话内多次抓取和逆解测试无法代表受评轨迹；按 D23，agent 侧未交付时现象与根因均留空。预算结束只交代会话终点，不能充当根因；缺少能将某一具体控制或交付错误归因为正式失败的证据。所有区间及视频时间均为 null，节点 false 仅由评分器零累计进度推断。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1）、累计进度为0，按33个有序目标的评分规则，终态认可数为0/33。会话日志显示 agent 持续调试平铲接近、抓取和逆解控制，log step 55 仍在提出新航点方案；没有正式受评轨迹，断点记 unknown／首步前。无视频或状态日志，不能将会话测试中的接触或失败现象移植到正式轨迹，依 D23 将现象和根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、progress=0；33 个节点终值 false 由评分总量推断，现象与根因按 D23(a) 留空并写 gap_zh，未把会话测试当作受评事实，时钟均为 null，log step 55 存在。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:56:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-privileged--tzv2uya/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_flat_spatula_serve_plate-privileged--tzv2uya/04_review_r1" + } + ], 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gap_zh，符合 D23 与外部因素规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_flip_over-privileged--gzyr6kv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_flip_over-privileged--gzyr6kv/04_review_r1" + } + ], + "review_engine": "claude", + 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missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第11位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_12_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第12位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_13_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 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kind=none，且未提供本次状态日志或已交付回放的目标计数。第39位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_40_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第40位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_41_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第41位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_42_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第42位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_43_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第43位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_44_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第44位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_45_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第45位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_46_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第46位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_47_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第47位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + }, + "pose_48_reached": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、success=0；inputs/video.json 为 kind=none，且未提供本次状态日志或已交付回放的目标计数。第48位姿是否达成无法判断；progress=0.0 是缺交付时的总评分，不能据此认定此节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付可评分的动作轨迹；会话测试中的手指与勺铲接触不转记为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goals_reached", + "unit": "count", + "threshold": 48, + "direction": "higher_better", + "value": null + }, + { + "name": "progress", + "unit": "ratio", + "threshold": 1.0, + "direction": "higher_better", + 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428、435、441 的目标计数属于 agent 自建 Session 的不同控制器测试，不能当作已交付轨迹的节点终值、实际接触或失败现象；成功 oracle 属于另一运行，同样不能补齐本次进度。运行记录 wall_s=3603、time_limit_s=3600，末条 log step 443 尚在调试，无最终交付报告；推断为预算结束前未形成交付，但预算耗尽本身不是根因，日志也不足以确认具体保存操作错误或正式轨迹中的物理失败，故现象及根因均留空。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，本次没有交付可评分轨迹，48个有序位姿节点均为未知，不能把缺交付时的 progress=0.0 当作48个节点均未达成。日志末尾仍在运行控制器测试（log step 441、443），断点记为 unknown／首步前，现象和根因留空。没有本次视频或状态日志，会话测试的局部进展与另一运行的成功 oracle 均不能作为本次节点及接触证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次评分器 missing_trajectory=1、无视频与状态日志，48 个节点 unknown、contact 不适用、断点 unknown/首步前、现象与根因留空并写明 gap，均符合 03 的无交付规则；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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:55:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--fdxs6jp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--fdxs6jp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "59b527ba6165af7e2edfa1786937e6305718cc51321f2f863ea6d8c2093101dc", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/dextoolbench/spatula_spoon_spatula_serve_plate/trajectories/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--kbb8f4f.json b/phase2/dextoolbench/spatula_spoon_spatula_serve_plate/trajectories/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--kbb8f4f.json new file mode 100644 index 0000000000000000000000000000000000000000..09bfdb520fcd23bf96c576dd5998c2d2b1957c49 --- /dev/null +++ b/phase2/dextoolbench/spatula_spoon_spatula_serve_plate/trajectories/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--kbb8f4f.json @@ -0,0 +1,1103 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "dextoolbench_spatula_spoon_spatula_serve_plate-privileged--kbb8f4f", + "taskKey": "dextoolbench/spatula_spoon_spatula_serve_plate", + "dag_sha256": "bf23bececd8a79f982e7444e8a222ec5b98f94ef671d53ebab378d3aae1c4fb0", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + 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"pose_17_reached": null, + "pose_18_reached": null, + "pose_19_reached": null, + "pose_20_reached": null, + "pose_21_reached": null, + "pose_22_reached": null, + "pose_23_reached": null, + "pose_24_reached": null, + "pose_25_reached": null, + "pose_26_reached": null, + "pose_27_reached": null, + "pose_28_reached": null, + "pose_29_reached": null, + "pose_30_reached": null, + "pose_31_reached": null, + "pose_32_reached": null, + "pose_33_reached": null, + "pose_34_reached": null, + "pose_35_reached": null, + "pose_36_reached": null, + "pose_37_reached": null, + "pose_38_reached": null, + "pose_39_reached": null, + "pose_40_reached": null, + "pose_41_reached": null, + "pose_42_reached": null, + "pose_43_reached": null, + "pose_44_reached": null, + "pose_45_reached": null, + "pose_46_reached": null, + "pose_47_reached": null, + "pose_48_reached": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次运行没有视频（inputs/video.json: kind=none）、没有状态日志，评分器明确报告 missing_trajectory=1。reward.progress=0.0 是缺失轨迹时的结果，未附实际回放的 goals_reached 或逐节点状态，故48个节点的 intervals/final 均为 null，接触均记不适用。log step 58、68、70、73、77、79、81、83 为 agent 新建或重置 Session 的独立测试，不能替代评分轨迹；其中抓取后的工具位置、接触列表和 reached=0 也不能作为本次评分节点值或失败现象。按 DECISIONS.md D23，无交付且未证实外因的运行两层均留空；尚无记录证明具体交付操作出错，也不能仅由缺交付反推根因。run.json 记录会话墙钟 wall_s=3603、预算 time_limit_s=3600，日志末尾仍在测试；没有明确的外部过滤、API或框架崩溃终止记录。inputs/oracle/replay.mp4 属于另一成功运行，不能填补本次运行证据。" + }, + "summary_zh": "评分器报告 success=0、progress=0.0、missing_trajectory=1，本次没有可核验的交付轨迹，48个目标位姿节点均为未知，不能把零分视为逐节点未达。会话末段仍在调试抓取与抬升（log step 83），log step 84 仅查看测试截图；断点记为 unknown／首步前，按无交付规则保留空现象和根因。没有本次视频或状态日志，独立测试和另一成功运行的参考视频不能替代评分尝试证据。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1：48个节点记 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a) 与 03 的无交付规则；run.json 全部 step 的 sim.submit=0，会话测试未被当作评分事实，超时未被当作现象或根因。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:48Z", + "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/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--kbb8f4f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/dextoolbench_spatula_spoon_spatula_serve_plate-privileged--kbb8f4f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7e09994f8c170f8b613249b6e9d45ddc16590f41be2baf823c50e1c64856fce7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/baoding/trajectories/myosuite-baoding-i00-privileged--gkl8txu.json b/phase2/myosuite/baoding/trajectories/myosuite-baoding-i00-privileged--gkl8txu.json new file mode 100644 index 0000000000000000000000000000000000000000..7513a7c1c927db779a4cdf2ff783b2bbe1cddccb --- /dev/null +++ b/phase2/myosuite/baoding/trajectories/myosuite-baoding-i00-privileged--gkl8txu.json @@ -0,0 +1,187 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-baoding-i00-privileged--gkl8txu", + "taskKey": "myosuite/baoding", + "dag_sha256": "d601c830f12d5f8aa686b3f3d6b6e58345f56dd2da1103766529b1f1c3ddafd8", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 37, + "agent_resets": 23, + "agent_sim_steps": 919, + "agent_records": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.937, + "peak_processes": 9, + "peak_disk_gb": 0.253, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "ball1_target_tracked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：log step 54 为 Gemini 提供方过滤器阻断提示；评分器 reward.missing_trajectory=1、agent_records=0，未提供球1的节点验收结果，且本次无视频、无状态日志。球1连续200个控制步跟踪达标与否无法判定，不能用会话测试中的距离读数替代受评节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1、agent_records=0，没有交付轨迹；会话测试中的手球接触不作为受评轨迹接触。" + } + ] + }, + "ball2_target_tracked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：log step 54 为 Gemini 提供方过滤器阻断提示；评分器 reward.missing_trajectory=1、agent_records=0，未提供球2的节点验收结果，且本次无视频、无状态日志。球2连续200个控制步跟踪达标与否无法判定，不能用会话测试中的距离读数替代受评节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1、agent_records=0，没有交付轨迹；会话测试中的手球接触不作为受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "target1_dist", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "target2_dist", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "solved_run", + "unit": "control_steps", + "threshold": 200, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 54, + "where": "首步前", + "evidence_zh": "观察：log step 54 明示请求被 Gemini 过滤器阻断；此前 log step 50 仅报告启动第三版模型预测控制测试，log step 53 的资源监测仍报告 time_left_s=239.8。评分器记录 missing_trajectory=1、agent_records=0；没有已交付并验收的轨迹，无法定位到任一物理节点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 标明本次 video.kind=none，未提供本次状态日志；评分器未报告 target1_dist、target2_dist、solved_run 或分球节点结果。log step 54 是提供方过滤器阻断，评分器 missing_trajectory=1、agent_records=0；log step 24 的 replay 是随机动作的会话内确定性测试，log steps 39、45、49 是控制器测试，均无交付录制记录。推断：这是交付前被外因中断的运行，应重测并排除于机器人失败分析；保持目录中的 success=0 记录，但不赋予没尝试、物理失败现象或机器人根因。两节点终值未知；已有成功参考视频属于另一运行，不能补作本次进度或接触证据。", + "unmet": { + "ball1_target_tracked": null, + "ball2_target_tracked": null + } + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1、agent_records=0，本次没有交付轨迹，两个持续跟踪节点均无法确认，终值保留未知。log step 54 明示 Gemini 过滤器阻断，发生在交付之前，按外因中断处理，断点为 unknown／首步前，不归因于机器人失败。无本次视频或状态日志，日志中的模型预测控制与静态控制测试仅属会话证据，三个原生指标也均无评分器数值。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志；评分器 missing_trajectory=1、agent_records=0，log step 54 为 Gemini 过滤器阻断，发生在任何交付之前。两节点 unknown、断点 unknown/首步前、无现象与根因并以 gap_zh 说明，符合外因中断运行的规则，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:55:50Z", + "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/myosuite-baoding-i00-privileged--gkl8txu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-baoding-i00-privileged--gkl8txu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "14f0ad2f6a4c67a8996a31b0b6c0179f9cbff7e1230cfc856bbf1ec58e9ba4cd", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-privileged--6elz6v2.json b/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-privileged--6elz6v2.json new file mode 100644 index 0000000000000000000000000000000000000000..865fe3b236eddc50513017ae252063f585383385 --- /dev/null +++ b/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-privileged--6elz6v2.json @@ -0,0 +1,221 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-bimanual-i00-privileged--6elz6v2", + "taskKey": "myosuite/bimanual", + "dag_sha256": "0af83fb75572a8dee8e6c0b8abc848886eb871d14f1068bf9e0ea0f234e3bb96", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 60, + "agent_resets": 22, + "agent_sim_steps": 3173, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.646, + "peak_processes": 6, + "peak_disk_gb": 0.271, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "object_held_by_myo": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 75, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告受评轨迹的肌肉臂累计接触步数。log step 75 是 agent 在新建 Session 中进行的持物测试，不能作为已交付轨迹完成右手持起节点的依据；本次无视频及状态日志，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0，未交付受评轨迹；会话调试中的手与物体接触不计为本轨迹的实际接触。" + } + ] + }, + "object_handed_to_prosthesis": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告受评轨迹的假肢臂累计接触步数。log step 67 是 agent 的交接测试，该测试服务返回物体掉落或时限结束的失败状态；它未被录制交付，不能据此判定受评节点真或假。本次无视频及状态日志，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0，未交付受评轨迹；会话调试中的手与物体接触不计为本轨迹的实际接触。" + } + ] + }, + "object_on_goal_pillar": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 76, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，没有受评轨迹的柱顶位置、目标柱接触累计数或末尾接触集合结果；log step 76 仅输出 agent 的假肢臂逆运动学测试结果。本次无视频及状态日志，不能由总体失败反推放置节点为假，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0，未交付受评轨迹；会话调试中的手与物体接触不计为本轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_dist", + "unit": "m", + "threshold": 0.17, + "direction": "lower_better", + "value": null + }, + { + "name": "myo_contact_count", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + }, + { + "name": "prosthesis_contact_count", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + }, + { + "name": "goal_touch", + "unit": "control_steps", + "threshold": 10, + "direction": "higher_better", + "value": null + }, + { + "name": "goal_only_tail_count", + "unit": "control_steps", + "threshold": 8, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 76, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；完整日志最后一条 log step 76 仍是新建 Session 的假肢臂逆运动学测试，没有轨迹交付或最终完成报告。推断：没有可定位物理失败步骤的受评轨迹，断点记 unknown，位置按未交付记首步前。" + }, + "unmet": { + "object_held_by_myo": null, + "object_handed_to_prosthesis": null, + "object_on_goal_pillar": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，本次没有视频或状态日志；评分器 missing_trajectory=1，未提供任何受评节点或原生物理指标的结果。日志含多次独立 Session 调试（例如 log step 67 的交接失败、log step 75 的持物测试），但均未录制交付，不能用作本次受评轨迹的节点进度、接触或失败现象。run.json 记录会话 wall_s=3603、预算 time_limit_s=3600，最后 log step 76 没有结束说明；没有足够证据确定未交付的具体能力原因或归因于外部故障，故现象与根因均留空。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，且录制及回放计数均为0；右手持起、交给左手、放上目标柱三个受评节点的终值均未知。日志记录的是多次独立调试，最后 log step 76 仍在测试假肢臂逆运动学，没有交付可用于定位物理失败的轨迹，断点记为 unknown／首步前。由于本次无视频、无状态日志且缺少节点级评分结果，接触均为不适用，失败现象及根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；节点全部 unknown、接触不适用、断点 unknown/首步前、两层为空并有 gap_zh，符合 03 的“未交付（agent 侧原因）”规则。引用的 log step 67/75/76 存在，内容与描述一致，没有把会话测试当成受评轨迹事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:20Z", + "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/myosuite-bimanual-i00-privileged--6elz6v2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-bimanual-i00-privileged--6elz6v2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3af46ce7a2d37931e7b3ab4fa1e9e1a0ad52fd1b96a9fb80f058c28652ef3ae8", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-privileged--yjzttvt.json b/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-privileged--yjzttvt.json new file mode 100644 index 0000000000000000000000000000000000000000..0b2608fc3cf88e59cdb8c78ab671463b10f6106d --- /dev/null +++ b/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-privileged--yjzttvt.json @@ -0,0 +1,219 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-bimanual-i00-privileged--yjzttvt", + "taskKey": "myosuite/bimanual", + "dag_sha256": "0af83fb75572a8dee8e6c0b8abc848886eb871d14f1068bf9e0ea0f234e3bb96", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 147, + "agent_resets": 654, + "agent_sim_steps": 142609, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.453, + "peak_processes": 10, + "peak_disk_gb": 0.842, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "object_held_by_myo": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 49, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；本次无视频和状态日志。log step 49 是 agent 脚本在多个重置测试中打印的肌肉臂接触计数，不是交付轨迹的节点结果，不能据此确认右手持起节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，无法标注该步的实际接触。" + } + ] + }, + "object_handed_to_prosthesis": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 140, + "text_zh": "观察：log step 140 中 agent 自述假肢连续接触105个控制步，并表示还在测试向目标柱搬运；该步工具输出为空。评分器 reward.missing_trajectory=1，未提供交付轨迹的假肢接触计数，本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，无法标注该步的实际接触。" + } + ] + }, + "object_on_goal_pillar": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 146, + "text_zh": "观察：log step 146 中 agent 仍运行重置后测试肌肉推送的脚本，工具输出为空，此后没有最终汇报。评分器仅报告 success=0、missing_trajectory=1，未报告柱顶距离、柱接触计数或末尾接触集合，不能由总失败判定本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；没有交付轨迹，无法标注该步的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_dist", + "unit": "m", + "threshold": 0.17, + "direction": "lower_better", + "value": null + }, + { + "name": "myo_contact_count", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + }, + { + "name": "prosthesis_contact_count", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + }, + { + "name": "goal_touch", + "unit": "control_steps", + "threshold": 10, + "direction": "higher_better", + "value": null + }, + { + "name": "goal_only_tail_count", + "unit": "control_steps", + "threshold": 8, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 146, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0、infra_error=0；log step 85 的交付目录列表只有会话日志，log step 140 至146仍为交接和搬运测试，没有交付录制。推断：没有可供评分的已交付物理尝试，无法把断点定位到某个操作节点；“首步前”指交付轨迹未开始，不指 agent 未做会话测试。" + }, + "unmet": { + "object_held_by_myo": null, + "object_handed_to_prosthesis": null, + "object_on_goal_pillar": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，本次无视频、无状态日志，评分器报告 missing_trajectory=1，且没有逐节点结果或原生指标。log step 49 的接触计数、log step 140 的交接自述及 log step 141至143 的测试脚本异常均属会话测试，未形成已交付轨迹。推断：依无交付轨迹规则，两层失败标签留空；无法从交付缺失单独确定物理失败现象或根因，也不能将会话测试的失败当作受评断点。成功参考录像属于另一运行，不能补足本次证据。" + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，未录制或回放交付轨迹，三个节点均无可确认的终值。日志中 agent 多次重置测试肌肉臂接触、假肢交接和搬运，至 log step 146 仍在测试，不能把这些会话结果算作交付进度。断点记为 unknown／首步前；本次无视频、无状态日志和逐节点评分，失败现象与根因均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1、agent_records=0；节点 unknown、断点 unknown/首步前、两层空并有 gap_zh，符合 03 的“代理侧未交付”规则（D23），会话测试未被当作受评事实。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:17Z", + "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/myosuite-bimanual-i00-privileged--yjzttvt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-bimanual-i00-privileged--yjzttvt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fe23d6746c2fec8096ad377977fb18edcee9031fadbd125084768017130d1f3f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-standard--229lveo.json b/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-standard--229lveo.json new file mode 100644 index 0000000000000000000000000000000000000000..deba5fbd507b804feab8db546840310480acebc3 --- /dev/null +++ b/phase2/myosuite/bimanual/trajectories/myosuite-bimanual-i00-standard--229lveo.json @@ -0,0 +1,231 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-bimanual-i00-standard--229lveo", + "taskKey": "myosuite/bimanual", + "dag_sha256": "0af83fb75572a8dee8e6c0b8abc848886eb871d14f1068bf9e0ea0f234e3bb96", + "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, + "no_verdict": 0, + "n_actions": 425, + "sim_steps": 425, + "physics_steps": 2125, + "steps": 835, + "calls": 86, + "episodes": 7, + "resets": 6, + "reset_budget": 10, + "sim_steps_total": 835, + "elapsed_s": 3731.5, + "video_rendered": 1, + "task_failure": 0, + "timeout": 1, + "instance_mismatch": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_joint_dev": 0.0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.049, + "peak_processes": 9, + "peak_disk_gb": 1.142, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "object_held_by_myo": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 146, + "text_zh": "观察：log step 135 重置，log step 136 的服务返回为 episode 7、resets_left 4；log step 137、140 提交右手接近指令，log step 143、146 提交闭合和保持指令，log step 149、152、155 提交抬升指令。上述指令没有附带可读取的执行状态或物体接触计数返回；本次无视频、无状态日志，无法确认肌肉臂累计接触是否达到100个控制步，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 143、146 的脚本尝试使右侧肌肉手闭合并保持，后续尝试抬升；无本次画面和接触记录，不能确认右手与物体实际是否接触、夹住或仅推压。" + } + ] + }, + "object_handed_to_prosthesis": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 158, + "text_zh": "观察：第7局中，log step 158、161、164、167、170、173、176 的脚本在保持右手闭合指令时修改左侧假肢臂执行器63至66的部分命令，意图使左臂靠近；日志未提供这些动作后的服务状态或物体接触历史。本次无视频、无状态日志，无法确认左臂是否承接物体或累计接触达到100个控制步。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 158至176 的脚本同时维持右手闭合指令并调节左假肢臂；缺少实际接触观测，不能据指令认定双手共同抓握或交接成功。" + } + ] + }, + "object_on_goal_pillar": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 176, + "text_zh": "观察：评分记录报告 graded_by_live=1、finalized=1、live_success=0、timeout=1、n_actions=425，但没有报告 goal_dist、goal_touch、末尾仅接触目标柱的步数或任一节点的验收结果；log step 176 仍为左假肢臂调姿指令，未记录放置后的服务状态。本次无视频、无状态日志，不能仅凭整体失败断言物体从未到过柱顶或该节点终值为假。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "goal_dist", + "unit": "m", + "threshold": 0.17, + "direction": "lower_better", + "value": null + }, + { + "name": "myo_contact_count", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + }, + { + "name": "prosthesis_contact_count", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + }, + { + "name": "goal_touch", + "unit": "control_steps", + "threshold": 10, + "direction": "higher_better", + "value": null + }, + { + "name": "goal_only_tail_count", + "unit": "control_steps", + "threshold": 8, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 176, + "where": "操作中", + "evidence_zh": "观察：log step 136 确认最后评分局为第7局，此后日志记录右手闭合、抬升及左假肢臂调姿提交，最后一条为 log step 176；评分器记录该局425个控制步、live_success=0、timeout=1，且 infra_error、sim_error、grader_error 均为0。推断：本局已开始操作，但没有动作结果、物体位置或接触历史，无法判断右手接触要求是否已经达标，也无法在右手持起和交给左手等节点间定位最早未修复的失败；不将超时本身作为现象或根因。" + }, + "unmet": { + "object_held_by_myo": null, + "object_handed_to_prosthesis": null, + "object_on_goal_pillar": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 明确为 kind=none，未提供本次回放或状态日志；日志中看图调用仅保留图像引用，不能看到图像内容。最后评分局从 log step 135 重置开始，log step 136 返回 episode 7；此后虽有动作提交记录，但 out.text 均为空，没有服务的接触计数、物体位置或最终节点状态，故全部节点终值与视频区间未知、实际尝试的接触填未知，未能辨识放置步骤是否启动。log step 110 的滑落是 agent 对已被重置的较早局的自述，不能用作第7局失败现象；其余会话控制调试也不足以证明最终失败的原因，因此现象和根因均留空。成功参考录像已抽帧检查，只用于理解场景，不能补足本局证据。" + }, + "summary_zh": "评分器确认最后实时局失败；log step 135至136 确认评分对象为第7局，随后脚本尝试右手闭合、保持及抬升，再调节左假肢臂，但三个节点均无可确认的终值。日志末尾仍在操作，无法判定最早未修复的失败属于哪一步，现象和根因留空。本次无视频或状态日志，且第7局动作后的服务结果文本为空，不能把早期重置局的滑落自述或整体零分当作本局节点证据。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志，第7局动作后的服务返回文本均为空，评分结果只给整体失败，不含任何节点或接触计数。三个节点全部 unknown、断点 unknown、现象和根因留空并附 gap_zh，符合已有证据；未把超时或agent自述当作现象。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:25Z", + "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/myosuite-bimanual-i00-standard--229lveo/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-bimanual-i00-standard--229lveo/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "77e44cc53b6562fcdfae3843711da7fc203079f634cde6a8ef3777536713b3a7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/chase_tag/trajectories/myosuite-chase-tag-i00-privileged--o8tfc9j.json b/phase2/myosuite/chase_tag/trajectories/myosuite-chase-tag-i00-privileged--o8tfc9j.json new file mode 100644 index 0000000000000000000000000000000000000000..56d9a34e92bfe9dd71620227aa6da343f2e0ddc2 --- /dev/null +++ b/phase2/myosuite/chase_tag/trajectories/myosuite-chase-tag-i00-privileged--o8tfc9j.json @@ -0,0 +1,158 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-chase-tag-i00-privileged--o8tfc9j", + "taskKey": "myosuite/chase_tag", + "dag_sha256": "44d1913cbf93a1cace28fb27d008741b9ec7d5862825d6d9128583801a384d16", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 58, + "agent_resets": 28, + "agent_sim_steps": 1520, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.225, + "peak_processes": 10, + "peak_disk_gb": 0.252, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "opponent_tagged": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 65, + "text_zh": "观察：log step 65 的末条消息为 Gemini 过滤器拦截通知；评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未交付受评轨迹。inputs/video.json 的 kind=none，且无本次状态日志；评分器未报告追及节点的物理终值，故该节点不可判定。" + }, + { + "t": null, + "log_step": 62, + "text_zh": "观察：log step 62 中，agent 的多阶段优化脚本在自身控制步索引353输出 dist=0.493、骨盆高度0.77；这属于会话内直接仿真脚本的测量，不是评分器原生 solved 或交付重放结果，不能据此将追及节点置为真。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0；没有交付轨迹，故无受评尝试的实际接触可标注。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "distance", + "value": null, + "unit": "m", + "threshold": 0.5, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 65, + "where": "首步前", + "evidence_zh": "观察：log step 65 显示模型提供方 Gemini 过滤器拦截；此前 log step 64 仍在读取优化脚本及资源用量，资源记录尚余1029.9秒工作预算。评分器记录 missing_trajectory=1、agent_records=0、agent_replays=0；中断前没有保存并验证的交付轨迹，无法定位受评物理失败步骤。" + }, + "unmet": { + "opponent_tagged": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频（inputs/video.json: kind=none）、没有状态日志，也没有交付轨迹；log step 65 以 Gemini 过滤器拦截通知结束。推断：这是受评结果确定前的提供方外部中断，按外因处理，不归入 agent 失败分析；保留目录 success=0，但不标“没尝试”或推定控制、交付根因。log step 62 的距离0.493米只来自 agent 自己的优化测试，不能替代受评节点终值或原生 distance 指标；参考成功视频也不能证明本次进展。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，未交付受评轨迹；追及对手节点的终值未知，可确认完成节点为0/1。log step 65 显示 Gemini 过滤器在交付前拦截，应按外部中断处理，断点记 unknown／首步前，现象及根因均留空。没有本次视频或状态日志，log step 62 的脚本测试距离达标不能作为受评进展。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；log step 65 为 Gemini 过滤器拦截，此前没有保存并验证的交付（sim submit=0，missing_trajectory=1），按外部中断处理，节点 unknown、断点 unknown、现象与根因留空并有 gap_zh，均合理；log step 62 的 0.493 只是 agent 自测，未当作进展。校验通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:37Z", + "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/myosuite-chase-tag-i00-privileged--o8tfc9j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-chase-tag-i00-privileged--o8tfc9j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "927e57c2d1c3b95a3a37247d969f4e4ba5e96c3c5275b70847fef107c717e27b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_airplane_fly/trajectories/myosuite-dex-airplane-fly-i00-privileged--pksrzg5.json b/phase2/myosuite/dex_airplane_fly/trajectories/myosuite-dex-airplane-fly-i00-privileged--pksrzg5.json new file mode 100644 index 0000000000000000000000000000000000000000..a69300d65848bc698eb4ac4b6ccaa74b641b43da --- /dev/null +++ b/phase2/myosuite/dex_airplane_fly/trajectories/myosuite-dex-airplane-fly-i00-privileged--pksrzg5.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-airplane-fly-i00-privileged--pksrzg5", + "taskKey": "myosuite/dex_airplane_fly", + "dag_sha256": "211c82c127093021391297ba04609fe900a6c8513c288e6a7fb1169216a9dbdd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 48, + "agent_resets": 98, + "agent_sim_steps": 2207, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.945, + "peak_processes": 10, + "peak_disk_gb": 0.242, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "airplane_reference_motion_completed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/video.json 的 kind 为 none，未提供状态日志；评分器 reward 记录 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告飞机循迹节点的验收结果，不能据总失败判定节点终值。" + }, + { + "t": null, + "log_step": 65, + "text_zh": "观察：agent 脚本对四组控制参数分别进行会话测试，输出 success=False、控制步数37、track_ok=25；这些是未提交的测试结果，不是已交付受评轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0；没有交付轨迹，无法标注受评 MyoHand 与玩具飞机的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_rot_err", + "unit": "rad", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok_fraction", + "unit": "ratio", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 67, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0、agent_replays=0；完整日志未见轨迹录制、保存或提交调用。最后的 log step 67 是 agent 的无肌肉控制诊断脚本，因 SyntaxError 未运行；没有交付受评轨迹可定位物理失败步骤。" + }, + "unmet": { + "airplane_reference_motion_completed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json，没有视频或状态日志，评分器明确记录未交付轨迹。log step 23—65 的控制测试属于会话证据；log step 67 的语法错误发生在诊断测试中，不能视作受评轨迹中的控制崩溃。推断：按无交付的暂行规则 DECISIONS.md D23，失败现象与根因均留空；缺少证据确定受评运动、接触、节点终值或具体失败原因，不将预算耗尽或交付缺失本身作为根因，原生指标也不使用会话测试数值代填。" + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1），录制与重放次数均为零；唯一的“飞机循迹飞行”节点终值未知。agent 多次测试控制器，最后在 log step 67 的诊断脚本语法错误后结束日志，但未形成可定位物理断点的受评轨迹。没有视频、状态日志或节点级评分结果，接触标为不适用，失败现象和根因按无交付规则留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器记录 missing_trajectory=1、agent_records=0；run.json 全部 step 中没有 save_trajectory 或 record_start 的实际调用（只有文档里的函数定义）。该标注按 D23(a) 把现象和根因留空并写了 gap_zh，节点终值 unknown，接触不适用，没有换算时钟，我没有发现错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:53:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/myosuite-dex-airplane-fly-i00-privileged--pksrzg5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-airplane-fly-i00-privileged--pksrzg5/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b579bbeb097908541098ada65e11d96fb7e8bb6d0dbb9ed44a801744e49e5e08", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_apple_lift/trajectories/myosuite-dex-apple-lift-i00-privileged--kkaqprp.json b/phase2/myosuite/dex_apple_lift/trajectories/myosuite-dex-apple-lift-i00-privileged--kkaqprp.json new file mode 100644 index 0000000000000000000000000000000000000000..456b399d791dc9e824b73bc6c5c04f30e0fe91ed --- /dev/null +++ b/phase2/myosuite/dex_apple_lift/trajectories/myosuite-dex-apple-lift-i00-privileged--kkaqprp.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-apple-lift-i00-privileged--kkaqprp", + "taskKey": "myosuite/dex_apple_lift", + "dag_sha256": "a041469a6976fab4ca5933b2e440cb573fe3bbf63067791e66b2f5edc9daae3e", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 43, + "agent_resets": 151, + "agent_sim_steps": 8190, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.692, + "peak_processes": 6, + "peak_disk_gb": 0.253, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "apple_reference_tracked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：log step 55 的末条消息为“This request was blocked by Gemini's filters”；评分器 reward 同时报告 missing_trajectory=1、agent_records=0、agent_replays=0。inputs/video.json 为 kind=none，且无状态日志；没有受评轨迹或报告该节点结果的评分字段，不能判定苹果完整参考轨迹节点的终值。" + }, + { + "t": null, + "log_step": 50, + "text_zh": "观察：log step 50 是 agent 脚本在多次 reset 后进行的参数扫描，打印了包括 track_ok=51/57、success=False 在内的测试结果；log step 52 又启动参数扫描，log step 53 表示正在等待。推断：这些是交付前的会话测试，不能作为受评节点终值或受评接触证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0，未交付受评轨迹，故轨迹级接触不适用；会话测试中的手指与苹果接触不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok", + "unit": "control_steps", + "threshold": 52, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 55, + "where": "首步前", + "evidence_zh": "观察：log step 52 的 agent 参数扫描以后台任务启动，log step 53 仍在等待结果，log step 55 随即出现 Gemini 过滤器阻断消息；评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0。推断：交付前的提供方过滤中断导致没有受评轨迹，无法定位机器人在哪个物理步骤失败，按外因中断规则记 unknown／首步前。" + }, + "unmet": { + "apple_reference_tracked": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，无本次受评视频及状态日志；虽有 inputs/oracle/replay.mp4，但它属于另一成功运行，不能证明本次行为。log step 55 明确记录提供方过滤阻断，评分器 missing_trajectory=1 且录制、回放次数均为零；未形成受评轨迹。推断：应按外因中断留待重测，不纳入 agent 物理失败分析；会话参数扫描不能替代受评节点、接触及失败现象证据，故节点终值和三项原生指标均未知，现象与根因均留空。" + }, + "summary_zh": "观察：评分器保留 success=0，但 missing_trajectory=1、agent_records=0、agent_replays=0，未交付受评轨迹，苹果沿轨迹移动节点终值未知。观察：log step 52—53 仍在进行并等待会话参数扫描，log step 55 出现 Gemini 过滤器阻断消息；推断：属于交付前外因中断，按 unknown／首步前记录，应重测并排除于 agent 失败分析。观察：无本次视频及状态日志，受评接触不适用，现象、根因及精确跟踪指标均无受评证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "标注与证据一致：log step 55 为提供方过滤阻断，评分器 missing_trajectory=1、agent_records=0、agent_replays=0，无本次视频与状态日志；节点 unknown、断点 unknown／首步前、现象与根因留空并有 gap_zh，符合外因中断规则，未把会话参数扫描当作受评事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/myosuite-dex-apple-lift-i00-privileged--kkaqprp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-apple-lift-i00-privileged--kkaqprp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "179df58f6e8618f6c5bb9164860cb9c104b839f316f24d46830e36dd11f3b35a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_bunny_inspect/trajectories/myosuite-dex-bunny-inspect-i00-privileged--zbqk3gs.json b/phase2/myosuite/dex_bunny_inspect/trajectories/myosuite-dex-bunny-inspect-i00-privileged--zbqk3gs.json new file mode 100644 index 0000000000000000000000000000000000000000..49fc4973a278fdc7c90c79650cb75d80e36b9c11 --- /dev/null +++ b/phase2/myosuite/dex_bunny_inspect/trajectories/myosuite-dex-bunny-inspect-i00-privileged--zbqk3gs.json @@ -0,0 +1,174 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-bunny-inspect-i00-privileged--zbqk3gs", + "taskKey": "myosuite/dex_bunny_inspect", + "dag_sha256": "a0345a5ca5780c5190affd3ffde1168212a7a9991e0d4ba187c105b66032d4c4", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 98, + "agent_resets": 39, + "agent_sim_steps": 864, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.069, + "peak_processes": 6, + "peak_disk_gb": 0.259, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bunny_motion_tracked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；未报告评分轨迹的跟踪误差或合格步数。inputs/video.json 为 kind=none，且没有状态日志，故不能判定兔子沿参考运动节点的物理终值；会话测试不作为评分轨迹进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0；没有交付轨迹，MyoHand 与兔子的评分轨迹接触不适用。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_rot_err", + "unit": "rad", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok / track_steps", + "unit": "fraction", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 123, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1，agent_records=0、agent_replays=0；日志末条 log step 123 是 agent 检查测试接触力的脚本，返回 f-string SyntaxError，没有随后交付或最终完成报告。推断：没有可定位的评分轨迹物理失败步骤，断点记 unknown，位置为首步前；会话测试不充当交付轨迹。" + }, + "unmet": { + "bunny_motion_tracked": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json、video.json；无视频、无状态日志，评分器也未报告该节点的物理结果或四项原生指标。log step 115、122 是 agent 的会话控制测试，log step 123 是其诊断脚本语法错误，均未录制交付，不能据此标注评分轨迹的接触、现象、时间或根因。观察：run.json 的 wall_s=3608、time_limit_s=3600，infra_error=0；日志没有明确解释最终为何未交付。按 D23，无交付且缺少充分归因证据，现象和根因均留空；不从缺交付反推没尝试或交付操作出错。" + }, + "summary_zh": "评分器记录未交付轨迹（missing_trajectory=1，录制与重放次数均为0），本次未能确认完成任何语义节点，唯一节点“兔子沿参考运动”的物理终值保留未知。断点记 unknown／首步前；会话中虽有控制测试，但没有可作为评分尝试的交付，现象与根因留空。无视频、无状态日志且无评分轨迹原生指标，无法定位物理失败时刻或确认未交付的具体原因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:18:00Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/myosuite-dex-bunny-inspect-i00-privileged--zbqk3gs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/myosuite-dex-bunny-inspect-i00-privileged--zbqk3gs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "27bcb1b0bdcd263825534792037e81c1864c328d0146cb69700301bde142ea47", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_cup_pour/trajectories/myosuite-dex-cup-pour-i00-privileged--6u89ljm.json b/phase2/myosuite/dex_cup_pour/trajectories/myosuite-dex-cup-pour-i00-privileged--6u89ljm.json new file mode 100644 index 0000000000000000000000000000000000000000..c5256cfe7cafab814d13c2e47aca0232ff2532ac --- /dev/null +++ b/phase2/myosuite/dex_cup_pour/trajectories/myosuite-dex-cup-pour-i00-privileged--6u89ljm.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-cup-pour-i00-privileged--6u89ljm", + "taskKey": "myosuite/dex_cup_pour", + "dag_sha256": "8e77d2cf6ffaa66127634b52432fa68a93f26c48d76a25065fe8795dc5cfd63c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 77, + "agent_resets": 42, + "agent_sim_steps": 219, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.982, + "peak_processes": 9, + "peak_disk_gb": 0.257, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cup_pour_tracked": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供状态日志。评分器没有报告“完成倒杯轨迹”节点的实际验收结果，不能由总成功值为零推出该节点为假。" + }, + { + "t": null, + "log_step": 100, + "text_zh": "观察：log step 100 中 agent 的脚本仍在修改关节位置并求解参考采样点40的逆解，输出局部预测误差；该调用未录制或回放轨迹。这是会话试验，不能用于确认受评节点的完成情况或实际接触。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1、agent_records=0，未交付受评轨迹；因此无可标注的受评 MyoHand 与杯子接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_rot_err", + "unit": "rad", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok", + "unit": "control_steps", + "threshold": 73, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 100, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 84 的交付目录列表只有会话日志，最后的 log step 100 仍是 agent 的局部逆解试验，未出现轨迹保存。推断：没有交付可评分的倒杯轨迹，断点记为 unknown／首步前，不能把会话试验中的物理偏差当作受评断点。" + }, + "unmet": { + "cup_pour_tracked": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅含 MANIFEST.json、meta.json、run.json、video.json，无视频、状态日志或成功示范；评分器未提供 track_pos_err、track_rot_err、track_ok、track_max。日志中的控制器测试、参考姿态回放和逆解误差均属会话试验，未形成交付轨迹。run.json 记录 wall_s=3603、time_limit_s=3600，最后的 log step 100 调用正常退出，但未记录最终停止原因；不能据此断言外部故障或具体控制根因。推断：按 DECISIONS.md D23，未交付时不从会话试验移植失败现象，也不从缺交付反推根因，故两层均留空；节点终值保持未知，所有视频时间为空。" + }, + "summary_zh": "评分器报告缺少交付轨迹（missing_trajectory=1），0个节点得到完成确认，唯一的“完成倒杯轨迹”节点终值未知。log step 100 仍是 agent 的局部逆解试验，未录制或回放受评轨迹，因此断点记为 unknown／首步前。没有视频、状态日志或节点验收数值，现象与根因按未交付规则留空，四项原生指标均未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、agent_records=0，未交付轨迹。标注把节点终值记为未知、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23(a)；未把会话试验当作受评事实，也未把超时当作现象或根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:31Z", + "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/myosuite-dex-cup-pour-i00-privileged--6u89ljm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-cup-pour-i00-privileged--6u89ljm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "57b70f1bab34dd10629826d0c0c474ed07e209a0e58e3aba0175817f4cbf2e71", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--8pvkieu.json b/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--8pvkieu.json new file mode 100644 index 0000000000000000000000000000000000000000..84b02fde5efde611aa3486a6466468aa39ba9e8a --- /dev/null +++ b/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--8pvkieu.json @@ -0,0 +1,158 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-cylinder-pass-i00-privileged--8pvkieu", + "taskKey": "myosuite/dex_cylinder_pass", + "dag_sha256": "f6817fb6c38513c6f5912bbbb253639b3a62683d2ab63a20e565756a17e50355", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 898, + "agent_resets": 1613, + "agent_sim_steps": 3644, + "agent_records": 0, + "agent_replays": 10, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cylinder_reference_followed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 success=0、missing_trajectory=1、agent_records=0；未报告受评轨迹的循迹误差、覆盖率或完成步数，inputs/video.json 的 kind=none，且没有状态日志，无法判定圆柱循迹交接节点的终值。" + }, + { + "t": null, + "log_step": 943, + "text_zh": "观察：agent 在 log step 943 回放三个测试候选，分别在控制步18或19终止；log step 985 的另一候选也在控制步19终止。这些是会话测试结果，评分器未收到交付轨迹，故不作为受评节点的完成记录。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1，没有交付轨迹可标注实际接触；log step 1175 的抓取接触输出属于会话测试。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok_fraction", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 1175, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1；日志最后的 log step 1175 是 agent 脚本的五组抓指激活测试输出，没有最终交付记录或完成报告。没有受评轨迹，无法定位到某个物理步骤的失败事件。" + }, + "unmet": { + "cylinder_reference_followed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 确认无视频，输入中没有状态日志，评分器报告缺少交付轨迹且没有三个原生循迹指标。log step 943、985 的候选回放以及 log step 1171、1173、1175 的运动和接触测量均属于会话测试，不能用来确定受评节点终值、实际接触或物理失败现象；日志未说明最终未交付的具体原因，也未提供可确认的外因中断记录，因此现象和根因均留空。" + }, + "summary_zh": "评分器判失败并报告缺少交付轨迹，唯一的圆柱循迹交接节点终值未知，不能确认任何受评进度。日志记录了多个候选轨迹回放及抓取测试，最后在 log step 1175 的测试输出结束，断点记为 unknown、首步前。没有视频、状态日志或受评循迹指标，无法确认物理失败现象及根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1：节点 unknown、断点 unknown/首步前、两层为空并带 gap_zh，符合 03 的“未交付（agent 侧原因）”规则（D23），未把会话测试当作受评事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:30Z", + "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/myosuite-dex-cylinder-pass-i00-privileged--8pvkieu/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-cylinder-pass-i00-privileged--8pvkieu/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3d6650b370df4b4ecd40176711172adb7d7d5e6d11bed5fc42b25de0e3ab4925", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--b7ruxrf.json b/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--b7ruxrf.json new file mode 100644 index 0000000000000000000000000000000000000000..af2f914850331ca1ea6e4731e6d5fc0a0b078cdc --- /dev/null +++ b/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--b7ruxrf.json @@ -0,0 +1,158 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-cylinder-pass-i00-privileged--b7ruxrf", + "taskKey": "myosuite/dex_cylinder_pass", + "dag_sha256": "f6817fb6c38513c6f5912bbbb253639b3a62683d2ab63a20e565756a17e50355", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 401, + "agent_resets": 26594, + "agent_sim_steps": 229290, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cylinder_reference_followed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；没有受评交付轨迹，也未报告圆柱循迹节点的物理验收结果。inputs/video.json 的 kind=none，且本作业无状态日志，故节点终值和达成时刻未知（N9）。" + }, + { + "t": null, + "log_step": 235, + "text_zh": "观察：log step 235 中 agent 修改肌肉姿态搜索脚本的权重数组后重新运行，返回文本为空；完整调用记录中未见轨迹录制、保存或回放调用。此前 log step 161 的输出目录列表仅含会话日志；这些会话测试不能确立受评节点的进展。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付受评轨迹；会话中 MyoHand 与圆柱的测试接触不作为本次受评轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok_fraction", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 235, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 235 仍是 agent 修正并重跑肌肉姿态搜索脚本，未出现交付。推断：没有可定位的受评操作过程，按 D23 将断点记为 unknown、位置记为首步前；此位置不表示 agent 在会话测试中从未驱动机器人。" + }, + "unmet": { + "cylinder_reference_followed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json 和 video.json，无视频、状态日志或成功参考视频；评分器未收到轨迹，三项原生循迹指标均未报告。日志最后的非空 say 位于 log step 206，agent 自述仍在优化抓取接近过程；log step 234 的自有搜索脚本发生数组维度错误，log step 235 随即修改并重跑，日志止于此且无最终完成报告或明确的外部中断信息。推断：不能从这些会话测试判断受评机器人在哪里接触、是否脱手或如何偏离参考，也不能据交付缺失认定具体根因；依 D23 保留空现象和空根因，依 N9 保留节点终值未知。" + }, + "summary_zh": "观察：评分器判定运行失败并报告 missing_trajectory=1，未录制或回放交付轨迹，因此唯一的圆柱循迹交接节点没有可确认的完成结果。观察：agent 在 log step 206 自述继续优化抓取，日志最终止于 log step 235 修改并重跑搜索脚本。推断：按 D23 将受评断点记为 unknown／首步前；无视频、状态日志及节点验收指标，实际接触不适用，物理失败现象与根因均无法确定。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、agent_records=0，日志中无轨迹保存/回放调用，节点 unknown、断点 unknown/首步前、空现象与空根因加 gap_zh 符合 D23(a)。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:53Z", + "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/myosuite-dex-cylinder-pass-i00-privileged--b7ruxrf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-cylinder-pass-i00-privileged--b7ruxrf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b7db86bd8448e81726c3ce8329eb805ac83c72529aff7a16bda54a15b79aa5d5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--jex9cqa.json b/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--jex9cqa.json new file mode 100644 index 0000000000000000000000000000000000000000..2178e65ff4d467d2a30e5c588ab95dbec4ae31ad --- /dev/null +++ b/phase2/myosuite/dex_cylinder_pass/trajectories/myosuite-dex-cylinder-pass-i00-privileged--jex9cqa.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-cylinder-pass-i00-privileged--jex9cqa", + "taskKey": "myosuite/dex_cylinder_pass", + "dag_sha256": "f6817fb6c38513c6f5912bbbb253639b3a62683d2ab63a20e565756a17e50355", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 56, + "agent_resets": 65, + "agent_sim_steps": 282, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.752, + "peak_processes": 10, + "peak_disk_gb": 0.252, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cylinder_reference_followed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且 inputs/ 中无状态日志。评分器未报告圆柱循迹节点的物理验收结果，因此不能由总失败值判定该节点为假。" + }, + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 中 agent 的脚本重置测试会话，直接调用 mujoco.mj_step 并自行计算位移误差；脚本没有录制或保存交付轨迹。这些测试数据不代表评分尝试，不能用来确定节点终值或视频时间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；未交付轨迹，不能把会话测试中灵巧手与圆柱的接触作为评分轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok_fraction", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 81, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；日志末条 log step 81 仍是 agent 脚本对前臂与手指运动学的诊断，未见交付保存或最终完成报告。没有可供评分的运动轨迹，无法定位到圆柱循迹中的具体物理失败步骤。" + }, + "unmet": { + "cylinder_reference_followed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本运行没有视频、状态日志或交付轨迹；评分字段只确认未交付，并未给出循迹误差、覆盖率、最大误差及节点终值。log step 79 的运动误差和 log step 78 的接触对属于 agent 会话测试，不能替代评分尝试的物理现象；也没有证据确定某个录制、保存操作出错。log step 44 的服务响应错误后会话继续执行至 log step 81，不能据此断言最终由外因中断；wall_s=3606、time_limit_s=3600 也不说明具体能力根因。按未交付规则保留现象与根因空层，节点终值及所有视频时间未知。" + }, + "summary_zh": "评分器以 missing_trajectory=1 判为失败，录制和回放计数均为0；圆柱循迹交接节点没有可确认的评分进度，终值保持未知。未交付轨迹，断点记为 unknown／首步前；会话中的抓取、抬升及循迹测试不能作为评分轨迹证据。没有视频、状态日志或原生验收指标，故不归入具体物理失败现象或根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1，agent_records=0）；节点 unknown、断点 unknown/首步前、现象与根因为空且带 gap_zh，符合未交付规则，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:29Z", + "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/myosuite-dex-cylinder-pass-i00-privileged--jex9cqa/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-cylinder-pass-i00-privileged--jex9cqa/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "72b30c7c9a77fcf9a182bc932e2b1e98e6fcc2f1c0f41e8d0f9c4387f9dd24ae", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_hammer_use/trajectories/myosuite-dex-hammer-use-i00-privileged--96s8ebc.json b/phase2/myosuite/dex_hammer_use/trajectories/myosuite-dex-hammer-use-i00-privileged--96s8ebc.json new file mode 100644 index 0000000000000000000000000000000000000000..c19c7ffb88a9ac8131744bdd1e8f407e9743f71d --- /dev/null +++ b/phase2/myosuite/dex_hammer_use/trajectories/myosuite-dex-hammer-use-i00-privileged--96s8ebc.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-hammer-use-i00-privileged--96s8ebc", + "taskKey": "myosuite/dex_hammer_use", + "dag_sha256": "925558ce4c1e26b62ae98f9f8bb9f72df3dd2873a50bb648f9d648a4041f166c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 49, + "agent_resets": 33, + "agent_sim_steps": 1184, + "agent_records": 13, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.976, + "peak_processes": 9, + "peak_disk_gb": 0.245, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "hammer_reference_followed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 为 success=0、missing_trajectory=1、agent_records=13、agent_replays=0；inputs/video.json 为 kind=none，且没有状态日志。评分器未报告正式轨迹的节点判据或四项原生跟踪指标，不能由缺交付或零总分判定锤子运动的终值。" + }, + { + "t": null, + "log_step": 85, + "text_zh": "观察：agent 的脚本在 log step 85 调用 gen.run(s, P, record=False)，会话测试返回 success=False、steps=60、track_ok=8、track_steps=99，原因为物体距参考或腕部超过 0.25 米；log step 86 没有输出或最终报告。这些是未交付的会话测试结果，不能作为本节点的正式终值或视频时间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话测试中的 MyoHand 手指与锤子接触不计为正式轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_rot_err", + "unit": "rad", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok", + "unit": "control_steps", + "threshold": 90, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 85, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 85 仍是 agent 脚本以 record=False 进行的会话测试，log step 86 为空，没有最终报告。没有正式交付的评分轨迹，无法定位其中失败的物理步骤或时刻，按缺交付规则记为 unknown／首步前。" + }, + "unmet": { + "hammer_reference_followed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频、无状态日志，且评分器明确报告缺少交付轨迹；没有正式评分片段可用于判定节点终值、接触或物理失败现象。评分器也未报告 track_pos_err、track_rot_err、track_ok、track_max 的正式结果，四项指标均为 null。log step 16 的控制脚本在内存中返回录制数组，log step 19—85 为多次会话测试及调试，不能替代交付轨迹；仅有缺交付记录不足以确定其具体根因，按 DECISIONS.md D23 留空现象与根因。run.json 记录 wall_s=3603、time_limit_s=3600，infra_error=0；没有证据表明是外部服务中断，也不把预算结束本身作为失败原因。" + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，未交付可评分的挥锤轨迹；唯一节点“沿参考挥锤”的终值未知，接触为不适用。agent 在会话中反复调试控制器，最后一次测试（log step 85）提前终止，但该测试不能替代正式轨迹，断点记为 unknown／首步前。没有视频、状态日志或正式节点指标，按缺交付规则不标物理现象和根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_replays=0；标注按 D23 / 03 规则（无交付、agent 侧原因）把断点记为 unknown／首步前，现象与根因留空并写 gap_zh，节点终值 unknown、接触不适用，均有依据，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:08Z", + "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/myosuite-dex-hammer-use-i00-privileged--96s8ebc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-hammer-use-i00-privileged--96s8ebc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "51f2f9d530d1477a93c93f0bca856ec5ab4f4c82787d4bcf8657dd35736d296a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/dex_hammer_use/trajectories/myosuite-dex-hammer-use-i00-privileged--zfetnr6.json b/phase2/myosuite/dex_hammer_use/trajectories/myosuite-dex-hammer-use-i00-privileged--zfetnr6.json new file mode 100644 index 0000000000000000000000000000000000000000..728f5ed6fbd8a2375e86da8b43e0427d62a11b4e --- /dev/null +++ b/phase2/myosuite/dex_hammer_use/trajectories/myosuite-dex-hammer-use-i00-privileged--zfetnr6.json @@ -0,0 +1,179 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-dex-hammer-use-i00-privileged--zfetnr6", + "taskKey": "myosuite/dex_hammer_use", + "dag_sha256": "925558ce4c1e26b62ae98f9f8bb9f72df3dd2873a50bb648f9d648a4041f166c", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 68, + "agent_resets": 25, + "agent_sim_steps": 514, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.979, + "peak_processes": 7, + "peak_disk_gb": 0.257, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "hammer_reference_followed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；未报告沿参考挥锤节点的最终验收值或四项原生轨迹指标。inputs/video.json 的 kind=none，且本次没有状态日志，节点终值无法判定。" + }, + { + "t": null, + "log_step": 82, + "text_zh": "观察：log step 82 中 agent 的脚本新建 Session、reset 后执行预抓取、夹紧和抬锤测试，输出止于测试控制步 29，未调用轨迹录制、保存或重放；这属于会话测试，不是交付轨迹的节点证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，agent_records=0；没有交付轨迹可标注 MyoHand 与锤子的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "track_pos_err", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "track_rot_err", + "unit": "rad", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "track_ok", + "unit": "control_steps", + "threshold": 90, + "direction": "higher_better", + "value": null + }, + { + "name": "track_max", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 82, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_records=0、agent_replays=0，infra_error=0；log step 82 是最后一条日志，agent 的脚本仍在执行未录制的抓取与抬锤测试，没有最终完成报告。推断：没有可定位物理失败步骤的交付轨迹，断点记为 unknown／首步前；此位置指评分交付尚未开始，不否认会话中已进行测试。" + }, + "unmet": { + "hammer_reference_followed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无评分视频、无状态日志，且评分器明确报告缺少交付轨迹。日志只有 agent 的环境检查和控制测试；其中的接触、位姿误差和提前终止不属于已交付评分尝试，不能据此标注物理现象或节点终值。日志末条 log step 82 正常退出，未给出停止或未交付的明确原因；总工作墙钟 3612 秒、预算 3600 秒不足以确定具体能力根因，也没有已证实的录制／保存错误，故两层均留空，不将未交付直接标为没尝试或交付操作出错。评分器未报告四项原生指标，均填 null。" + }, + "summary_zh": "评分器报告失败且缺少交付轨迹，录制与重放次数均为 0，无法确认唯一节点“沿参考挥锤”的终值。log step 82 仍是未录制的预抓取、夹紧与抬锤测试，故断点记为 unknown／首步前，接触记为不适用。没有视频、状态日志或交付后的轨迹验收指标，现象与根因均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、agent_records=0、agent_replays=0，未交付轨迹。节点 unknown、接触不适用、断点 unknown/首步前、两层为空并有 gap_zh，均符合 03 的“未交付（agent 侧原因）”规则，未发现需改动之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/myosuite-dex-hammer-use-i00-privileged--zfetnr6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-dex-hammer-use-i00-privileged--zfetnr6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4d628f48a9e4c26ee010724593ed7fec7e41f652f2de754337eaad141d87717e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--8etpnz2.json b/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--8etpnz2.json new file mode 100644 index 0000000000000000000000000000000000000000..1df7ce4dac8e687e4279e6c7902c8385cd09f729 --- /dev/null +++ b/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--8etpnz2.json @@ -0,0 +1,158 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-die-reorient-i00-privileged--8etpnz2", + "taskKey": "myosuite/die_reorient", + "dag_sha256": "8503244878c996302f5b3d2b56939acc4c42a7bd943ead0f8ea31be095176f02", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 35277, + "agent_resets": 145, + "agent_sim_steps": 7066, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "die_at_target_pose": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器 reward 记录 success=0、missing_trajectory=1、agent_records=0、agent_replays=0、grader_error=0，未报告该节点的位姿误差或连续达标计数；inputs/video.json 为 kind=none，且本次无状态日志，不能由总失败判定推导节点物理终值。" + }, + { + "t": null, + "log_step": 68, + "text_zh": "观察：agent 在 log step 68 仅创建轨迹生成脚本，其中包含录制、保存和重放调用；此步返回文件创建成功，未执行该脚本。log step 82 启动优化，log step 83 等待并读取优化进度，返回为空；这些会话操作没有交付回合结果，不能据会话测试判定节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹，故无可标注的评分尝试接触；不把会话中的掌指控制测试接触移作本次轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pos_dist", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "rot_dist", + "unit": "rad", + "threshold": 0.262, + "direction": "lower_better", + "value": null + }, + { + "name": "solved_run", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 83, + "where": "首步前", + "evidence_zh": "观察：评分器在 inputs/run.json 中报告 missing_trajectory=1、agent_records=0、agent_replays=0。agent 在 log step 68 只创建轨迹生成脚本，log step 82 再启动优化，末条 log step 83 仍等待优化进度且输出为空；未形成可定位物理失败步骤的评分轨迹。" + }, + "unmet": { + "die_at_target_pose": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频（inputs/video.json：kind=none）、没有状态日志，评分器因缺少交付轨迹而失败，未提供 pos_dist、rot_dist、solved_run。log step 16、58 的服务掉落结果及 log step 62 的误差均属于会话测试；log step 68 只有轨迹生成脚本的创建记录，log step 83 结束于优化进度查询，没有最终交付或明确的会话终止原因记录。按暂行 DECISIONS.md D23，未交付时现象和根因均留空，不能以会话掉落代替评分尝试的现象，也不能仅凭缺交付反推控制或交付根因；节点终值依 N9 保留未知。成功参考录像属于另一运行，不能补成本次观测。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，未交付可评分轨迹，“骰子转到目标”节点的达成与终值均无法确认。agent 在 log step 68 创建生成脚本，之后仍在调试和等待优化，末条 log step 83 没有交付结果，因此断点记为 unknown／首步前，按 D23 不标物理现象或根因。本次没有视频和状态日志，原生误差及连续达标计数也未由评分器报告，不能用会话测试或其他运行的成功参考补足。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1 且未交付；节点 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 N9、D23(a)。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/myosuite-die-reorient-i00-privileged--8etpnz2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-die-reorient-i00-privileged--8etpnz2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "58ac3369e747a8fa5c3272f7c7c3d93cf12022a2eee43c023b839587c90b7315", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--l5e5hbf.json b/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--l5e5hbf.json new file mode 100644 index 0000000000000000000000000000000000000000..2890d344df4d63cfcc4096ccfa7ec4b0ed419aac --- /dev/null +++ b/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--l5e5hbf.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-die-reorient-i00-privileged--l5e5hbf", + "taskKey": "myosuite/die_reorient", + "dag_sha256": "8503244878c996302f5b3d2b56939acc4c42a7bd943ead0f8ea31be095176f02", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 58, + "agent_resets": 62, + "agent_sim_steps": 1660, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.95, + "peak_processes": 9, + "peak_disk_gb": 0.268, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "die_at_target_pose": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且未提供本次运行的状态日志。评分器没有报告目标位姿及连续保持的节点结果，故终值未知，不能由总失败判定物理节点为假。" + }, + { + "t": null, + "log_step": 98, + "text_zh": "观察：log step 98 中 agent 的脚本新建 Session 并测试候选动作序列，输出该会话的位姿误差；log step 95 的脚本还直接设置骰子初始位姿以测试稳定性。这些均为会话测试，未被录制交付，不能作为本节点的评分进展。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0，没有交付轨迹；本节点的轨迹级接触不适用，会话测试中的手骰接触不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pos_dist", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "rot_dist", + "unit": "rad", + "threshold": 0.262, + "direction": "lower_better", + "value": null + }, + { + "name": "solved_run", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 98, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 98 仍是 agent 对候选动作序列的会话测试，没有交付记录。推断：没有可评分的物理轨迹，无法定位某个实际操作失败步骤，断点记 unknown、位置记首步前。" + }, + "unmet": { + "die_at_target_pose": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次运行没有视频（inputs/video.json: kind=none），没有状态日志，评分器报告轨迹缺失且未提供 pos_dist、rot_dist、solved_run。日志只有会话测试与优化，最后记录为 log step 98；run.json 的 wall_s=3603、time_limit_s=3600、infra_error=0，未给出明确的外部中断记录。推断：无法观察评分尝试中的物理失败现象，也没有足够证据确定未交付背后的具体能力或交付操作根因；依 D23，两层留空，不把会话测试的误差、接触或掉落移作评分失败标签。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，agent 未录制或重放交付轨迹；唯一节点“骰子转到目标”的终值未知。断点记 unknown／首步前，接触不适用；日志中的控制器优化和位姿测试属于会话证据，没有本次视频、状态日志或节点结果字段，故不标物理现象与具体根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1、agent_records=0，节点终值 unknown、断点 unknown/首步前、两层留空并附 gap_zh，符合 D23(a)/N9，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:48Z", + "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/myosuite-die-reorient-i00-privileged--l5e5hbf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-die-reorient-i00-privileged--l5e5hbf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "50ace394a96bd030c527d470d60afcbde05bff023e5632deb8c6dc0b7632b541", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--zfbzyxj.json b/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--zfbzyxj.json new file mode 100644 index 0000000000000000000000000000000000000000..edeecdf1b7bcbdcedb01fde4435b8289a6218b64 --- /dev/null +++ b/phase2/myosuite/die_reorient/trajectories/myosuite-die-reorient-i00-privileged--zfbzyxj.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-die-reorient-i00-privileged--zfbzyxj", + "taskKey": "myosuite/die_reorient", + "dag_sha256": "8503244878c996302f5b3d2b56939acc4c42a7bd943ead0f8ea31be095176f02", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 61, + "agent_resets": 26590, + "agent_sim_steps": 5837, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.69, + "peak_processes": 13, + "peak_disk_gb": 0.246, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "die_at_target_pose": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 missing_trajectory=1、success=0、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且没有状态日志。评分器未报告骰子目标位姿的验收结果，不能仅由整次运行失败判定该物理节点为假。" + }, + { + "t": null, + "log_step": 38, + "text_zh": "观察：agent 在 log step 38 编写仅在测试重放 success 为真时才保存轨迹的辅助脚本；log step 39 编写同样条件的脚本。后续日志未显示执行这些保存脚本或生成交付文件；log step 56 的优化输出仍为 succ=False、streak=0，log step 57 的监控调用没有输出。这些均为会话调试记录，不能确定评分轨迹中的节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付可评分轨迹；会话中 MyoHand 的调试动作不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "pos_dist", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "rot_dist", + "unit": "rad", + "threshold": 0.262, + "direction": "lower_better", + "value": null + }, + { + "name": "solved_run", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 57, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；日志末尾 log step 57 中 agent 仍在监控候选轨迹优化，调用无输出，没有保存完成或最终交付报告。没有评分轨迹，无法定位评分尝试中的物理失败步骤。" + }, + "unmet": { + "die_at_target_pose": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无评分视频（inputs/video.json 的 kind=none），无状态日志，且评分器报告未交付轨迹；未提供 pos_dist、rot_dist 或 solved_run 的评分结果。日志包含多轮重置和优化测试，不能把这些会话中的偏移、掉落或零连续成功计数当作评分轨迹的现象或节点值；成功参考录像属于另一运行，不能补足本次证据。运行 wall_s=3603、time_limit_s=3600，末尾 log step 57 无返回输出，未见整体会话被外部故障截断的明确记录；按未交付轨迹规则保留现象和根因空层，不从缺交付反推控制或交付操作错误。" + }, + "summary_zh": "观察：评分器判定本次失败并报告未交付轨迹（missing_trajectory=1），因此“骰子转到目标”节点的终值未知，无法建立视频时间区间。观察：agent 在 log step 56 仍调试优化器，log step 57 的监控调用没有输出，未见交付保存完成记录；断点记为 unknown／首步前。观察：本次无评分视频或状态日志，评分器也未报告物理误差及保持计数，现象和根因依未交付规则留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1：节点 unknown、intervals null、断点 unknown/首步前、现象与根因为空并带 gap_zh，均符合未交付（agent 侧原因）规则。log step 38/39/56/57 的引用与 run.json 一致，没有把会话调试读数当作评分结果。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:49Z", + "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/myosuite-die-reorient-i00-privileged--zfbzyxj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-die-reorient-i00-privileged--zfbzyxj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "999a1375d5666fdc4eaad7ff1a9ea2e5677c4768a79b1c1b5161525a11013350", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/obj_reorient/trajectories/myosuite-obj-reorient-i00-privileged--nbc6mpq.json b/phase2/myosuite/obj_reorient/trajectories/myosuite-obj-reorient-i00-privileged--nbc6mpq.json new file mode 100644 index 0000000000000000000000000000000000000000..f65e48ed76bfb7fa74700c15ed7b273368818e3e --- /dev/null +++ b/phase2/myosuite/obj_reorient/trajectories/myosuite-obj-reorient-i00-privileged--nbc6mpq.json @@ -0,0 +1,172 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-obj-reorient-i00-privileged--nbc6mpq", + "taskKey": "myosuite/obj_reorient", + "dag_sha256": "5fa14ac531d86a618258cac5dcf345b855048938d31fd6daf66194ddd0c11023", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 77, + "agent_resets": 355, + "agent_sim_steps": 6938, + "agent_records": 0, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 1.62, + "peak_processes": 13, + "peak_disk_gb": 0.263, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "object_reoriented": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0；没有本次评分视频或状态日志，也没有报告该节点物理终态的评分器字段，因此不能由总失败值判断物体是否完成调姿保持。" + }, + { + "t": null, + "log_step": 74, + "text_zh": "观察：log step 74 是 agent 对候选动作的独立测试，原生 solved_run 在所示测试中最高达到16后清零；log step 77 仍在重置后执行候选动作并生成截图，未交付正式轨迹。这些测试不用于节点终值或时间区间。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0，本次没有交付可供评分的轨迹；会话测试中的手指与物体接触不作为本次轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "rot_align", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "norm_obj_err_pos", + "unit": "m", + "threshold": 0.075, + "direction": "lower_better", + "value": null + }, + { + "name": "solved_run", + "unit": "control_steps", + "threshold": 100, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 77, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0；log step 70 的脚本仅在连续保持成功并通过重放检查后才保存轨迹，log step 72 的最后一次 agent 发言称已启动优化并等待完成，最后的 log step 77 仍只执行候选动作并渲染截图，没有保存成功或正式交付记录。缺少评分轨迹，无法定位物理步骤中的失败点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 中没有本次 replay.mp4 或 states.jsonl；评分器明确报告缺少轨迹，未报告 rot_align、norm_obj_err_pos、solved_run 的正式终值。log step 48 的失败重放和 log step 74—77 的调试均为会话测试；log step 55 的服务调用报错后，log step 59—77 仍继续工作，不能据此认定最终遭外因中断。运行 wall_s=3624、time_limit_s=3600，但日志没有明确的最终停止原因。依 DECISIONS.md D23 和 N9，节点终值未知、时间区间为 null，现象和根因留空；不能从缺交付反推没尝试、控制失误或交付操作出错。参考成功录像属于其他运行，不能补足本次轨迹证据。", + "unmet": { + "object_reoriented": null + } + }, + "summary_zh": "评分器判定失败并报告缺少交付轨迹，唯一节点“物体调至目标”的正式终态无法确定。agent 会话进行了多轮控制搜索，log step 74 的候选测试只短暂达到 solved_run=16，log step 77 仍在生成调试截图，均不能计入正式进度。因本次无视频、无状态日志且无交付，断点为 unknown／首步前，按 DECISIONS.md D23 保留空现象与空根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志、无交付轨迹（missing_trajectory=1）；标注将节点设为 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23/N9，未把会话测试当作正式进度。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:38Z", + "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/myosuite-obj-reorient-i00-privileged--nbc6mpq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-obj-reorient-i00-privileged--nbc6mpq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "865e86f66b555e67a6c5f4929d2c683a1e8f216dafab8ee6583d6edd54afa3e3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/osl_run/trajectories/myosuite-osl-run-i00-privileged--drdgf7p.json b/phase2/myosuite/osl_run/trajectories/myosuite-osl-run-i00-privileged--drdgf7p.json new file mode 100644 index 0000000000000000000000000000000000000000..f89df81bbb08dd51a816cb04f4d3e51534f9c375 --- /dev/null +++ b/phase2/myosuite/osl_run/trajectories/myosuite-osl-run-i00-privileged--drdgf7p.json @@ -0,0 +1,158 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-osl-run-i00-privileged--drdgf7p", + "taskKey": "myosuite/osl_run", + "dag_sha256": "e5e4a4737e99dbffcc27d3a2017c662faacbdb962fff22a2d9a6f2165acb94fa", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 57, + "agent_resets": 50, + "agent_sim_steps": 4936, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.973, + "peak_processes": 8, + "peak_disk_gb": 0.25, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "track_finished": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/video.json 标为 kind=none，输入无状态日志；inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0，未报告受评轨迹的终点节点结果或前向距离。缺交付不能证明身体未达终点，故节点终值未知，时间区间为 null。" + }, + { + "t": null, + "log_step": 65, + "text_zh": "观察：agent 在 log step 65 运行控制器测试，服务返回该测试 success=False、steps=233；log step 66 继续检查膝关节力臂。评分器未收到录制轨迹，不能把这些会话测试的结果作为受评节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器字段 missing_trajectory=1、agent_records=0，未交付受评轨迹；会话测试中的足地接触不作为本轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "forward_distance_m", + "value": null, + "unit": "m", + "threshold": 29, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": null, + "where": "首步前", + "evidence_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；受评轨迹未交付，无法定位轨迹中的失败步骤或时刻。日志末尾 log step 65 为控制器测试，log step 66 为肌肉力臂诊断，没有最终汇报或交付记录。" + }, + "unmet": { + "track_finished": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 仅有 MANIFEST.json、meta.json、run.json 和 video.json，没有视频或状态日志，也没有已交付轨迹；评分器未报告终点节点值和 forward_distance_m。日志中的多次重置与控制器测试属于会话证据，不能据其跌倒或终止状态标受评轨迹的现象。run.json 的 wall_s=3608、time_limit_s=3600，日志最后为 log step 66（agent 工作时间 2011 s），未说明末次工具返回后发生了什么；infra_error=0，没有足够证据认定外部中断或特定交付操作出错。故断点未知、现象及根因均留空，不由缺交付反推能力原因。" + }, + "summary_zh": "评分器判失败，missing_trajectory=1、agent_records=0，未交付受评轨迹；“跑到终点”节点无可确认的终值。会话中的控制器测试未形成可评分交付，断点记 unknown／首步前，现象和根因留空。没有视频、状态日志或受评终点记录，无法确认实际前向距离与失败机制。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频/状态日志、无交付轨迹（missing_trajectory=1, agent_records=0）；节点终值 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合规则。log step 65/66 的引用与 steps=233 的测试结果均核实无误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:49Z", + "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/myosuite-osl-run-i00-privileged--drdgf7p/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-osl-run-i00-privileged--drdgf7p/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f96d48a5a8d6c924b5c45aacf36433e6429eda89295a2c4de7d42b7ce9b18881", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/myosuite/soccer/trajectories/myosuite-soccer-i00-privileged--pddvrk6.json b/phase2/myosuite/soccer/trajectories/myosuite-soccer-i00-privileged--pddvrk6.json new file mode 100644 index 0000000000000000000000000000000000000000..786cd95529236c9352f4b21e964d55ae53d44a32 --- /dev/null +++ b/phase2/myosuite/soccer/trajectories/myosuite-soccer-i00-privileged--pddvrk6.json @@ -0,0 +1,153 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "myosuite-soccer-i00-privileged--pddvrk6", + "taskKey": "myosuite/soccer", + "dag_sha256": "6017c07ff7b03b931ba35675b387457077288bf58ccba56e403c929a63483718", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "missing_trajectory": 1, + "grader_error": 0, + "agent_sessions": 49, + "agent_resets": 474, + "agent_sim_steps": 42514, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "infra_error": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.593, + "peak_processes": 9, + "peak_disk_gb": 0.252, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 1, + "base": null, + "peak": null, + "final": null, + "nodes": { + "ball_in_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 74, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0；log step 74 记录 Gemini 提供方过滤拦截。inputs/video.json 为 kind=none，且无本次状态日志；评分器未报告进球节点结果，不能从会话测试或总成功值0判定该节点真伪。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0，本次没有交付轨迹；会话测试的腿、躯干与球接触不作为轨迹级实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "time_cost", + "value": null, + "unit": "s", + "threshold": 10, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 74, + "where": "首步前", + "evidence_zh": "观察：log step 74 为“This request was blocked by Gemini's filters”的提供方拦截消息，之后没有日志步骤；评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0。log step 73 的资源服务显示尚余1635秒且无资源违规或紧急终止；本次没有已交付、已验证的评分轨迹。" + }, + "unmet": { + "ball_in_goal": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无视频、无状态日志，也没有交付轨迹；log step 74 记录提供方过滤拦截，评分器的 missing_trajectory=1 与 agent_records=0 确认未产生评分交付。推断：按外因中断规则，此运行应重试并排除出机器人失败归因，保留目录中的 success=0 仅作原始评分结果。会话中的多次肌肉控制测试不是交付轨迹，不能据此判断进球节点、实际接触或物理失败现象；因此节点终值未知、现象与根因均留空。inputs/oracle/replay.mp4 属于另一次成功运行，不能补足本次证据；评分器未报告 time_cost。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1、agent_records=0，未交付轨迹，踢球入门节点的终值未知。日志在 log step 74 因 Gemini 提供方过滤拦截结束，按外因中断处理，断点记 unknown／首步前，现象与根因留空。本次没有视频或状态日志，会话踢球测试不能用来标定评分轨迹的进度或接触。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次运行在 log step 74 被 Gemini 提供方过滤拦截，评分器 missing_trajectory=1、agent_records=0，没有交付轨迹，剩余时间1635秒。标注按外因中断规则处理：断点 ref=unknown、首步前，现象与根因为空且有 gap_zh，没有视频和状态日志，节点终值 unknown。我未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:47Z", + "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/myosuite-soccer-i00-privileged--pddvrk6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/myosuite-soccer-i00-privileged--pddvrk6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e876f6717a0150b5f6b863c8b3e075f7bccd4158ded1d9c5b88e01bc223e2f7c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dubpnn7.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dubpnn7.json new file mode 100644 index 0000000000000000000000000000000000000000..e96e8a830633f5fc9dc59109f16f6a63066a6922 --- /dev/null +++ b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dubpnn7.json @@ -0,0 +1,320 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d01-reciprocal-cup-relay-i00-privileged--dubpnn7", + "taskKey": "pandadyn/d01_reciprocal_cup_relay", + "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "all_success": 0, + "deterministic": 1, + "replays": 2, + "instance_ok": 1, + "n_actions": 272, + "executed_rows": 272, + "sim_steps": 272, + "physics_steps": 2720, + "sim_time_s": 2.72, + "phases_done": 1, + "valid": 0, + "replay_wall_s": 11.2, + "replay_timeout_s": 327.2, + "grader_error": 0, + "infra_error": 0, + "agent_sessions": 11, + "agent_resets": 8, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "video_rendered": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.056, + "peak_memory_gb": 0.523, + "peak_processes": 13, + "peak_disk_gb": 0.51, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 5, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "left_initial_catch": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 26, + "text_zh": "观察：评分器 reward.phases_done=1、sim_steps=272、sim_time_s=2.72、deterministic=1；log step 26 的基准 Session（仿真服务原生状态接口）报告仿真 0.961 s 登记 phase:left_initial_catch，终止时 phase=1、phase_name=left_to_right_flight。" + }, + { + "t": null, + "log_step": 28, + "text_zh": "推断：log step 28 使用同一 gen.py 重新运行并保存实际执行的 272×16 动作数组，末尾碰撞事件与 log step 26 一致，且动作数、终止仿真时长及阶段数吻合评分器两次确定性重放；因此左杯首次接球这一锁存事件在交付轨迹中已完成。无本次视频，不能给视频到达时间。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "服务已登记左杯接球，但没有本次视频或状态日志接触对可供独立核对左臂杯工具与球的实际接触形态；不把 DAG 的典型托/舀方案直接当成观测。" + } + ] + }, + "right_cup_caught": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 28, + "text_zh": "观察：log step 26 的 Session 终态为 phase=1（left_to_right_flight），success=false、valid=false、failure_reason=arm_arm_or_tool_collision，仿真 2.715 s 记录 contact:left_tool:right/panda_link7；log step 28 的实际保存运行再次输出相同接触与失败事件，文件含 272 行，与 reward.executed_rows=272、phases_done=1 相符。" + }, + { + "t": null, + "log_step": 26, + "text_zh": "推断：机器人已进入左向右传接，但在右杯接稳所需的 phase>=3 之前因两臂碰撞终止；按服务阶段结果此节点 final=false，不以总成功分数为零单独判断。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "本次已尝试左杯送球、右杯接球。保存运行的原生事件（log step 28）证实左杯工具碰右臂 panda_link7；缺少本次画面和逐帧状态，无法核对送出及右杯与球的接触方式，故不声称右杯已托住球。" + } + ] + }, + "loaded_cup_in_second_region": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 26, + "text_zh": "推断：评分器 phases_done=1；与交付运行相符的 Session 终态仅 phase=1（log step 26，仿真 2.72 s），未到右杯接稳的 phase>=3，更未到持球入第二交接区所需的 phase>=4，故该顺序事件未完成；log step 28 已在此终止处保存 272 行动作，后续计划不计入交付。" + } + ] + }, + "left_cup_recaught": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 26, + "text_zh": "推断：评分器 phases_done=1 且交付仅执行 272 步；log step 26 的服务在仿真 2.72 s、phase=1 终止，尚未完成右接球和第二交接区两个前置阶段，因此不可能登记后续左杯回接事件，final=false。" + } + ] + }, + "ball_settled_in_moving_cart": { + "method": "log", + "intervals": null, + "final": false, + "evidence": [ + { + "t": null, + "log_step": 28, + "text_zh": "推断：评分器 phases_done=1、sim_time_s=2.72；log step 26 的 Session 在 left_to_right_flight 阶段因碰撞终止，log step 28 保存同样终止的 272 行动作。车厢交付判据要求先登记左杯回接，而该前置事件未发生，故最终交付判据不成立；不将脚本中未执行的车厢交付日程当作完成证据。" + } + ] + } + }, + "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": null, + "log_step": 28, + "where": "操作中", + "evidence_zh": "观察：log step 28 在生成并保存 272×16 动作数组的运行末尾，基准事件记录左杯工具与右臂 panda_link7 在仿真 2.715 s 接触，并报告 arm_arm_or_tool_collision。推断：该运行与 log step 26 的 phase=1、仿真 2.72 s、272 步终态及评分器 phases_done=1、272 执行步、两次确定性重放相符；机器人正在左向右传接，右杯尚未接稳，此步因碰撞终止且未修复。没有本次视频，t=null。" + }, + "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 + }, + "phenomena": [ + { + "cat": "运动", + "item": "被挡/碰撞", + "t": null, + "log_step": 28, + "evidence_zh": "观察：实际保存运行的原生接触事件为 contact:left_tool:right/panda_link7，仿真 2.715 s，impulse=0.15994270145893097；随后同一仿真时刻出现 failure，reason=arm_arm_or_tool_collision（log step 28）。log step 26 的同配置运行也因此结束于 phase=1；评分器确认交付仅执行 272 步、valid=0，与这一碰撞终止相符。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 26, + "source_zh": "日志", + "evidence_zh": "推断：agent 的最终双臂运动日程未使两臂在传接期间保持分离。log step 26 修改左杯倾倒、撤离与右杯接入的位置和时间后，服务仍报告左杯碰右臂末端连杆并终止；log step 28 原样运行该脚本保存的动作同样记录此碰撞。最终生成器报告 ikfail=[0,0]（log step 26），因此不能把早期会话的逆解异常直接当作本次原因；现有证据仅支持控制层面的双臂运动协调失败，不能再区分轨迹设计与执行跟踪。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none（HF 404 且无本地视频），inputs/ 中没有本次 replay.mp4 或 states.jsonl，state 亦为 null；故所有 intervals、证据 t 和断点 t 均为 null，仅依据评分器及与交付相符的 Session 原生阶段/接触/失败字段判定终值和断点。实际保存运行的输出被截取，仅保留终止接触和失败事件；其归属由同配置末次运行、272 行交付、评分器执行步数、仿真时长及确定性重放相互支持，无法逐帧复核球离杯、杯内接触和碰撞前几何。无本次接触画面，两个已尝试节点的 contact_actual 保留未知；不能进一步区分碰撞源于轨迹几何还是跟踪偏差。DAG 的全部 11 项原生连续指标均未由评分器报告，value=null。已检查成功参考视频的粗采样画面，仅用于理解场景和完成形态，不能证明本次动作。" + }, + "summary_zh": "评分器 phases_done=1 及与交付对应的 Session 阶段结果支持左杯首次接球完成，五个语义节点终值为 1/5，其余四项未完成。保存运行在左向右传接时于仿真 2.715 s 发生左杯工具与右臂末端连杆碰撞，断点为右杯接稳传球；根因仅能归为控制层面的双臂运动协调失败。本次无视频和状态日志，所有视频时间均留空，实际工具与球的接触方式及更细的控制原因无法独立核对。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志（video kind=none）。标签仅依据评分器字段（phases_done=1、272 步、仿真 2.72 s）和 log step 26/28 中服务原生的 phase=1、contact:left_tool:right/panda_link7（仿真 2.715 s）、arm_arm_or_tool_collision 判定。终值 1/5、断点 right_cup_caught（操作中）、现象被挡/碰撞、根因停在“控制”均与这些证据一致，所有视频时间留空也符合规则。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:11Z", + "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-d01-reciprocal-cup-relay-i00-privileged--dubpnn7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--dubpnn7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8cca24f5a7248cd79ebbaa4fe29c55a5ff3c4ffed3e7be0c4b64f4ae12ebed32", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--jjchnpl.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--jjchnpl.json new file mode 100644 index 0000000000000000000000000000000000000000..c66ee16de2add1f265bdf9593f2054ea80f107d4 --- /dev/null +++ b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--jjchnpl.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d01-reciprocal-cup-relay-i00-privileged--jjchnpl", + "taskKey": "pandadyn/d01_reciprocal_cup_relay", + "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 2, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "left_initial_catch": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 14, + "text_zh": "观察：log step 14 中 agent 的测试会话报告 phase=1，并保存内存快照；这不是交付轨迹的验收结果。评分记录 reward.missing_trajectory=1，且本次无视频、无状态日志、无交付轨迹逐节点结果，无法确定该节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1；未交付受评轨迹，会话测试中的杯球接触不计为本节点的实际接触。" + } + ] + }, + "right_cup_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 31, + "text_zh": "观察：log step 31 中 agent 从 sf_p1 快照恢复后的测试会话报告 phase=3；这不是交付轨迹的验收结果。评分记录 reward.missing_trajectory=1，且本次无视频、无状态日志、无交付轨迹逐节点结果，无法确定该节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1；未交付受评轨迹，会话测试中的杯球接触不计为本节点的实际接触。" + } + ] + }, + "loaded_cup_in_second_region": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：log step 32 中 agent 从 sf_p1 快照恢复后的测试会话报告 phase=4；这不是交付轨迹的验收结果。评分记录 reward.missing_trajectory=1，且本次无视频、无状态日志、无交付轨迹逐节点结果，无法确定该节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1；未交付受评轨迹，会话测试中的杯球接触不计为本节点的实际接触。" + } + ] + }, + "left_cup_recaught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 36, + "text_zh": "观察：log step 36 中 agent 从 sf_p4 快照恢复后的测试会话报告 reverse_catch；这不是交付轨迹的验收结果。评分记录 reward.missing_trajectory=1，且本次无视频、无状态日志、无交付轨迹逐节点结果，无法确定该节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1；未交付受评轨迹，会话测试中的杯球接触不计为本节点的实际接触。" + } + ] + }, + "ball_settled_in_moving_cart": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 中 agent 从 sf_rev 快照恢复并启动新的入车测试，工具仅返回后台运行提示；log step 44 自述等待结果，随后 log step 46 出现提供方过滤器阻断消息。评分记录 reward.missing_trajectory=1，且本次无视频、无状态日志、无交付轨迹逐节点结果，无法确定该节点的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1；未交付受评轨迹，会话测试中的杯球接触不计为本节点的实际接触。" + } + ] + } + }, + "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": "unknown", + "t": null, + "log_step": 46, + "where": "首步前", + "evidence_zh": "观察：log step 43 的入车测试仅返回后台运行提示，log step 44 中 agent 表示等待测试完成，log step 46 的最后消息为“This request was blocked by Gemini's filters”。评分记录 reward.missing_trajectory=1、agent_replays=0，未提供交付轨迹的验收结果。推断：交付前遭提供方过滤器中断，无法定位受评轨迹中的物理失败步骤，按外因中断记 unknown／首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 无本次 replay.mp4 或 states.jsonl；评分记录 missing_trajectory=1。log step 14、31、32、36 的接球和阶段进展，以及 log step 37、42 的杯碰车厢失败，均来自 agent 多次恢复快照的会话测试，不能作为交付轨迹的节点、接触或失败现象；log step 43 的最后测试没有完成结果。推断：log step 46 的提供方过滤器阻断发生在有效交付前，属于外因中断，应重测并排除出机器人失败分析；现象与根因留空，不标没尝试，也不由缺交付反推交付操作出错。五个节点终值均未知，全部视频时间及十一项未报告原生指标均为 null。成功 oracle 属于另一条运行，不能填补本次受评证据。", + "unmet": { + "left_initial_catch": null, + "right_cup_caught": null, + "loaded_cup_in_second_region": null, + "left_cup_recaught": null, + "ball_settled_in_moving_cart": null + } + }, + "summary_zh": "观察：评分记录 success=0、missing_trajectory=1，本次没有交付轨迹、视频或状态日志，五个节点的受评完成情况均未知；会话测试曾报告左杯首次接球、右杯接球、持球到交接区和左杯回接，但不能计入受评进度。观察：log step 43 启动最后一次入车测试后未返回完成结果，log step 46 以 Gemini 过滤器阻断消息结束。推断：这是交付前的外因中断，断点按 unknown／首步前记录，现象及根因均留空，需重测而不归为机器人物理失败。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志、无交付轨迹（missing_trajectory=1）；五个节点 unknown、现象与根因留空并写 gap_zh、log step 46 的提供方过滤器中断按外因处理，均符合 D23/D37 与 N9，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": "codex", + "model": 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a/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--wbzhh7v.json b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--wbzhh7v.json new file mode 100644 index 0000000000000000000000000000000000000000..75abecaf921b4966f7b68d676f0275947ca9fb86 --- /dev/null +++ b/phase2/pandadyn/d01_reciprocal_cup_relay/trajectories/pandadyn-d01-reciprocal-cup-relay-i00-privileged--wbzhh7v.json @@ -0,0 +1,300 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d01-reciprocal-cup-relay-i00-privileged--wbzhh7v", + "taskKey": "pandadyn/d01_reciprocal_cup_relay", + "dag_sha256": "b07e128a800ee559ca8b9368ba6836a767d8c91c906d8944658d999b662c7786", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 209, + 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+ "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付轨迹；会话测试中杯与球的接触不作为评分尝试的实际接触。" + } + ] + }, + "right_cup_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 416, + "text_zh": "观察：评分器reward报告missing_trajectory=1、success=0，未报告“右杯接稳传球”的阶段结果；本次video.kind=none且无状态日志。log step 415启动的是新建Session的拉回诊断，log step 416仅说明等待结果，不能据会话测试判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付轨迹；会话测试中杯与球的接触不作为评分尝试的实际接触。" + } + ] + }, + "loaded_cup_in_second_region": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 416, + "text_zh": "观察：评分器reward报告missing_trajectory=1、success=0，未报告“持球到交接区”的阶段结果；本次video.kind=none且无状态日志。log step 415启动的是新建Session的拉回诊断，log step 416仅说明等待结果，不能据会话测试判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付轨迹；会话测试中杯与球的接触不作为评分尝试的实际接触。" + } + ] + }, + "left_cup_recaught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 416, + "text_zh": "观察：评分器reward报告missing_trajectory=1、success=0，未报告“左杯接稳回球”的阶段结果；本次video.kind=none且无状态日志。log step 415启动的是新建Session的拉回诊断，log step 416仅说明等待结果，不能据会话测试判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付轨迹；会话测试中杯与球的接触不作为评分尝试的实际接触。" + } + ] + }, + "ball_settled_in_moving_cart": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 416, + "text_zh": "观察：评分器reward报告missing_trajectory=1、success=0，未报告“球入移动车厢”的阶段结果；本次video.kind=none且无状态日志。log step 415启动的是新建Session的拉回诊断，log step 416仅说明等待结果，不能据会话测试判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告missing_trajectory=1，没有交付轨迹；会话测试中杯与球的接触不作为评分尝试的实际接触。" + } + ] + } + }, + "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": 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[] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--wbzhh7v/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d01-reciprocal-cup-relay-i00-privileged--wbzhh7v/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "33e7e66d089f759e7bbb973029acc44d4f9e7f7a356241356948ea0428e28aa8", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--5frqk4r.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--5frqk4r.json new file mode 100644 index 0000000000000000000000000000000000000000..46969e0625156fa72d4cd7c295c18ec10fe6a590 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--5frqk4r.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--5frqk4r", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 11, + "agent_resets": 6, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "left_first_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未给出交付轨迹的阶段结果；本次 inputs/video.json.kind=none，且没有状态日志。log step 38 是 agent 运行开发脚本所得的测试状态（phase=1），不能据此判定受评轨迹的“左击过首隙”，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的拍板、夹爪接触不记为本次受评轨迹的实际接触。" + } + ] + }, + "right_return_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未给出交付轨迹的阶段结果；本次 inputs/video.json.kind=none，且没有状态日志。log step 38 是 agent 运行开发脚本所得的测试状态（phase=1），不能据此判定受评轨迹的“右击过返隙”，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的拍板、夹爪接触不记为本次受评轨迹的实际接触。" + } + ] + }, + "left_middle_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未给出交付轨迹的阶段结果；本次 inputs/video.json.kind=none，且没有状态日志。log step 38 是 agent 运行开发脚本所得的测试状态（phase=1），不能据此判定受评轨迹的“左击过中隙”，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的拍板、夹爪接触不记为本次受评轨迹的实际接触。" + } + ] + }, + "right_goal_crossed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未给出交付轨迹的阶段结果；本次 inputs/video.json.kind=none，且没有状态日志。log step 38 是 agent 运行开发脚本所得的测试状态（phase=1），不能据此判定受评轨迹的“右击越门线”，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付轨迹；会话测试中的拍板、夹爪接触不记为本次受评轨迹的实际接触。" + } + ] + } + }, + "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": "unknown", + "t": null, + "log_step": 38, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.success=0、missing_trajectory=1、agent_replays=0、infra_error=0、grader_error=0。log step 14 的 agent 开发脚本仅构建动作、执行测试并打印状态，没有保存轨迹；log step 38 仍在执行该开发脚本，log step 39 没有文字、调用或输出，完整日志未见保存交付轨迹的调用。推断：没有可定位物理失败步骤的受评轨迹，断点记 unknown、首步前，而非采用任一会话测试的失败节点。" + }, + "unmet": { + "left_first_gap": null, + "right_return_gap": null, + "left_middle_gap": null, + "right_goal_crossed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有受评视频或状态日志，评分器报告 missing_trajectory=1，未报告四个节点的终值或任何原生指标；inputs/oracle/ 中的视频属于另一条成功运行，不能补作本次轨迹证据。log step 18、34、38 的 phase=1 及碰撞事件均属于未交付的开发测试，不能转记为本次节点进度或失败现象。运行记录 wall_s=3603、time_limit_s=3600，但 log step 39 没有明确终止原因或最终报告，也没有记录保存失败的具体操作。推断：依无交付规则保留空现象和空根因；现有记录不足以确定未交付的具体能力原因，不能仅由交付缺失推断交付操作出错，也不能把预算耗尽当作根因。" + }, + "summary_zh": "观察：评分器判定失败且 missing_trajectory=1，本次没有可供评估的交付轨迹，四个交替击盘节点的终值均未知。观察：log step 38 的开发测试只报告 phase=1 后因机械臂禁碰终止，日志未见保存交付轨迹；推断：该测试不能作为受评进度，断点记 unknown／首步前。观察：本次没有视频或状态日志，未交付的具体原因缺少证据，现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；日志中只有开发脚本测试，未见保存交付轨迹。节点 unknown、现象与根因为空并带 gap_zh，符合无交付规则，未把会话测试当作受评轨迹。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:22Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--5frqk4r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--5frqk4r/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5e647b8e799b006a9745f76e626027d7eeca16dc494d99110fb5e8a4d7b360f1", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--ljj9ayr.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--ljj9ayr.json new file mode 100644 index 0000000000000000000000000000000000000000..62a273a19f9155ae635e1734e5bb2aa1084103f0 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--ljj9ayr.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--ljj9ayr", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 84, + "agent_resets": 0, + "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": 0.034, + "peak_memory_gb": 0.648, + "peak_processes": 11, + "peak_disk_gb": 0.836, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "left_first_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 153, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未提供交付轨迹的左击过首隙结果；log step 153 中 agent 新建 Session 后打印的 right_return_route 是一次独立调试回合的阶段读数，不能作为交付节点终值。本次无视频、无状态日志，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；不从会话试跑或参考成功视频填入本次实际接触。" + } + ] + }, + "right_return_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 153, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未提供交付轨迹的右击过返隙结果；log step 153 中 agent 新建 Session 后打印的 left_diagonal_pass 属于调试回合，不能计入评分进度。本次无视频、无状态日志，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；不从会话试跑或参考成功视频填入本次实际接触。" + } + ] + }, + "left_middle_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 130, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告交付轨迹的左击过中隙结果；agent 在 log step 130 自述第三击已登记但过线的 y 不对，随后继续修改脚本。这是会话调试信息；本次无视频或状态日志可判定交付节点，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；不从会话试跑或参考成功视频填入本次实际接触。" + } + ] + }, + "right_goal_crossed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 164, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告交付轨迹的右击越门线结果；log step 164 中 agent 仍新建 Session、生成动作并试跑，输出为空，无保存或回放成功记录。本次无视频、无状态日志，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；不从会话试跑或参考成功视频填入本次实际接触。" + } + ] + } + }, + "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": "unknown", + "t": null, + "log_step": 164, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0、infra_error=0、grader_error=0；log step 126 的输出目录列表没有轨迹文件，log step 164 仍是 agent 新建 Session 后运行调试动作，未见交付保存或回放结果。没有可定位物理失败步骤的评分轨迹。" + }, + "unmet": { + "left_first_gap": null, + "right_return_gap": null, + "left_middle_gap": null, + "right_goal_crossed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有视频或状态日志，评分器确认 missing_trajectory=1，且没有逐节点阶段结果。log step 153 的前两阶段读数、log step 130 的第三击自述及其他接触、碰撞、逆解调试都属于未交付的独立会话试跑，不能替代评分尝试的进度或失败现象。日志最后一条为 log step 164；run.json 的 wall_s=3603、time_limit_s=3600，记录与预算结束时仍未交付相符，但没有证据将缺交付归因于具体保存操作错误或某个物理控制原因。按 DECISIONS.md D23 保留空现象、空根因；耗尽预算本身不作归因。已查看成功参考视频抽帧，其仅用于认识场景，不是本次证据。" + }, + "summary_zh": "评分器判定失败并报告 missing_trajectory=1，本次没有可供评分的交付轨迹；四个节点终值均未知，不能把会话试跑的前两阶段进展算作已完成。agent 在 log step 164 仍在调试，断点按缺交付标为 unknown／首步前，依 D23 不填物理失败现象或根因。本次无视频、无状态日志及逐节点评分结果，无法确定交付进度、实际接触或具体物理失败原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器 missing_trajectory=1、agent_replays=0，无视频与状态日志；四节点 unknown、断点 unknown/首步前、现象与根因为空并带 gap_zh，符合 D23 与 03 规则，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:51Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--ljj9ayr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--ljj9ayr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8d9312b55d52ba39f89452a1f3e2c74d76383b8328a4efd6269a8b25bd1e5899", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--upa4rxq.json b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--upa4rxq.json new file mode 100644 index 0000000000000000000000000000000000000000..252221b357a26af55eae936cd62e2e7737571e52 --- /dev/null +++ b/phase2/pandadyn/d03_cooperative_puck_course/trajectories/pandadyn-d03-cooperative-puck-course-i00-privileged--upa4rxq.json @@ -0,0 +1,238 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d03-cooperative-puck-course-i00-privileged--upa4rxq", + "taskKey": "pandadyn/d03_cooperative_puck_course", + "dag_sha256": "a253811e2d3604fecf74a25fe7ffae3c295947be84a264ebe8064c004afea4ec", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 90, + "agent_resets": 89, + "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": 0.068, + "peak_memory_gb": 0.936, + "peak_processes": 13, + "peak_disk_gb": 0.24, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "left_first_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 137, + "text_zh": "观察：评分器 reward.missing_trajectory=1，且没有受评回放或状态日志。log step 137 的 right_return_route 是 agent 生成器的一次会话测试输出；log step 149 的“首阶段已解决”是 agent 自述，均不能作为已交付轨迹完成左击过首隙的证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，log step 149 中 agent 确认没有交付 trajectory.npz；没有受评轨迹可标注该步骤的实际接触。" + } + ] + }, + "right_return_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 147, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告受评轨迹的阶段终值；log step 147 的输出目录列表只有 gen.py 和会话日志，log step 149 明确自述未生成 trajectory.npz。log step 145、146、148 的右臂测试停滞及逆解拒绝属于会话测试，不能确定受评节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，log step 149 中 agent 确认没有交付 trajectory.npz；没有受评轨迹可标注该步骤的实际接触。" + } + ] + }, + "left_middle_gap": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 149, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告左击过中隙的受评阶段终值；log step 149 中 agent 自述后两阶段仅设计、未执行，且没有 trajectory.npz。无本次受评视频或状态日志可判定此节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，log step 149 中 agent 确认没有交付 trajectory.npz；没有受评轨迹可标注该步骤的实际接触。" + } + ] + }, + "right_goal_crossed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 149, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告右击越门线的受评阶段终值；log step 149 中 agent 自述未生成 trajectory.npz。总失败判决不能单独决定此物理节点的真假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，log step 149 中 agent 确认没有交付 trajectory.npz；没有受评轨迹可标注该步骤的实际接触。" + } + ] + } + }, + "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": "unknown", + "t": null, + "log_step": 149, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0、infra_error=0。log step 147 的输出目录列表仅有 gen.py 和 rcb_session_log.jsonl；log step 149 中 agent 明确自述 trajectory.npz 不存在、仅在完整成功时保存轨迹，并主动结束。没有交付的受评回合，无法把会话测试中卡住的右臂击打指定为受评轨迹断点。" + }, + "unmet": { + "left_first_gap": null, + "right_return_gap": null, + "left_middle_gap": null, + "right_goal_crossed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 的 kind=none，inputs/ 没有本次回放或状态日志；评分器仅报告缺少交付轨迹，未给出四个节点的受评阶段终值。log step 15 的生成器代码将保存轨迹置于 success 条件下，log step 149 中 agent 自述没有一次完整成功并未生成轨迹；log step 145–148 的逆解失败和停滞是未交付的会话测试。依无交付的处理规则，现象和根因均留空，不从缺交付反推“没尝试”、控制或交付操作出错；参考成功视频也不能证明本次运行的接触和进度。" + }, + "summary_zh": "评分器判失败并记录 missing_trajectory=1；log step 147 的目录列表及 log step 149 的 agent 自述共同确认只留下生成器和会话日志，没有交付轨迹，四个物理节点终值均未知。会话测试曾进入右臂返隙阶段并出现逆解拒绝，但不能计入受评节点进度或作为受评动作的失败现象。由于无本次视频、状态日志或受评阶段终值，断点记 unknown／首步前，实际接触记不适用，现象和根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1，log step 147/149 确认未交付 trajectory.npz；四个节点 unknown、断点 unknown/首步前、现象与根因留空并带 gap_zh，符合无交付规则。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:20Z", + "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-d03-cooperative-puck-course-i00-privileged--upa4rxq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d03-cooperative-puck-course-i00-privileged--upa4rxq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "67dc459f932a09018666674f422b89978bd41bf7a64647be15c4d3cfd7f890db", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--4vcbyb3.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--4vcbyb3.json new file mode 100644 index 0000000000000000000000000000000000000000..3df635ac78b57d60fc0307486c798ac5cf6e1eaf --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--4vcbyb3.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d05-moving-ramp-relay-i00-privileged--4vcbyb3", + "taskKey": "pandadyn/d05_moving_ramp_relay", + "dag_sha256": "94fc1d5a8b7cee3ffa331513371adbfd0b44fa360295a6d38e91fe2ee7832c45", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 80, + "agent_resets": 4, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "first_ball_in_channel": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 125, + "text_zh": "观察：评分器 reward.missing_trajectory=1，inputs/video.json 的 kind=none，且无本次状态日志；评分结果未报告“首次球入槽”的节点值。log step 125 仅记录 agent 启动第二轮调试脚本并返回后台运行提示，不能证明已交付轨迹中的本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；无已交付的受评轨迹，不把 agent 调试会话内的工具接触记作本次轨迹接触。" + } + ] + }, + "first_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 125, + "text_zh": "观察：评分器 reward.missing_trajectory=1，inputs/video.json 的 kind=none，且无本次状态日志；评分结果未报告“首次杯接球”的节点值。log step 125 仅记录 agent 启动第二轮调试脚本并返回后台运行提示，不能证明已交付轨迹中的本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；无已交付的受评轨迹，不把 agent 调试会话内的工具接触记作本次轨迹接触。" + } + ] + }, + "second_ball_in_channel": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 125, + "text_zh": "观察：评分器 reward.missing_trajectory=1，inputs/video.json 的 kind=none，且无本次状态日志；评分结果未报告“二次球入槽”的节点值。log step 125 仅记录 agent 启动第二轮调试脚本并返回后台运行提示，不能证明已交付轨迹中的本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；无已交付的受评轨迹，不把 agent 调试会话内的工具接触记作本次轨迹接触。" + } + ] + }, + "second_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 125, + "text_zh": "观察：评分器 reward.missing_trajectory=1，inputs/video.json 的 kind=none，且无本次状态日志；评分结果未报告“二次杯接球”的节点值。log step 125 仅记录 agent 启动第二轮调试脚本并返回后台运行提示，不能证明已交付轨迹中的本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；无已交付的受评轨迹，不把 agent 调试会话内的工具接触记作本次轨迹接触。" + } + ] + }, + "ball_settled_in_basin": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 125, + "text_zh": "观察：评分器 reward.missing_trajectory=1，inputs/video.json 的 kind=none，且无本次状态日志；评分结果未报告“球入盆静止”的节点值。log step 125 仅记录 agent 启动第二轮调试脚本并返回后台运行提示，不能证明已交付轨迹中的本节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；无已交付的受评轨迹，不把 agent 调试会话内的工具接触记作本次轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 125, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_replays=0、infra_error=0、grader_error=0；log step 124 是 agent 修改第二轮接球调试脚本，log step 125 是启动该脚本的后台运行提示，记录到此结束，未见保存并验收交付轨迹的调用。没有受评轨迹可定位物理失败步骤。" + }, + "unmet": { + "first_ball_in_channel": null, + "first_ball_caught": null, + "second_ball_in_channel": null, + "second_ball_caught": null, + "ball_settled_in_basin": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频、状态日志或已交付的受评轨迹，评分字段只说明轨迹缺失，未提供五个节点的验收值；成功参考录像属于另一运行，不能补证本次结果。log step 122 的 phase=3/5 和球坐标来自 agent 的调试会话，log step 124 还在用快照恢复扫描参数，均不能作为受评轨迹的节点值或失败现象。run.json 记录 agent 墙钟耗时 3603 s、预算 3600 s，末条 log step 125 未返回调试结果，也未说明具体停止原因；现有记录不足以从轨迹缺失推定控制、规划或交付操作根因，因此现象与根因均留空（D23），不把预算用尽当作原因。" + }, + "summary_zh": "评分器判定失败并报告 missing_trajectory=1，本次没有可供标注的已交付受评轨迹，五个节点的终值均未知。日志中的 agent 持续调试两轮传球与接球，最后在 log step 125 启动第二轮参数测试，不能将这些会话进展计入受评节点。由于没有本次视频、状态日志和逐节点评分，断点记为 unknown／首步前，实际接触记不适用，失败现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器 missing_trajectory=1，无已交付轨迹；节点全 unknown、现象与根因留空并写 gap_zh，符合 D23(a)，未把会话进展或预算用尽当原因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--4vcbyb3/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--4vcbyb3/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "04f564b6668e1df086abcca278c8b54c23e13f221cfcb5b78e5e8462681fb6d5", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--7w2mfhf.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--7w2mfhf.json new file mode 100644 index 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+ "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_replays=0，未报告“首次杯接球”的节点验收结果；本次 video.kind=none，且无状态日志，故该节点终值与时序未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付的受评轨迹，调试会话中的接触不记为本节点实际接触。" + } + ] + }, + "second_ball_in_channel": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_replays=0，未报告“二次球入槽”的节点验收结果；本次 video.kind=none，且无状态日志，故该节点终值与时序未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付的受评轨迹，调试会话中的接触不记为本节点实际接触。" + } + ] + }, + "second_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_replays=0，未报告“二次杯接球”的节点验收结果；本次 video.kind=none，且无状态日志，故该节点终值与时序未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付的受评轨迹，调试会话中的接触不记为本节点实际接触。" + } + ] + }, + "ball_settled_in_basin": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_replays=0，未报告“球入盆静止”的节点验收结果；本次 video.kind=none，且无状态日志，故该节点终值与时序未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付的受评轨迹，调试会话中的接触不记为本节点实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": 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true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--7w2mfhf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4e316b54cd4aa8cf57fbb59b14e9fd6e1793cf5bbf6a9bbeac35e94f82ed88eb", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--uylmraj.json b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--uylmraj.json new file mode 100644 index 0000000000000000000000000000000000000000..2d93e20a723917f790c4dd150c756317d5ea99e7 --- /dev/null +++ b/phase2/pandadyn/d05_moving_ramp_relay/trajectories/pandadyn-d05-moving-ramp-relay-i00-privileged--uylmraj.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": 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missing_trajectory=1，没有交付评分轨迹；本地试跑中的接触不作为本节点的实际接触。" + } + ] + }, + "second_ball_in_channel": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“二次球入槽”的完成值；inputs/video.json 为 kind=none，且无状态日志。log step 35 仅记录 agent 修改轨迹生成器参数，未记录交付或本节点的最终评分结果，因此无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；本地试跑中的接触不作为本节点的实际接触。" + } + ] + }, + "second_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“二次杯接球”的完成值；inputs/video.json 为 kind=none，且无状态日志。log step 35 仅记录 agent 修改轨迹生成器参数，未记录交付或本节点的最终评分结果，因此无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；本地试跑中的接触不作为本节点的实际接触。" + } + ] + }, + "ball_settled_in_basin": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：inputs/run.json 的评分字段为 success=0、missing_trajectory=1，未报告“球入盆静止”的完成值；inputs/video.json 为 kind=none，且无状态日志。log step 35 仅记录 agent 修改轨迹生成器参数，未记录交付或本节点的最终评分结果，因此无法判定本节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付评分轨迹；本地试跑中的接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "outlet_tip_world_speed_at_exit", + "unit": "m/s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "channel_orientation_change_at_second_entry", + "unit": "rad", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "catch_containment_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_speed_relative_to_cup", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_world_speed_in_basin", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "basin_containment_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 35, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、infra_error=0、grader_error=0；log step 19 的 agent 试跑脚本只生成动作数组并调用 Session.replay、打印诊断，没有保存交付轨迹；完整日志最后一项 log step 35 仍是修改生成器参数，没有随后保存或提交记录。无法把本地试跑所在步骤指定为评分轨迹的物理断点，按无交付记首步前、ref=unknown。" + }, + "unmet": { + "first_ball_in_channel": null, + "first_ball_caught": null, + "second_ball_in_channel": null, + "second_ball_caught": null, + "ball_settled_in_basin": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频或状态日志，评分器只报告交付轨迹缺失，未给出五个节点的结果或 DAG 原生指标。log step 24 的本地试跑在仿真 1.18 s 以 arm_arm_or_tool_collision 结束，log step 31 的本地试跑在仿真 1.78 s 因同类碰撞结束，但两者均未被交付，不能据此填写评分轨迹的现象、接触或节点值。运行记录 wall_s=3603、time_limit_s=3600，日志止于 log step 35 的修改，缺少具体终止与交付失败机制的记录；按无交付规则保留现象和根因空层，不从耗时或交付缺失推断能力根因。inputs/oracle/replay.mp4 是其他成功运行的参考录像，不能补足本次证据。" + }, + "summary_zh": "评分器以 missing_trajectory=1 判失败；本次没有可供标注的评分轨迹，五个节点的终值均未知，实际接触均为不适用。agent 在本地试跑中遇到碰撞，随后继续修改生成器，日志止于 log step 35，未见保存交付记录。断点记 unknown／首步前；缺少本次视频、状态日志和节点结果，无法将自测碰撞移作评分现象或确定未交付的具体根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器只报 missing_trajectory=1；五个节点 unknown、breakpoint unknown/首步前、现象与根因为空并带 gap_zh，符合 03 的“未交付（agent 侧原因）”规则，且未把自测碰撞或超时当作现象/根因。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--uylmraj/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d05-moving-ramp-relay-i00-privileged--uylmraj/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "98a0bcbb4ab86e5394f95535e20f167ef97d78fe2fa3409a5d500b0cd5465da3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--iy8ap2q.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--iy8ap2q.json new file mode 100644 index 0000000000000000000000000000000000000000..cd8bc33668541788d5a96da448dbff38eddc3283 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--iy8ap2q.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--iy8ap2q", + "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": 8, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "gate_opened": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“正向打开门”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。没有可用于判定该节点的受评分轨迹，开发会话测试不能替代节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 missing_trajectory=1，未交付受评分轨迹；不把开发测试中的机械臂接触移作本次实际接触。" + } + ] + }, + "puck_deep_in_pen": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“击球深入围栏”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。没有可用于判定该节点的受评分轨迹，开发会话测试不能替代节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 missing_trajectory=1，未交付受评分轨迹；不把开发测试中的机械臂接触移作本次实际接触。" + } + ] + }, + "gate_opened_opposite": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“反向打开门”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。没有可用于判定该节点的受评分轨迹，开发会话测试不能替代节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 missing_trajectory=1，未交付受评分轨迹；不把开发测试中的机械臂接触移作本次实际接触。" + } + ] + }, + "puck_intercepted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“截击回程冰球”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。没有可用于判定该节点的受评分轨迹，开发会话测试不能替代节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 missing_trajectory=1，未交付受评分轨迹；不把开发测试中的机械臂接触移作本次实际接触。" + } + ] + }, + "puck_crossed_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0，未报告“击球越过目标”的节点结果；inputs/video.json 为 kind=none，且无本次状态日志。没有可用于判定该节点的受评分轨迹，开发会话测试不能替代节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器 missing_trajectory=1，未交付受评分轨迹；不把开发测试中的机械臂接触移作本次实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 30, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；agent 的开发脚本在 log step 27 将保存轨迹放在 success 条件分支内，log step 30 的测试输出 success=False、phase=2，并在仿真 8.47 s 报逆解失败；之后 log step 31 无调用、输出或最终陈述。推断：没有交付可受评分的轨迹，无法把开发测试卡住的步骤确定为受评分尝试的物理断点，故记 unknown／首步前。" + }, + "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": "观察：本次无视频（inputs/video.json 的 kind=none），无状态日志，评分器未收到轨迹，也未给出五个节点的终值。log step 25 与 log step 30 中的阶段进展、禁止工具碰夹具及逆解错误均来自未交付的开发测试，不能作为受评分尝试的节点或现象；保存条件见 log step 27，最后 log step 31 没有最终陈述。成功参考视频 inputs/oracle/replay.mp4 存在，但属于另一次运行，不能证明本次进度或接触。依 DECISIONS.md D23，未交付且没有已证实外因的运行，现象、根因均留空；不由缺交付反推交付操作出错或其他能力根因。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，本次没有交付受评分轨迹，五个节点均无法确认终值。agent 的最后开发测试在 log step 30 报 phase=2 后于仿真 8.47 s 逆解失败，脚本仅成功时保存，因此该测试的进展不能计为本次节点完成；断点记 unknown／首步前，依 D23 留空现象与根因。无本次视频或状态日志，成功参考录像仅能说明另一次运行。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；五个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23。log step 27/30/31 的引用与 run.json 一致。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:14Z", + "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-d07-spring-gate-switchyard-i00-privileged--iy8ap2q/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--iy8ap2q/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7b8051d51336a5280d194d7e66f22436199a1dfe57eb48f339ccce7d1a357392", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--xtzb5v8.json b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--xtzb5v8.json new file mode 100644 index 0000000000000000000000000000000000000000..8926f367b3751e415b9eb9ee96475a4dcce77322 --- /dev/null +++ b/phase2/pandadyn/d07_spring_gate_switchyard/trajectories/pandadyn-d07-spring-gate-switchyard-i00-privileged--xtzb5v8.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d07-spring-gate-switchyard-i00-privileged--xtzb5v8", + "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": 225, + "agent_resets": 106, + "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": 0.103, + "peak_memory_gb": 1.429, + "peak_processes": 11, + "peak_disk_gb": 0.072, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "session_log_tampered": 1, + "session_log_from_monitor": 1 + } + }, + "video": { + "kind": "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": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，未报告“正向打开门”的阶段结果；inputs/video.json 为 kind=none，亦无状态日志。log step 505 中 agent 仍自述等待击球速度测试输出，不能将会话测试判为交付轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的机械臂接触不属于受评轨迹的实际接触。" + } + ] + }, + "puck_deep_in_pen": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，未报告“击球深入围栏”的阶段结果；inputs/video.json 为 kind=none，亦无状态日志。log step 505 中 agent 仍自述等待击球速度测试输出，不能将会话测试判为交付轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的机械臂接触不属于受评轨迹的实际接触。" + } + ] + }, + "gate_opened_opposite": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，未报告“反向打开门”的阶段结果；inputs/video.json 为 kind=none，亦无状态日志。log step 505 中 agent 仍自述等待击球速度测试输出，不能将会话测试判为交付轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的机械臂接触不属于受评轨迹的实际接触。" + } + ] + }, + "puck_intercepted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，未报告“截击回程冰球”的阶段结果；inputs/video.json 为 kind=none，亦无状态日志。log step 505 中 agent 仍自述等待击球速度测试输出，不能将会话测试判为交付轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的机械臂接触不属于受评轨迹的实际接触。" + } + ] + }, + "puck_crossed_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 505, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，未报告“击球越过目标”的阶段结果；inputs/video.json 为 kind=none，亦无状态日志。log step 505 中 agent 仍自述等待击球速度测试输出，不能将会话测试判为交付轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话测试中的机械臂接触不属于受评轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 505, + "where": "首步前", + "evidence_zh": "观察：评分器 missing_trajectory=1、agent_replays=0、infra_error=0；log step 500–504 中 agent 编写并启动击球及门摆回测试，最后在 log step 505 自述仍等待更快击球测试输出。没有可定位物理失败步骤的交付轨迹，故断点为 unknown，位置为首步前。" + }, + "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": "观察：本次 inputs/video.json 为 kind=none，无受评视频或状态日志；评分器报告 missing_trajectory=1，未给出五阶段结果。inputs/oracle/replay.mp4 是另一成功运行，不能证明本次进展。log step 505 的最终发言仅称等待测试输出；run.json 记录会话 wall_s=3603、time_limit_s=3600。推断：会话测试未形成可供标注的受评轨迹，无法确认任一节点或物理断点；按 D23，未交付时现象和根因均留空，不能将测试中的碰撞、限值或阶段进展移入受评结果，也不能仅凭缺交付推断交付操作出错。" + }, + "summary_zh": "观察：本次评分失败，评分器报告 missing_trajectory=1、agent_replays=0；五个节点均无可确认的受评结果。观察：log step 500–505 中 agent 仍在编写、运行并等待击球测试，未见保存或提交轨迹的记录。推断：无交付轨迹且无本次视频或状态日志，断点只能记 unknown／首步前，现象与根因留空；会话测试不计为节点进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1，agent_replays=0）；五个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)，未把会话测试当作受评结果，也未把超时当作现象或根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:06:18Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--xtzb5v8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d07-spring-gate-switchyard-i00-privileged--xtzb5v8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "479c13be946281950fe35342db9c416635e1ba44a923f4851519345db8011e5a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--btcylx7.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--btcylx7.json new file mode 100644 index 0000000000000000000000000000000000000000..877fc2beec252fc4c7a568eca47ae3f5ac7e76ff --- /dev/null +++ b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--btcylx7.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--btcylx7", + "taskKey": "pandadyn/d09_lever_launch_catch_reload", + "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 278, + "agent_resets": 0, + "agent_sim_steps": 29693, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "ball_loaded_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 631, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，且没有本次视频或状态日志；log step 631 的最后发言仍是 agent 宣布已启动事件历史测试。评分器未报告“首次装球”的单节点结果，会话内测试不构成已交付评分轨迹，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话测试中的工具接触不计为评分尝试的实际接触。" + } + ] + }, + "ball_caught_after_launch": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 631, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，且没有本次视频或状态日志；log step 631 的最后发言仍是 agent 宣布已启动事件历史测试。评分器未报告“弹起后接球”的单节点结果，会话内测试不构成已交付评分轨迹，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话测试中的工具接触不计为评分尝试的实际接触。" + } + ] + }, + "ball_loaded_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 631, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，且没有本次视频或状态日志；log step 631 的最后发言仍是 agent 宣布已启动事件历史测试。评分器未报告“再次装球”的单节点结果，会话内测试不构成已交付评分轨迹，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话测试中的工具接触不计为评分尝试的实际接触。" + } + ] + }, + "ball_in_moving_box": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 631, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0，且没有本次视频或状态日志；log step 631 的最后发言仍是 agent 宣布已启动事件历史测试。评分器未报告“再发射入箱”的单节点结果，会话内测试不构成已交付评分轨迹，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话测试中的工具接触不计为评分尝试的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "loaded_hold_s", + "unit": "s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "launch_free_interval_s", + "unit": "s", + "threshold": 0.04, + "direction": "higher_better", + "value": null + }, + { + "name": "launch_ball_height_m", + "unit": "m", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "cup_retention_s", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_abs_rail_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "moving_cart_retention_s", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 631, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_replays=0、success=0、infra_error=0、grader_error=0；log step 251 的输出目录列表仅有会话日志，log step 630 又启动一个独立 Session 接球测试，log step 631 最后发言称已启动该测试，未交付评分轨迹。推断：无法定位评分轨迹内某个失败物理步骤，断点记 unknown，位置为首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频、无状态日志，评分器明确报告轨迹缺失；提供的 oracle 视频属于另一条成功轨迹，不能证明本次节点或接触。评分器仅给出总体失败和交付缺失，没有四个节点或六项原生物理指标的结果，因此节点终值及全部时间区间均未知。会话日志包含独立 Session 的装球、发射及接球调试，不能把其中的碰撞、超限或接球结果当成评分尝试的现象；也没有证据证明具体保存操作错误或其他根因，故两层均留空。run.json 记录 wall_s=3603、time_limit_s=3600，日志在继续测试时结束；预算耗尽本身不作为现象或根因。", + "unmet": { + "ball_loaded_1": null, + "ball_caught_after_launch": null, + "ball_loaded_2": null, + "ball_in_moving_box": null + } + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1、agent_replays=0；没有交付轨迹，四个节点均无可确认的评分终值，不能把会话内的装球与接球测试计为进展。log step 630—631 结束于 agent 继续启动接球事件诊断，断点记 unknown／首步前，实际接触均不适用。缺少本次视频、状态日志及节点级评分结果，无法确定物理失败现象或根因，均留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器报告 missing_trajectory=1、agent_replays=0；节点均为 unknown、断点 unknown/首步前、两层留空并附 gap_zh，符合 N9 与 03 的“agent 侧未交付”规则，预算耗尽未被当作现象或根因。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:48Z", + "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-d09-lever-launch-catch-reload-i00-privileged--btcylx7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--btcylx7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2f3bad6bc50ff88248705ff0166c9d8094721832fa2b0010530ec2744fde71ad", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--evbxsu6.json b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--evbxsu6.json new file mode 100644 index 0000000000000000000000000000000000000000..c668ac39345cc8c48ec170fdfa0a41372bdfe141 --- /dev/null +++ b/phase2/pandadyn/d09_lever_launch_catch_reload/trajectories/pandadyn-d09-lever-launch-catch-reload-i00-privileged--evbxsu6.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-d09-lever-launch-catch-reload-i00-privileged--evbxsu6", + "taskKey": "pandadyn/d09_lever_launch_catch_reload", + "dag_sha256": "f01620c257ee38813725abb5dd22046cacec9e959aa8ffd2943b9183255c5842", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 40, + "agent_resets": 47, + "agent_sim_steps": 8503, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "ball_loaded_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 的输出是 agent 重置仿真后运行 test_sim.py 的会话测试，出现 first_launch 阶段；该测试没有成为已交付评分轨迹，不能据此确认首次装球。评分器 reward.missing_trajectory=1、agent_replays=0；inputs/video.json 的 kind=none，且没有状态日志或评分节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，无法标注本评分尝试的工具与球或杠杆接触。" + } + ] + }, + "ball_caught_after_launch": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 88, + "text_zh": "观察：log step 88 的会话测试输出出现 reload_and_clear 阶段并缓存快照；这不是已交付评分轨迹的结果，不能据此确认评分尝试接球成功。评分器 reward.missing_trajectory=1、agent_replays=0；inputs/video.json 的 kind=none，且没有状态日志或评分节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，无法标注本评分尝试的工具与球或杠杆接触。" + } + ] + }, + "ball_loaded_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 92, + "text_zh": "观察：log step 92 的会话测试输出出现 second_launch 阶段并缓存快照；这不是已交付评分轨迹的结果，不能据此确认评分尝试再次装球。评分器 reward.missing_trajectory=1、agent_replays=0；inputs/video.json 的 kind=none，且没有状态日志或评分节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，无法标注本评分尝试的工具与球或杠杆接触。" + } + ] + }, + "ball_in_moving_box": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 100, + "text_zh": "观察：log step 99 启动第二次发射及入箱的会话测试，log step 100 只返回该后台测试仍在运行，log step 103 随后出现提供方过滤中断消息；未记录该测试的最终结果，更没有已交付评分轨迹的入箱结果。评分器 reward.missing_trajectory=1、agent_replays=0；inputs/video.json 的 kind=none，且没有状态日志或评分节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，无法标注本评分尝试的工具与球或杠杆接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "loaded_hold_s", + "unit": "s", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "launch_free_interval_s", + "unit": "s", + "threshold": 0.04, + "direction": "higher_better", + "value": null + }, + { + "name": "launch_ball_height_m", + "unit": "m", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "cup_retention_s", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_abs_rail_speed_m_s", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "moving_cart_retention_s", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 103, + "where": "首步前", + "evidence_zh": "观察：log step 100 显示 agent 最后启动的会话测试仍在运行，log step 101 表示等待该测试，log step 103 的最终消息明确写明“This request was blocked by Gemini's filters”。评分器报告 missing_trajectory=1、agent_replays=0，未形成可供评分的交付轨迹；无法定位任何评分轨迹内的物理失败步骤。" + }, + "unmet": { + "ball_loaded_1": null, + "ball_caught_after_launch": null, + "ball_loaded_2": null, + "ball_in_moving_box": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无评分视频（inputs/video.json：kind=none），无状态日志，评分器报告 missing_trajectory=1；成功参考视频 inputs/oracle/replay.mp4 属于另一运行，不能证明本次节点或接触。log step 103 记录 Gemini 提供方过滤中断，发生于交付之前；按外部中断规则，两层失败标签均留空，不标“没尝试”，也不将会话测试中的碰撞、超限或脚本错误记为评分尝试的现象或根因。四个节点的终值与所有原生指标均缺少评分结果，保持未知；目录 success=0 保留为记录，不据此推断物理失败。" + }, + "summary_zh": "观察：评分器报告未交付轨迹（missing_trajectory=1、agent_replays=0），本次没有评分视频和状态日志，四个语义节点的评分终值均无法确定。观察：log step 88、92 的会话测试分别推进到再次装球和第二次发射阶段，但这些测试未成为评分交付；log step 103 最终记录 Gemini 提供方过滤中断。推断：本次属于交付前的外部中断，断点记 unknown／首步前，现象与根因留空，不将会话进展或会话失败当作已评分轨迹。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志、评分器报告 missing_trajectory=1；log step 103 为 Gemini 提供方过滤中断，发生在交付前。文件按 03 外部因素规则标注（ref unknown、首步前、两层空、gap_zh 说明），四个节点 unknown 且 contact_actual 为不适用，未把会话测试当作评分尝试，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:06:32Z", + "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/pandadyn-d09-lever-launch-catch-reload-i00-privileged--evbxsu6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-d09-lever-launch-catch-reload-i00-privileged--evbxsu6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1edfe96031ab89ee822cf09a8e39c553cdc52aef99aa343d64d104160df8d52d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--c5akzr8.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--c5akzr8.json new file mode 100644 index 0000000000000000000000000000000000000000..96eedabf4873e257e73ad0e5ef7036f8feeec396 --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--c5akzr8.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--c5akzr8", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 22, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "incoming_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 14, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未提供本次视频或状态日志；log step 14 的 incoming_catch 阶段完成记录来自 agent 的独立调试测试，不能作为已交付评分轨迹的首次接球结果，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的杯与球接触不作为评分轨迹的实际接触。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 是 agent 运行 test13 的调试输出，报告 phase=3、end_reason=out_of_bounds；评分器 reward.missing_trajectory=1，未报告此节点的交付验收结果，且没有本次视频或状态日志，不能把该测试的入槽及反弹记录计入节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的杯与球接触不作为评分轨迹的实际接触。" + } + ] + }, + "ball_in_moving_cart": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：log step 39 列出的 agent 交付目录只有 rcb_session_log.jsonl；评分器 reward.missing_trajectory=1、agent_replays=0，没有球入移动小车的节点验收字段。本次没有视频或状态日志，无法判定该节点终值；总分为零本身不证明此物理关系为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的杯与球接触不作为评分轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_catch_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "downstream_catch_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_cup_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_cart_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "cart_rail_speed_abs", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "moving_cart_delivery_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 39, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0；log step 39 的交付目录列表只有会话日志，没有动作轨迹。后续 log steps 40–47 仍为测试脚本及诊断，记录止于 log step 47，未见最终交付报告；无已交付评分动作可定位物理失败步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，inputs/ 没有本次 replay.mp4 或 states.jsonl，评分器未报告逐节点结果且明确 missing_trajectory=1；提供的 oracle 视频属于另一次成功，不能证明本次进度。log steps 14、43、46 的接球、碰撞和越界均属会话测试，最后 log step 47 为调试数据读取并发生 IndexError，没有交付后回放可供对应。推断：按 D23 的无交付处理，断点保留 unknown／首步前，现象和根因均留空；缺交付本身不足以归因为交付操作出错，也不能将调试测试的物理失败当作评分轨迹现象。", + "unmet": { + "incoming_ball_caught": null, + "route_rebound_ball_recaught": null, + "ball_in_moving_cart": null + } + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，未交付可评分轨迹，三个节点的最终值均未知。会话调试曾报告首次接球及入槽反弹（log steps 14、46），但这些测试不构成交付进度，断点记为 unknown／首步前。缺少本次视频、状态日志及逐节点评分结果，按 D23 留空失败现象与根因。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_replays=0，交付目录仅有会话日志；三个节点 unknown、断点 unknown／首步前、现象与根因留空并写 gap_zh，符合 D23(a)，未把会话测试当作评分轨迹。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:53Z", + "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/pandadyn-s01-cup-route-delivery-i00-privileged--c5akzr8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--c5akzr8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fc8960341faca9113901613e73d92a09c18172a886b45cc8c58f031c51504511", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--nuif47z.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--nuif47z.json new file mode 100644 index 0000000000000000000000000000000000000000..08776c6cb843ce87027369810fcedb2d5f17743f --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--nuif47z.json @@ -0,0 +1,234 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--nuif47z", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 175, + "agent_resets": 31, + "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": 0.034, + "peak_memory_gb": 0.753, + "peak_processes": 9, + "peak_disk_gb": 0.021, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "incoming_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 14, + "text_zh": "观察：log step 14 是 agent 独立接球测试，输出 phase=1；评分记录 reward.missing_trajectory=1、agent_replays=0，且本次 video.kind=none、无状态日志。没有已交付评分局的首次接球结果，不能将该测试计入节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，无已交付评分轨迹；会话测试中蓝杯与球或场景的接触不作为本节点的实际接触。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：log step 359 读取 agent 测试脚本输出，报告到达 Phase 4，随后发生 TypeError；这属于会话测试。评分记录 reward.missing_trajectory=1，未报告已交付评分局的经槽反弹接球结果，且本次无视频、无状态日志，节点终值无法确定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，无已交付评分轨迹；会话测试中蓝杯与球或场景的接触不作为本节点的实际接触。" + } + ] + }, + "ball_in_moving_cart": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 424, + "text_zh": "观察：agent 在 log step 424 最后发言自述已启动接触检查并等待结果；log step 426 所读诊断文件为空，log step 427 输出为空。评分记录 reward.missing_trajectory=1，未报告已交付评分局的入车验收结果；本次无视频、无状态日志，节点终值无法确定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分记录 reward.missing_trajectory=1，无已交付评分轨迹；会话测试中蓝杯与球或场景的接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_catch_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "downstream_catch_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_cup_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_cart_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "cart_rail_speed_abs", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "moving_cart_delivery_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 427, + "where": "首步前", + "evidence_zh": "观察：评分记录 reward.missing_trajectory=1、agent_replays=0、infra_error=0；log step 363 的 agent 输出目录清单仅含会话日志，log step 424 仍自述等待接触诊断，最后 log step 427 继续检查接触类型且未返回输出。推断：没有已交付的评分轨迹可定位物理失败步骤，按无交付规则记 unknown、首步前。" + }, + "unmet": { + "incoming_ball_caught": null, + "route_rebound_ball_recaught": null, + "ball_in_moving_cart": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 video.kind=none，无本次状态日志，评分记录 missing_trajectory=1，未给出三个节点的独立评分结果。完整日志包含多次独立测试，log step 14 的首次接球及 log step 359 的 Phase 4 输出均不是已交付评分局；成功参考视频属于另一 run，不能补成本次进度或接触证据。run.wall_s=3603 s，time_limit_s=3600 s，日志末尾仍在调试；记录不足以定位最终未交付所对应的物理失败及其能力根因。按无交付规则保留节点未知、现象和根因空，不以会话测试异常或预算结束推断评分局的失败标签。" + }, + "summary_zh": "评分记录 success=0、missing_trajectory=1，未交付可评分轨迹，三个语义节点均无法确认终值。会话测试曾报告首次接球及 Phase 4，但这些测试不能计入正式进度；断点记 unknown／首步前。缺少本次视频、状态日志及逐节点评分结果，实际接触标为不适用，现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分记录 missing_trajectory=1、agent_replays=0，未交付评分轨迹。文件按 03 与 CASES FAIL-22/OPEN-16 的规则处理：节点 unknown、接触不适用、断点 unknown/首步前、现象与根因为空并给出 gap_zh。引用的 log step（14、359、363、424、426、427）均存在。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:00Z", + "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-privileged--nuif47z/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--nuif47z/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f83ec99ad87393f2ce304f4e4e438592470528fbed8f8e7af464bdf67e21be59", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--u2fesy2.json b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--u2fesy2.json new file mode 100644 index 0000000000000000000000000000000000000000..517275151024693f3a28ef2be47561e0e5380fdd --- /dev/null +++ b/phase2/pandadyn/s01_cup_route_delivery/trajectories/pandadyn-s01-cup-route-delivery-i00-privileged--u2fesy2.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s01-cup-route-delivery-i00-privileged--u2fesy2", + "taskKey": "pandadyn/s01_cup_route_delivery", + "dag_sha256": "ecff9ab04fa286fbbfbeab1d6f7b241a21e3e5270a1db343d3b2580f15d4a626", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 39, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "incoming_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 71, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未提供本次评分录像或状态日志；log step 71 展示的是另建 Session 的 exp.py 调试脚本，其中接球测试不代表交付的评分轨迹，评分器也未报告首次接球节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的杯与球等接触不作为本次评分轨迹的接触。" + } + ] + }, + "route_rebound_ball_recaught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 71, + "text_zh": "观察：评分器 reward.missing_trajectory=1；log step 71 的 exp.py 包含入槽和下游接球调试动作，但没有保存或提交操作，评分器未报告经槽反弹接球节点结果；本次无评分录像或状态日志可核实。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的杯与球等接触不作为本次评分轨迹的接触。" + } + ] + }, + "ball_in_moving_cart": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 85, + "text_zh": "观察：log step 85 仅返回入车调试脚本仍在后台运行，log step 86 中 agent 自述仍在等待结果；随后 log step 88 出现提供方过滤拦截提示。评分器 reward.missing_trajectory=1，未报告入车节点结果，本次亦无评分录像或状态日志。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹；会话调试中的杯与球等接触不作为本次评分轨迹的接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "catch_free_flight_duration", + "unit": "s", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_catch_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "downstream_catch_retention_duration", + "unit": "s", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "ball_cup_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "ball_cart_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "cart_rail_speed_abs", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "moving_cart_delivery_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 88, + "where": "首步前", + "evidence_zh": "观察：log step 85 的入车调试仅返回后台任务启动，log step 86 中 agent 自述仍在等待仿真结果；log step 88 为“This request was blocked by Gemini's filters”的提供方拦截提示。评分器 reward.missing_trajectory=1、agent_replays=0，完整会话中无轨迹保存、验证或提交记录，无法定位评分轨迹内的失败步骤。" + }, + "unmet": { + "incoming_ball_caught": null, + "route_rebound_ball_recaught": null, + "ball_in_moving_cart": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json.kind=none，无评分录像，也未提供本次状态日志；inputs/oracle/replay.mp4 是另一成功运行的参考，不能证明本次节点进展。log step 88 显示提供方过滤器在调试结果尚未返回、没有交付轨迹时中断会话，评分器记录 missing_trajectory=1；此前各 Session 的阶段、碰撞与安全限反馈均是会话测试证据。推断：按外部中断规则，此记录应重试并排除代理失败分析，不能标“没尝试”或从缺交付推断控制、认知或交付根因；三个节点终值和全部视频时间均无法确定，现象及根因留空。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，本次未交付可供评分的轨迹，三个节点的完成情况均未知。log step 85–86 仍在启动并等待入车调试，log step 88 随即出现提供方过滤拦截提示，按外部中断处理，断点为 unknown／首步前，不归为代理物理失败。无本次录像或状态日志，调试测试与另一成功运行的参考录像不能补作节点进展或实际接触证据。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "评分器 missing_trajectory=1、agent_replays=0，无录像与状态日志；log step 88 为提供方过滤拦截，发生在无任何交付之前，按外部因素处理，空现象/根因加 gap_zh、节点 unknown 均合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--u2fesy2/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s01-cup-route-delivery-i00-privileged--u2fesy2/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a195e75e9401c6fc29969e69ccb29fd507fc9e51c221d90e0233bd15b6251847", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--sz3b2sc.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--sz3b2sc.json new file mode 100644 index 0000000000000000000000000000000000000000..5c88d6d7b67a46a2bae354c382be2586d253b67f --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--sz3b2sc.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-privileged--sz3b2sc", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 10, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cube_face_tipped": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sim_steps=0、agent_replays=0，未报告“惯性倾倒方块”的阶段结果；inputs/video.json 为 kind=none，且无状态日志。log step 38 仍是 agent 自编脚本的逆解分支及运动时间估计，不能作为交付轨迹中该节点的取值依据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未交付机器人动作轨迹；会话中的逆解求解不构成推片与方块的实际接触。" + } + ] + }, + "cube_on_chute": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sim_steps=0、agent_replays=0，未报告“方块进入斜槽”的阶段结果；inputs/video.json 为 kind=none，且无状态日志。log step 38 仍是 agent 自编脚本的逆解分支及运动时间估计，不能作为交付轨迹中该节点的取值依据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未交付机器人动作轨迹；会话中的逆解求解不构成推片与方块的实际接触。" + } + ] + }, + "cube_intercepted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sim_steps=0、agent_replays=0，未报告“下游截接方块”的阶段结果；inputs/video.json 为 kind=none，且无状态日志。log step 38 仍是 agent 自编脚本的逆解分支及运动时间估计，不能作为交付轨迹中该节点的取值依据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未交付机器人动作轨迹；会话中的逆解求解不构成推片与方块的实际接触。" + } + ] + }, + "cube_in_pocket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，agent_sim_steps=0、agent_replays=0，未报告“方块入槽停稳”的阶段结果；inputs/video.json 为 kind=none，且无状态日志。log step 38 仍是 agent 自编脚本的逆解分支及运动时间估计，不能作为交付轨迹中该节点的取值依据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，未交付机器人动作轨迹；会话中的逆解求解不构成推片与方块的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 38, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_sim_steps=0、agent_replays=0；log step 38 为 agent 运行倾斜推片位姿的逆解搜索，之后没有动作执行、轨迹保存或最终完成报告。推断：没有可定位物理失败步骤的交付轨迹，断点为 unknown，位置为首步前。" + }, + "unmet": { + "cube_face_tipped": null, + "cube_on_chute": null, + "cube_intercepted": null, + "cube_in_pocket": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 的 kind=none，inputs/ 无本次重放视频和状态日志；评分器报告 missing_trajectory=1，未给出四个物理节点的最终值或任何原生物理指标。log step 14 的 phase=0 是会话初始化检查；log step 35 的推到截接约需 1.25 s 是 agent 对搜索结果的解释，log step 38 仍在做静态逆解分析，均不是交付执行证据。记录 wall_s=3603、time_limit_s=3600，且 log step 38 的预算监控显示当时剩余 294.7 s，但时限本身不能解释具体能力失败；log step 9、11、18、33 的脚本错误发生在会话诊断中，也未证明某个交付控制器失败。推断：按 DECISIONS.md D23，无交付时现象、根因均留空，不从缺交付反推交付操作错误或规划错误。已检查 inputs/oracle/replay.mp4 的成功参照，它只能说明参照动作的外观，不能补成本次节点证据；所有视频时刻与节点最终值保留 null。" + }, + "summary_zh": "观察：评分器以 missing_trajectory=1 判本次失败，记录 agent_sim_steps=0、agent_replays=0；agent 会话只检查初态并搜索推片位姿的逆解及转换时间，未交付动作轨迹。推断：四个物理节点均无法判定最终值，断点为 unknown／首步前；无本次视频、状态日志或逐节点评分结果，按无交付规则不标物理现象与根因，成功参照不计入本次进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_sim_steps=0，未交付轨迹。四个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 DECISIONS.md D23(a)；未把会话中的逆解分析当作交付证据，也未把超时当作原因。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:00Z", + "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-s06-cube-flip-route-recover-i00-privileged--sz3b2sc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--sz3b2sc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6da80c4e532996d2b64fa2bf621aa7c41eb24dbd636f3b67d3cbfd2f7ae2baad", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--t8enscf.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--t8enscf.json new file mode 100644 index 0000000000000000000000000000000000000000..51dbf56f9f7784b5992e1278676cfde3edc65356 --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--t8enscf.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-privileged--t8enscf", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 269, + "agent_resets": 432, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cube_face_tipped": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 532, + "text_zh": "观察：inputs/run.json 的评分器 reward.missing_trajectory=1、agent_replays=0；log step 532 的输出目录列表仅含 rcb_session_log.jsonl。本次无视频、无状态日志，评分器未报告“惯性倾倒方块”的节点结果；多次 reset 后的会话测试不能作为交付轨迹的终态证据，故 final 未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹，无法标注本次评分尝试中工具与方块的实际接触；会话调试接触不转作轨迹接触。" + } + ] + }, + "cube_on_chute": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 532, + "text_zh": "观察：inputs/run.json 的评分器 reward.missing_trajectory=1、agent_replays=0；log step 532 的输出目录列表仅含 rcb_session_log.jsonl。本次无视频、无状态日志，评分器未报告“方块进入斜槽”的节点结果；多次 reset 后的会话测试不能作为交付轨迹的终态证据，故 final 未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹，无法标注本次评分尝试中工具与方块的实际接触；会话调试接触不转作轨迹接触。" + } + ] + }, + "cube_intercepted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 532, + "text_zh": "观察：inputs/run.json 的评分器 reward.missing_trajectory=1、agent_replays=0；log step 532 的输出目录列表仅含 rcb_session_log.jsonl。本次无视频、无状态日志，评分器未报告“下游截接方块”的节点结果；多次 reset 后的会话测试不能作为交付轨迹的终态证据，故 final 未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹，无法标注本次评分尝试中工具与方块的实际接触；会话调试接触不转作轨迹接触。" + } + ] + }, + "cube_in_pocket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 532, + "text_zh": "观察：inputs/run.json 的评分器 reward.missing_trajectory=1、agent_replays=0；log step 532 的输出目录列表仅含 rcb_session_log.jsonl。本次无视频、无状态日志，评分器未报告“方块入槽停稳”的节点结果；多次 reset 后的会话测试不能作为交付轨迹的终态证据，故 final 未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器确认未交付轨迹，无法标注本次评分尝试中工具与方块的实际接触；会话调试接触不转作轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 591, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0、infra_error=0；log step 532 的输出目录列表仅含会话日志，log step 590–591 仍是 agent 的截接与收集槽目标逆解差值诊断，没有交付或回放结果。推断：没有可供评分的交付轨迹，无法从会话测试选定一个物理失败步骤，按无交付记录置于首步前。" + }, + "unmet": { + "cube_face_tipped": null, + "cube_on_chute": null, + "cube_intercepted": null, + "cube_in_pocket": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频且无状态日志；inputs/oracle/replay.mp4 是另一成功运行，仅可作参考，不能证明本次进度。评分器只报告缺少交付轨迹，没有各节点终态；log step 591 是最后记录，仍为逆解诊断，无最终完成报告。run.json 记录 wall_s=3603、time_limit_s=3600，符合工作时限结束时仍未交付的情形，但不足以确定具体物理失败或保存错误；会话中的阶段读数和失败不能移作评分尝试证据。依 DECISIONS.md D23 和 N9，节点终态保留未知，现象、根因留空，不从缺交付反推控制、规划或交付根因。" + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，未交付可评分轨迹，四个目标节点的终态均无法确认。log step 532 的输出目录仅含会话日志，直至 log step 590–591 仍在进行逆解诊断；断点记为 unknown／首步前。没有本次视频、状态日志或逐节点评分结果，依无交付规则不将调试中的进展和失败归入交付轨迹，现象与根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_replays=0；四个节点 final 均为 null、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 03 对未交付运行的规则（D23(a)、N9）。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--t8enscf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--t8enscf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0f6afd5fe645b090b4bf6f994e37908470ddcf8373bab5f46f36f093cc4977b6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--vkndbmg.json b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--vkndbmg.json new file mode 100644 index 0000000000000000000000000000000000000000..5f169320c899d4d3fff139a017a64e2ba40d2d32 --- /dev/null +++ b/phase2/pandadyn/s06_cube_flip_route_recover/trajectories/pandadyn-s06-cube-flip-route-recover-i00-privileged--vkndbmg.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s06-cube-flip-route-recover-i00-privileged--vkndbmg", + "taskKey": "pandadyn/s06_cube_flip_route_recover", + "dag_sha256": "5ef3817606654f40f8803f7f1cba504499a3ae0f04806dfcb6c5296fad9b1357", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 82, + "agent_resets": 152, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "cube_face_tipped": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 78, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告交付轨迹的“惯性倾倒”节点终值；本次 video.kind=none，且无状态日志。log step 78 中 agent 的独立自测输出 ph0=1，并打印 momentum_face_flip 事件，该记录属于会话测试，不能转为未交付轨迹的节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹可标注实际接触；会话测试中的推片与方块接触不属于可评分交付。" + } + ] + }, + "cube_on_chute": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 118, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告交付轨迹的“进入斜槽”节点终值；本次 video.kind=none，且无状态日志。log step 118 中 agent 的独立自测输出 ph=2，并打印 oriented_chute_entry 事件，该记录属于会话测试，不能转为未交付轨迹的节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹可标注实际接触；会话测试中的推片与方块接触不属于可评分交付。" + } + ] + }, + "cube_intercepted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 118, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告交付轨迹的“下游截接”节点终值；本次 video.kind=none，且无状态日志。log step 118 中 agent 的独立自测输出 ph=2、succ=false；log step 97 的 caught=true 是 agent 脚本自行生成的判断，不能证明原生截接阶段完成，该记录属于会话测试，不能转为未交付轨迹的节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹可标注实际接触；会话测试中的推片与方块接触不属于可评分交付。" + } + ] + }, + "cube_in_pocket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 118, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告交付轨迹的“入槽停稳”节点终值；本次 video.kind=none，且无状态日志。log step 118 中 agent 的独立自测输出 succ=false、end=limit_violation，该记录属于会话测试，不能转为未交付轨迹的节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付轨迹可标注实际接触；会话测试中的推片与方块接触不属于可评分交付。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "flip_release_tilt_lower", + "unit": "rad", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_tilt_upper", + "unit": "rad", + "threshold": 0.7653981633974483, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_release_elapsed", + "unit": "s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_release_angular_speed", + "unit": "rad/s", + "threshold": 0.4, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_balance_tilt", + "unit": "rad", + "threshold": 0.7853981633974483, + "direction": "higher_better", + "value": null + }, + { + "name": "flip_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_linear_speed", + "unit": "m/s", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_angular_speed", + "unit": "rad/s", + "threshold": 0.3, + "direction": "lower_better", + "value": null + }, + { + "name": "flip_settle_duration", + "unit": "s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_center_x", + "unit": "m", + "threshold": 0.18, + "direction": "higher_better", + "value": null + }, + { + "name": "chute_entry_face_angle", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "intercept_center_x", + "unit": "m", + "threshold": 0.32, + "direction": "higher_better", + "value": null + }, + { + "name": "intercept_tool_downhill_offset", + "unit": "m", + "threshold": 0, + "direction": "higher_better", + "value": null + }, + { + "name": "free_slide_distance", + "unit": "m", + "threshold": 0.12, + "direction": "higher_better", + "value": null + }, + { + "name": "incoming_speed_previous_physics_step", + "unit": "m/s", + "threshold": 0.33, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_center_horizontal_distance", + "unit": "m", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_target_face_angle", + "unit": "rad", + "threshold": 0.18, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_linear_speed", + "unit": "m/s", + "threshold": 0.04, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_angular_speed", + "unit": "rad/s", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "pocket_settle_duration", + "unit": "s", + "threshold": 0.5, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 118, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0、infra_error=0；完整会话日志未见 agent 调用轨迹保存或回放，log step 118 仍在运行新的独立测试脚本，输出 ph=2、succ=false、end=limit_violation。推断：没有已交付的评分回合可定位到某个物理步骤，故断点为 unknown、位置为首步前；末次自测的限值事件不能充作交付轨迹的断点。" + }, + "unmet": { + "cube_face_tipped": null, + "cube_on_chute": null, + "cube_intercepted": null, + "cube_in_pocket": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 明确 video.kind=none，工作目录没有本次状态日志，评分器报告 missing_trajectory=1。日志包含多次独立会话测试和重置，末次 log step 118 的 ph=2、limit_violation 仅是测试结果，没有交付轨迹将其绑定到评分回合；成功 oracle 也属于另一条运行。推断：四个节点的终值及全部视频时间均不可判定；没有交付尝试的可见失败现象，亦无足够证据确定未交付的具体能力根因，因此两层留空，不从缺交付或运行预算反推原因。" + }, + "summary_zh": "观察：本次评分 success=0、missing_trajectory=1、agent_replays=0，没有交付可回放轨迹；日志中的惯性倾倒与斜槽阶段进展属于独立自测，末次 log step 118 仍输出 ph=2、succ=false、limit_violation。推断：本次四个物理节点均无法判定终值，断点为 unknown／首步前；因无本次视频、状态日志及交付回合证据，接触标为不适用，失败现象与根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、missing_trajectory=1；文件按 03/CASES FAIL-5/OPEN-16/CONTACT-8 把四个节点留 unknown、contact 不适用、断点 unknown/首步前、两层留空并写 gap_zh，符合规则，validator 通过，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:30Z", + "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/pandadyn-s06-cube-flip-route-recover-i00-privileged--vkndbmg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s06-cube-flip-route-recover-i00-privileged--vkndbmg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b09d9b5f3ac5eced19b26233d2d368979c9d3a58b1314412d342a66b0d7bcf7c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--knpvo5h.json b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--knpvo5h.json new file mode 100644 index 0000000000000000000000000000000000000000..b87efe4edf986ff466dae222a8956fac85fe7271 --- /dev/null +++ b/phase2/pandadyn/s09_toss_recatch_delivery/trajectories/pandadyn-s09-toss-recatch-delivery-i00-privileged--knpvo5h.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s09-toss-recatch-delivery-i00-privileged--knpvo5h", + "taskKey": "pandadyn/s09_toss_recatch_delivery", + "dag_sha256": "b03602425e66c02caaf29cb452648415131e464b71f3e591ee70c58e33d5a455", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 194, + "agent_resets": 1, + "agent_sim_steps": 2732, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "initial_ball_caught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 14, + "text_zh": "观察：log step 14 的独立测试服务状态报告 phase=1、phase_name=launch_region，但评分器 reward.missing_trajectory=1，未交付受评轨迹；本次无视频或状态日志，不能将会话测试中的首次接球记为受评节点，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付受评轨迹；会话测试中的机械臂、浅杯和球接触不作为本节点的实际接触。" + } + ] + }, + "cup_in_launch_region": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 406, + "text_zh": "观察：log step 406 的测试脚本包含移杯到发射区的动作，并计划保存测试文件；评分器 reward.missing_trajectory=1，未提供受评轨迹的 launch_region 完成结果，且无视频或状态日志，节点未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付受评轨迹；会话测试中的机械臂、浅杯和球接触不作为本节点的实际接触。" + } + ] + }, + "ball_tossed_and_recaught": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 406, + "text_zh": "观察：log step 406 的测试脚本包含上抛、下拉及移位再接动作，但这是会话测试代码；评分器 reward.missing_trajectory=1，无受评轨迹的 displaced_recatch 结果、视频或状态日志，节点未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付受评轨迹；会话测试中的机械臂、浅杯和球接触不作为本节点的实际接触。" + } + ] + }, + "ball_delivered_to_moving_cart": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 411, + "text_zh": "观察：log step 410 仅返回测试文件重放已在后台启动，log step 411 的最后发言为等待重放结束；评分器 reward.missing_trajectory=1，没有受评轨迹的入箱验收结果，且无视频或状态日志，节点未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付受评轨迹；会话测试中的机械臂、浅杯和球接触不作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "launch_region_distance", + "unit": "m", + "threshold": 0.025, + "direction": "lower_better", + "value": null + }, + { + "name": "catch_relative_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "toss_world_upward_speed", + "unit": "m/s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_floor_separation_speed", + "unit": "m/s", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "toss_vertical_alignment_error", + "unit": "rad", + "threshold": 0.35, + "direction": "lower_better", + "value": null + }, + { + "name": "recatch_horizontal_displacement", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "cart_relative_ball_speed", + "unit": "m/s", + "threshold": 0.09, + "direction": "lower_better", + "value": null + }, + { + "name": "delivery_cart_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "delivery_stable_duration", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 411, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、success=0、grader_error=0、infra_error=0。log step 383 的输出目录列表仅有会话日志；log step 406 计划将动作保存为临时测试文件，log step 410 启动该测试文件重放，log step 411 最后发言为等待重放，未出现正式交付或通过验收的记录。没有受评轨迹可定位到某个物理步骤。" + }, + "unmet": { + "initial_ball_caught": null, + "cup_in_launch_region": null, + "ball_tossed_and_recaught": null, + "ball_delivered_to_moving_cart": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无视频、无状态日志，评分器报告 missing_trajectory=1，未报告各节点或原生指标的受评结果。inputs/run.json 的 wall_s=3603、time_limit_s=3600，日志结束于等待测试重放（log step 411）；log step 406 的测试保存代码及 log step 410 的后台重放请求均无完成输出，无法确认测试文件的最终内容或解释交付缺失的具体原因。会话中的接球、抛接及入箱测试均非已交付的受评尝试，不能据此填节点终值或失败现象；按无交付规则 D23，两层留空，也不从缺交付反推控制或交付根因。成功 oracle 只作任务参考，不是本次运行证据。" + }, + "summary_zh": "评分器报告 success=0、missing_trajectory=1，本次没有可供评判的已交付轨迹，四个节点终值均未知，不能将会话测试进展计入受评结果。日志末尾仅见测试文件生成和重放请求及等待发言（log step 406–411），断点记为 unknown／首步前，现象与根因留空。缺少本次视频、状态日志和各节点的受评结果，无法定位物理失败或确定交付缺失的具体原因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "未交付受评轨迹（missing_trajectory=1，无视频/状态日志）；四节点 unknown、断点 unknown/首步前、现象与根因留空并有 gap_zh，符合 D23 与无交付规则；会话测试（log step 14 的 phase=1 等）未被当作受评事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:02Z", + "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-s09-toss-recatch-delivery-i00-privileged--knpvo5h/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s09-toss-recatch-delivery-i00-privileged--knpvo5h/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c0b9917106d1033d50abc53886872ff6d9e670482b1a39ba1ff069a6c6ad9573", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--2tsbmcx.json b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--2tsbmcx.json new file mode 100644 index 0000000000000000000000000000000000000000..4dfde1c428242fa241018db2203ccaac8733a3b1 --- /dev/null +++ b/phase2/pandadyn/s11_cylinder_rescue_route_deliver/trajectories/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--2tsbmcx.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--2tsbmcx", + "taskKey": "pandadyn/s11_cylinder_rescue_route_deliver", + "dag_sha256": "728acad293311f7e135243787e061bce566961de344d2cfad9cbecfcc89cd9df", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 13, + "agent_resets": 0, + "agent_sim_steps": 678, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "initial_reception": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_replays=0；本次 video.kind=none，且无状态日志。评分字段没有报告“首次接稳圆柱”的节点结果，无法判定其终值；会话测试不代表交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标实际接触（CASES.md CONTACT-8）。" + } + ] + }, + "guide_traversed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_replays=0；本次 video.kind=none，且无状态日志。评分字段没有报告“圆柱通过导槽”的节点结果，无法判定其终值；会话测试不代表交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标实际接触（CASES.md CONTACT-8）。" + } + ] + }, + "exit_reception": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_replays=0；本次 video.kind=none，且无状态日志。评分字段没有报告“出口接稳圆柱”的节点结果，无法判定其终值；会话测试不代表交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标实际接触（CASES.md CONTACT-8）。" + } + ] + }, + "cylinder_in_moving_pocket": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分字段 missing_trajectory=1、agent_replays=0；本次 video.kind=none，且无状态日志。评分字段没有报告“圆柱入移动盒”的节点结果，无法判定其终值；会话测试不代表交付轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹可标实际接触（CASES.md CONTACT-8）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "axis_error_y", + "unit": "rad", + "threshold": 0.2, + "direction": "lower_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_tray", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "initial_alignment_hold", + "unit": "s", + "threshold": 0.3, + "direction": "higher_better", + "value": null + }, + { + "name": "guide_entry_x", + "unit": "m", + "threshold": 0.02, + "direction": "lower_better", + "value": null + }, + { + "name": "guide_exit_x", + "unit": "m", + "threshold": 0.24, + "direction": "higher_better", + "value": null + }, + { + "name": "exit_reception_hold", + "unit": "s", + "threshold": 0.2, + "direction": "higher_better", + "value": null + }, + { + "name": "pocket_absolute_speed", + "unit": "m/s", + "threshold": 0.02, + "direction": "higher_better", + "value": null + }, + { + "name": "cylinder_speed_relative_to_pocket", + "unit": "m/s", + "threshold": 0.06, + "direction": "lower_better", + "value": null + }, + { + "name": "oriented_delivery_hold", + "unit": "s", + "threshold": 0.7, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 38, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_replays=0、infra_error=0。log step 28、31–33 是 agent 的独立截获测试；其脚本未调用轨迹保存，log step 34–38 继续测量手掌、手指和托盘碰撞几何，最后 log step 38 的诊断脚本以 AttributeError 结束，未见交付确认或最终报告。推断：没有可定位物理失败步骤的受评交付轨迹，断点记 unknown、位置首步前；该位置只指受评轨迹。" + }, + "unmet": { + "initial_reception": null, + "guide_traversed": null, + "exit_reception": null, + "cylinder_in_moving_pocket": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 为 kind=none，未提供本次录像或状态日志；评分器 missing_trajectory=1，且没有逐节点验收结果。log step 28、31–33 的禁触终止记录和 log step 36、38 的脚本异常仅属于未交付的会话测试，不能作为受评轨迹的现象或节点值。inputs/run.json 记会话墙钟用时 3603 s、预算 3600 s，未见最终报告或保存结果；不能把用尽预算或缺交付本身归为根因。按 DECISIONS.md D23，无交付时现象与根因均留空；成功参考录像属于另一运行，不能补足本次证据。" + }, + "summary_zh": "评分器以缺少轨迹交付判失败（missing_trajectory=1），没有本次受评录像或状态日志，四个物理节点均无法判定。agent 在 log step 28、31–33 进行截获测试并遇到禁触终止，随后在 log step 34–38 继续检查碰撞几何，但这些测试未形成可核实的交付；断点为 unknown／首步前。按 D23 留空现象和根因，所有节点时间及原生指标均无可用受评记录。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无录像、无状态日志，评分器 missing_trajectory=1，四个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；未把会话测试当作受评轨迹，未把预算用尽当根因。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:43Z", + "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/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--2tsbmcx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s11-cylinder-rescue-route-deliver-i00-privileged--2tsbmcx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9ad22d5287a26c310c7c52a968f913becc807af263c562fd11f77488e4fef2a3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--bapyudx.json b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--bapyudx.json new file mode 100644 index 0000000000000000000000000000000000000000..6dd87126e4da501e2150d16f3bc4370da575bd3f --- /dev/null +++ b/phase2/pandadyn/s12_moving_bridge_puck_relay/trajectories/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--bapyudx.json @@ -0,0 +1,211 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "pandadyn-s12-moving-bridge-puck-relay-i00-privileged--bapyudx", + "taskKey": "pandadyn/s12_moving_bridge_puck_relay", + "dag_sha256": "abbb4fe77871b5e8263f985b3a5d72383132d1ccc762e5b6dbd39fda90b48efe", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 87, + "agent_resets": 762, + "agent_sim_steps": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "puck_transferred_via_bridge": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 262, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告过桥阶段结果；本次无视频或状态日志。log step 262 的脚本包含首次击球、等桥和补推计划，但仅返回后台任务已启动，不能据此判定评分轨迹已完成转运。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中计划的球拍接触标为评分尝试的实际接触。" + } + ] + }, + "puck_intercepted_at_exit": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 262, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告出口拦截阶段结果；本次无视频或状态日志。log step 262 含出口处重新对齐球拍的会话测试代码，但没有可归属交付轨迹的接触或阶段读数，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中计划的球拍接触标为评分尝试的实际接触。" + } + ] + }, + "puck_through_gate_and_goal": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 262, + "text_zh": "观察：评分器仅报告整体 success=0、missing_trajectory=1，未报告再击、穿门或越线的节点结果。log step 262 的保存操作以会话 success 为条件，返回内容不是执行结果；log step 265–266 仍在启动并等待击球诊断，没有可判定本节点的评分轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，不能把会话测试中计划的球拍接触标为评分尝试的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "incoming_horizontal_speed", + "unit": "m/s", + "threshold": 0.25, + "direction": "higher_better", + "value": null + }, + { + "name": "time_since_first_separation", + "unit": "s", + "threshold": 0.035, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_doorway", + "unit": "rad", + "threshold": 1.0, + "direction": "higher_better", + "value": null + }, + { + "name": "gate_angle_at_goal", + "unit": "rad", + "threshold": 0.2, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 266, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_replays=0、infra_error=0；log step 262 仅启动带条件保存逻辑的求解脚本，log step 265 启动诊断，最后 log step 266 的 agent 自述仍在等待诊断输出。推断：没有可供评分的已交付物理尝试，无法定位某个实际失败步骤；“首步前”指评分轨迹，不能理解为会话中机器人从未测试动作。" + }, + "unmet": { + "puck_transferred_via_bridge": null, + "puck_intercepted_at_exit": null, + "puck_through_gate_and_goal": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 为 kind=none，未提供本次视频或状态日志；评分器报告 missing_trajectory=1，三个节点及四项原生指标均无评分终值。日志末尾只有后台任务启动回执及等待说明，未记录这些测试的最终状态或成功保存确认；run.wall_s=3603、time_limit_s=3600，未见已证实的外因中断。推断：按 N9 和 D23 保留节点终值未知、时间区间 null，现象与根因均留空；会话代码与测试不能替代交付轨迹，也不能仅由缺交付推断控制或交付操作错误。inputs/oracle/replay.mp4 属于另一成功运行，不能提供本次接触、进展或失败证据。" + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1，未交付可评分轨迹，三个语义节点均无可确认的终值。log step 262 仅启动了条件保存的求解脚本，log step 265–266 仍在进行会话诊断；推断：评分轨迹在首步前缺失，断点步骤未知。由于本次无视频、无状态日志且无节点级评分结果，实际接触不适用，现象与根因留空，不能把会话计划或参考成功视频当作本次完成证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；文件三节点 unknown/null、contact_actual 不适用、断点 ref=unknown/首步前、现象与根因为空并附 gap_zh，符合 N9/D23 与 03 的无交付规则；未把会话测试当作评分尝试，也未引用 oracle 作证据。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:53Z", + "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/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--bapyudx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/pandadyn-s12-moving-bridge-puck-relay-i00-privileged--bapyudx/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "225e91d476c1a849d19922b0b7a3f54dfe3212472652a9ee79a5f6e9a720667e", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-privileged--izrjg5f.json b/phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-privileged--izrjg5f.json new file mode 100644 index 0000000000000000000000000000000000000000..384f597d562d8affc4620ce530faae0a46553a35 --- /dev/null +++ b/phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-privileged--izrjg5f.json @@ -0,0 +1,256 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-fill-egg-holder-i00-privileged--izrjg5f", + "taskKey": "robodojo/fill_egg_holder", + "dag_sha256": "d13f314a7b77747377f943b5ef5a3ad1d83465fe740f84f0e04922e25c81c628", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "eggs_in_holder_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且本次无状态日志。log step 61 仅返回调试脚本在后台运行，log step 62 无结果；评分器没有报告“第1个蛋入蛋托”的终态，不能用调试输出确定该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，本次没有交付轨迹，故无可标注的受评接触；调试会话中的动作不计入。" + } + ] + }, + "eggs_in_holder_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且本次无状态日志。log step 61 仅返回调试脚本在后台运行，log step 62 无结果；评分器没有报告“第2个蛋入蛋托”的终态，不能用调试输出确定该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，本次没有交付轨迹，故无可标注的受评接触；调试会话中的动作不计入。" + } + ] + }, + "eggs_in_holder_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且本次无状态日志。log step 61 仅返回调试脚本在后台运行，log step 62 无结果；评分器没有报告“第3个蛋入蛋托”的终态，不能用调试输出确定该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，本次没有交付轨迹，故无可标注的受评接触；调试会话中的动作不计入。" + } + ] + }, + "eggs_in_holder_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且本次无状态日志。log step 61 仅返回调试脚本在后台运行，log step 62 无结果；评分器没有报告“第4个蛋入蛋托”的终态，不能用调试输出确定该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，本次没有交付轨迹，故无可标注的受评接触；调试会话中的动作不计入。" + } + ] + }, + "holder_lid_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 的 kind=none，且本次无状态日志。log step 61 仅返回调试脚本在后台运行，log step 62 无结果；评分器没有报告“关上蛋托盖”的终态，不能用调试输出确定该节点。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，本次没有交付轨迹，故无可标注的受评接触；调试会话中的动作不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "is_A_point_above_B_point_by_z_range.height_delta", + "value": null, + "unit": "m", + "threshold": { + "lower": 0.01, + "upper": 0.04, + "strict": true + }, + "direction": "target" + }, + { + "name": "is_joint_position_above_ratio.closed_ratio", + "value": null, + "unit": "ratio", + "threshold": 0.9, + "direction": "higher_better" + }, + { + "name": "all_robot_back_to_origin.axis_position_error", + "value": null, + "unit": "m", + "threshold": 0.15, + "direction": "lower_better" + }, + { + "name": "all_robot_back_to_origin.orientation_error", + "value": null, + "unit": "deg", + "threshold": 20, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 61, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未获得可重放交付。log step 59–60 中 agent 仍在查阅记录与保存接口，log step 61 启动的是全蛋放置调试脚本，只返回后台运行通知，log step 62 没有输出；无可定位到具体物理步骤的受评回合。" + }, + "unmet": { + "eggs_in_holder_1": null, + "eggs_in_holder_2": null, + "eggs_in_holder_3": null, + "eggs_in_holder_4": null, + "holder_lid_closed": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频（inputs/video.json：kind=none）、状态日志或交付轨迹；评分器仅给出整体失败与 missing_trajectory=1，没有逐节点终态或原生几何指标。log step 41、49、52、56 的取蛋、试放及 agent 自定义 checks 均来自调试会话，不能作为受评节点值或失败现象；log step 61 的后台调试也没有返回完成结果，最后无完成汇报。观察：run.wall_s=3603，time_limit_s=3600，reward.infra_error=0、grader_error=0。推断：记录与预算结束相符，未发现外部中断证据；依 DECISIONS.md D23，无交付时现象及根因均留空，不从缺交付或预算结束推定能力根因。成功参考视频属于另一条运行，不能补出本次的物理进度。" + }, + "summary_zh": "评分器记录本次失败且缺少交付轨迹（missing_trajectory=1），五个节点均无可确认的受评终态，不能据整体零分判为全部未达成。agent 在调试会话中尝试取蛋和试放，log step 61 仍在启动放置调试，之后没有保存成功或完成结果；因此断点记 unknown／首步前，现象与根因留空。没有本次视频、状态日志或逐节点评分字段，调试检查及另一条成功参考视频均不能补作本次进度证据。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1）；各节点 unknown、现象与根因留空并写 gap_zh，符合 DECISIONS.md D23(a)；未发现被调试会话证据污染的断言。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:30Z", + "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/robodojo-fill-egg-holder-i00-privileged--izrjg5f/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-fill-egg-holder-i00-privileged--izrjg5f/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7bfa24d49ef769659730292b4a8bc4e946a53d2f189b84cb1e9bc9f1f08d879a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-standard--ldha2ci.json b/phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-standard--ldha2ci.json new file mode 100644 index 0000000000000000000000000000000000000000..3f766f6b36bdbba528986346a44da24f7d9f5779 --- /dev/null +++ b/phase2/robodojo/fill_egg_holder/trajectories/robodojo-fill-egg-holder-i00-standard--ldha2ci.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-fill-egg-holder-i00-standard--ldha2ci", + "taskKey": "robodojo/fill_egg_holder", + "dag_sha256": "d13f314a7b77747377f943b5ef5a3ad1d83465fe740f84f0e04922e25c81c628", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 6656, + "sim_steps": 6656, + "physics_steps": 66560, + "steps": 5141, + "elapsed_s": 3478.7, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 1333, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "eggs_in_holder_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 85, + "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；评分器仅给出 live_success=0，未给出合格蛋数量。log step 85 的服务末状态仅报告 control_steps=6656、done=False、reason=None，不报告至少1个蛋是否低坐在蛋托内；log step 86 的“0 of 4 eggs placed”是 agent 自述，不能确定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "推断：log step 39、43、82、83 中 agent 脚本控制右臂向篮中蛋下降并尝试闭爪；log step 75 的闭爪关节读数0.0及 log step 82、83 的闭爪后 opening=0.185、脚本判空退出，支持这些尝试未形成所需的对向夹持。本次没有画面或接触对记录，无法确认右夹爪与蛋、篮沿实际发生了何种触碰，故实际接触方式仍标未知。" + } + ] + }, + "eggs_in_holder_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 85, + "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；评分器仅给出 live_success=0，未给出合格蛋数量。log step 85 的服务末状态仅报告 control_steps=6656、done=False、reason=None，不报告至少2个蛋是否低坐在蛋托内；log step 86 的“0 of 4 eggs placed”是 agent 自述，不能确定本节点终值。" + } + ] + }, + "eggs_in_holder_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 85, + "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；评分器仅给出 live_success=0，未给出合格蛋数量。log step 85 的服务末状态仅报告 control_steps=6656、done=False、reason=None，不报告至少3个蛋是否低坐在蛋托内；log step 86 的“0 of 4 eggs placed”是 agent 自述，不能确定本节点终值。" + } + ] + }, + "eggs_in_holder_4": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 85, + "text_zh": "观察：本次 inputs/video.json 为 kind=none，且没有状态日志；评分器仅给出 live_success=0，未给出合格蛋数量。log step 85 的服务末状态仅报告 control_steps=6656、done=False、reason=None，不报告至少4个蛋是否低坐在蛋托内；log step 86 的“0 of 4 eggs placed”是 agent 自述，不能确定本节点终值。" + } + ] + }, + "holder_lid_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 85, + "text_zh": "观察：本次无视频、无状态日志，评分器未报告盖铰链角度或闭合比例；log step 85 的服务末状态只有 done=False 等全局字段。log step 86 的“lid open”是 agent 自述，不能据此确定盖闭合节点终值。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "is_A_point_above_B_point_by_z_range.height_delta", + "unit": "m", + "threshold": { + "lower": 0.01, + "upper": 0.04, + "strict": true + }, + "direction": "target", + "value": null + }, + { + "name": "is_joint_position_above_ratio.closed_ratio", + "unit": "ratio", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "all_robot_back_to_origin.axis_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "all_robot_back_to_origin.orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "eggs_in_holder_1", + "t": null, + "log_step": 39, + "where": "操作中", + "evidence_zh": "推断：本次为同一现场回合（评分器 graded_by_live=1、sim_startups=1、resumes=0；run.sim_total.reset=0）。log step 39 中 agent 脚本为第一个蛋下探，服务 plan 返回右末端距目标约0.078米，脚本中止抓取；log step 43 及最后的 log step 82、83 仍在取蛋时下探不到脚本目标，并中止后续搬运。日志未记录此步骤随后完成，故把首个未修复的取蛋/入托尝试定位到本节点；无视频，时间锚点为 null。" + }, + "unmet": { + "eggs_in_holder_1": null, + "eggs_in_holder_2": null, + "eggs_in_holder_3": null, + "eggs_in_holder_4": null, + "holder_lid_closed": null + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 39, + "evidence_zh": "观察：log step 39 中机器人服务的 meta.plan 被脚本直接打印为 right_ee_error_m=0.0542（预抓取），下探末尾为 reached 0.078 m from the target；服务本体感知右末端位置为[0.2731,-0.1052,0.9276]米，脚本下探目标高度为0.871米。log step 83 最后一次取蛋时服务右末端高度仍为0.9234米，脚本目标为0.867米；两次均未到达所命令的取蛋位置，随后脚本中止，未执行该次搬运。以上是服务位置反馈，不能进一步确认具体阻挡接触。" + }, + { + "cat": "接触", + "item": "没建立接触", + "t": null, + "log_step": 83, + "evidence_zh": "推断：log step 75 闭爪后的服务本体感知打印 grip joint=0.0、opening=0.185，随后脚本报告 grasp fail；log step 82、83 中机器人右夹爪接到闭爪命令后，脚本直接打印服务 proprio_now.now[45] 的 opening=0.185，并按自己的空抓检查输出 EMPTY - abort，在搬运前退出。结合下探位置未到目标的服务反馈，支持这些尝试未建立搬运蛋所需的对向抓握接触。opening 是归一化读数，不是米；EMPTY 是脚本判定，未作为服务抓握判决。无本次画面或接触对记录，不能确定指尖是否曾碰到蛋或篮沿。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "日志", + "evidence_zh": "推断：log step 38、40 的脚本目标是右臂下探取蛋后搬运入托，log step 39、43 显示实际末端未跟到所命令的位置；log step 53 打印的服务 plan 误差持续约0.143至0.148米，右臂关节 effort 同时有100、-100、-100的读数。log step 80 改写保护逻辑后仍出现下探不到目标，log step 82、83 的直接下探也失败，支持取蛋运动/接触执行层面的控制问题。缺少画面及接触对，无法在接触几何、逆解分支与反馈跟踪之间细分。" + } + ], + "gap_zh": "本次 inputs/replay.mp4 未提供（inputs/video.json 记录 HF 404 且无本地视频），inputs/ 中也没有 states.jsonl 或 state_progress.json。五个节点的 intervals 与 final 均为 null；整体失败和 done=False 不决定单节点真假。log step 86 的零入托、盖开着、篮沿几何冲突及逆解分支解释均是 agent 自述，相关尺寸待核实；闭爪后的服务本体感知支持所列尝试未建立所需抓握接触；没有接触对或画面，仍不能确定指尖与蛋或篮沿的具体触碰、篮沿阻挡、滑落等接触细节，控制根因不再细分。已查看参考成功回合的视频160秒画面，但它不是本次回合证据。" + }, + "summary_zh": "评分器确认本次单一现场回合失败（live_success=0），但未报告各节点状态；无本次视频或状态日志，五个节点终值均未知，不能将 agent 在 log step 86 自述的“0个入托、盖开着”作为节点判据。日志把失败操作定位在第1个蛋入托的取蛋阶段：log step 39 至 log step 83 多次出现服务返回的末端位置偏离脚本目标，闭爪后的服务本体感知还支持所列尝试未建立所需抓握接触，故标位姿不准、没建立接触及控制问题；具体触碰方式或控制子因仍未知。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频/状态日志，五节点全 unknown、断点 eggs_in_holder_1、根因 控制 · 控制 与日志一致，未发现时钟或节点值错误。仅缺一个有服务读数支持的现象：多次下探后闭爪空抓（没建立接触）。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无本次视频与状态日志，五节点 unknown、断点 eggs_in_holder_1（操作中）、现象 位姿不准+没建立接触、根因 控制 均有服务读数支撑，第1轮意见已采纳；validator 通过，未发现时钟、节点值或观察/推断标注错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:37Z", + "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/robodojo-fill-egg-holder-i00-standard--ldha2ci/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-fill-egg-holder-i00-standard--ldha2ci/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-fill-egg-holder-i00-standard--ldha2ci/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robodojo-fill-egg-holder-i00-standard--ldha2ci/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c4229ff21652199aaf01f52678a93a4671e59e3cf387e6af93c8477b94ba1de6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-privileged--nzyatgq.json b/phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-privileged--nzyatgq.json new file mode 100644 index 0000000000000000000000000000000000000000..2faf483d681a602563c7f1847a5d0139c5195dbd --- /dev/null +++ b/phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-privileged--nzyatgq.json @@ -0,0 +1,233 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-hang-mugs-i00-privileged--nzyatgq", + "taskKey": "robodojo/hang_mugs", + "dag_sha256": "f3e5988dded7012180da547025d315f4c1d0437751b4941f3d1b31a9ee96e278", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 2, + "agent_resets": 8, + "agent_sim_steps": 0, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "mugs_hung_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 205, + "text_zh": "观察：inputs/video.json 的 kind 为 none，本次无状态日志；评分器 reward.missing_trajectory=1、success=0，未报告合格杯数。log step 205 是 agent 最后一次完整录制及条件保存调用，out.text 为空，不能据其代码判断第1只杯挂好；本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付可评分轨迹；会话中的夹杯与套钩调试不构成本次轨迹的实际接触证据。" + } + ] + }, + "mugs_hung_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 205, + "text_zh": "观察：inputs/video.json 的 kind 为 none，本次无状态日志；评分器 reward.missing_trajectory=1、success=0，未报告合格杯数。log step 205 是 agent 最后一次完整录制及条件保存调用，out.text 为空，不能据其代码判断第2只杯挂好；本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付可评分轨迹；会话中的夹杯与套钩调试不构成本次轨迹的实际接触证据。" + } + ] + }, + "mugs_hung_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 205, + "text_zh": "观察：inputs/video.json 的 kind 为 none，本次无状态日志；评分器 reward.missing_trajectory=1、success=0，未报告合格杯数。log step 205 是 agent 最后一次完整录制及条件保存调用，out.text 为空，不能据其代码判断第3只杯挂好；本节点终值与时间区间均未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付可评分轨迹；会话中的夹杯与套钩调试不构成本次轨迹的实际接触证据。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_center_rise", + "unit": "m", + "threshold": 0.045, + "direction": "higher_better", + "value": null + }, + { + "name": "mug_handle_world_height", + "unit": "m", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_up_angle_to_first_hook", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_cross_angle_to_first_hook_axis", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_min_hook_distance", + "unit": "m", + "threshold": 0.045, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_max_axis_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 205, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_records=3、agent_replays=0；log step 205 中 agent 调用 reset、record_start，拟在动作结束且 status.success 为真时保存轨迹，但该调用没有返回输出，日志也没有后续保存确认。推断：没有可评分交付，不能将会话中任何杯的失败指定为轨迹断点，故记 unknown／首步前。" + }, + "unmet": { + "mugs_hung_1": null, + "mugs_hung_2": null, + "mugs_hung_3": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 标记无视频，inputs/ 中无本次 replay.mp4 或 states.jsonl，且评分器 missing_trajectory=1，没有可核对的评分轨迹或逐节点结果。log step 153 的服务 success=True、score=[100.0] 属于先前调试会话，随后 log step 154 重新 reset 并开始录制；不能转记为交付节点进度。最后 log step 205 未返回，run.wall_s=3603、time_limit_s=3600；日志不足以确认最终动作执行到哪里、保存条件是否成立或缺交付的具体原因。按 DECISIONS.md D23，未交付情形的现象和根因留空，不从会话试验推断物理失败，也不把预算结束作为原因；按 N9，三个节点终值均未知。成功参考录像属于另一运行，不能补成本次证据。" + }, + "summary_zh": "评分器记录本次未交付轨迹（missing_trajectory=1），三个挂杯节点的终值与时间区间均未知。log step 153 的调试会话曾由服务报告成功，但后续重新 reset 录制，最后 log step 205 无返回结果，不能作为已交付成功。无本次视频或状态日志，断点记 unknown／首步前，现象和根因按缺交付规则留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志；评分器 missing_trajectory=1，最后一次录制调用（log step 205）无返回，未交付。标注遵循 D23(a)：节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，未把会话中的 score=100 当作交付成功。未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:06:14Z", + "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/robodojo-hang-mugs-i00-privileged--nzyatgq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-i00-privileged--nzyatgq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fb49dfa12d82d1dbab3ea54c2677ba11c9a36b9f1694acf1dcf74d640d538133", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-standard--j958bnp.json b/phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-standard--j958bnp.json new file mode 100644 index 0000000000000000000000000000000000000000..4ecdf144d660c9169f385159360aad8dd1e11dd5 --- /dev/null +++ b/phase2/robodojo/hang_mugs/trajectories/robodojo-hang-mugs-i00-standard--j958bnp.json @@ -0,0 +1,245 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-hang-mugs-i00-standard--j958bnp", + "taskKey": "robodojo/hang_mugs", + "dag_sha256": "f3e5988dded7012180da547025d315f4c1d0437751b4941f3d1b31a9ee96e278", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 357, + "sim_steps": 357, + "physics_steps": 3570, + "steps": 153, + "elapsed_s": 3521.0, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 73, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "mugs_hung_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：log step 38、39 中 agent 的脚本分别执行左臂 pick0 抓取白色红柄杯的动作；评分器 reward 仅报告 live_success=0、n_actions=357，没有逐杯合格数或本节点结果。无本次视频及状态日志，无法确认至少1只杯是否满足悬挂检查，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 38、39 的脚本命令左侧二指夹爪闭合并抬起，目标为白色红柄杯；无本次画面、接触对或持物状态，无法核实左夹爪是否实际碰杯、形成对向夹持或只是空合。" + } + ] + }, + "mugs_hung_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 51, + "text_zh": "观察：完整日志至 log step 51 仅记录针对白色红柄杯的两次 pick0 调用及后续校准，未记录第2只杯的操作或逐杯验收结果；评分器 live_success=0 是包含三杯悬挂及双臂归位的联合结果，不能据此判定本节点。无本次视频及状态日志，终值未知。" + } + ] + }, + "mugs_hung_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 51, + "text_zh": "观察：完整日志至 log step 51 仅记录针对白色红柄杯的两次 pick0 调用及后续校准，未记录第3只杯的操作或逐杯验收结果；评分器 live_success=0 是包含三杯悬挂及双臂归位的联合结果，不能据此判定本节点。无本次视频及状态日志，终值未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_center_rise", + "unit": "m", + "threshold": 0.045, + "direction": "higher_better", + "value": null + }, + { + "name": "mug_handle_world_height", + "unit": "m", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_up_angle_to_first_hook", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_cross_angle_to_first_hook_axis", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_min_hook_distance", + "unit": "m", + "threshold": 0.045, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_max_axis_position_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "mugs_hung_1", + "t": null, + "log_step": 38, + "where": "操作中", + "evidence_zh": "推断：断点定位为第1只杯挂好。log step 38、39 中 agent 的脚本两次执行左臂 pick0；log step 39 中 agent 自述“gripper closed in mid-air”，log step 44 又自述所猜的0.10米指尖偏移未命中，随后至 log step 51 转为校准，未调用 hang0 或开始其余杯的执行阶段。结合评分器 live_success=0，第一只杯的操作是日志中最早未见修复的失败尝试；无本次视频，不能定位视频时刻或独立核实杯子终态。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 38, + "source_zh": "日志", + "evidence_zh": "推断：第一只杯的抓取控制存在未解决的问题，子类证据不足，保留在控制。log step 38 的执行输出反复出现 left_arm=\"no solution within 1 cm\"，所示模型误差约0.012至0.050米；log step 39 改抓杯柄后的输出仍有较大末端目标误差。agent 在 log step 39 自述夹爪空合，并在 log step 44 承认0.10米的指尖偏移是猜测、此前未命中，随后持续校准而未再执行挂杯。缺少实际抓取几何与物体运动观测，不能进一步断言是接触设计、逆解或标定参数中的哪一项。" + } + ], + "gap_zh": "观察：inputs/video.json 为 kind=none，注明 HF replay.mp4 返回404且无本地视频；inputs/ 中没有本次 states.jsonl。评分器虽记录 video_rendered=1、video_frames=73，但这些帧未提供；run.json 的图片位置引用也不含可查看的图片文件。日志没有逐杯合格数、挂钩关系或最终物体状态，因此所有节点 intervals=null、final=null，已尝试节点的 contact_actual 为未知；不能把 agent 的空夹叙述或自编校准的 CONTACT 输出当作实际接触证据，现象层留空。根因仅据执行警告与 agent 调试记录归到控制大类，具体机制待核实；成功参考录像属于另一次运行，不能补足本次证据。", + "unmet": { + "mugs_hung_1": null, + "mugs_hung_2": null, + "mugs_hung_3": null + } + }, + "summary_zh": "评分器记录本次单次现场评测失败（live_success=0、357个动作、无恢复），但未报告逐杯进度，三个挂杯节点终值均未知。日志显示 agent 两次尝试左臂抓取白色红柄杯后持续校准，断点推断为第1只杯挂好，控制问题有执行警告与调试记录支持。缺少本次视频及状态日志，无法确认实际接触、杯子终态及具体失败现象。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志（video.json kind=none），三个节点 unknown 与 contact 未知合理；断点 mugs_hung_1 与日志（step 38/39 左臂无解、空合，step 44 指尖偏移未命中，之后仅校准、从未调用 hang）一致；现象层留空并有 gap_zh；未把超时当作原因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-i00-standard--j958bnp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-i00-standard--j958bnp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4c9841badd0178a989d4505c8b809d0cdcc681b375da1b0ed338fb0a5e71cb44", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--7ubd8i6.json b/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--7ubd8i6.json new file mode 100644 index 0000000000000000000000000000000000000000..f01d0742a4105e77ff8970a84a01c8c06c973627 --- /dev/null +++ b/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--7ubd8i6.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-hang-mugs-random-i00-privileged--7ubd8i6", + "taskKey": "robodojo/hang_mugs_random", + "dag_sha256": "2522cdd99bd63db64a0d220e0115a518099159ca006b4084de1a549603fa4469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "red_mug_hung": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：inputs/video.json 的 kind 为 none，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“红杯挂钩”的受评终值。log step 73 记录模型提供方过滤拦截，无法判断本节点进度。" + }, + { + "t": null, + "log_step": 56, + "text_zh": "观察：log step 56 的脚本通过 set_world_pose 直接设置三杯位姿后自行调用检查，输出 ALL 16 CHECKS PASS: True，随后 load_ckpt 恢复初始检查点；这是会话测试，不能作为已交付受评轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹（评分器 missing_trajectory=1）；会话中的机器人测试及直接设置物体位姿不计入受评实际接触。" + } + ] + }, + "pink_mugs_hung_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：inputs/video.json 的 kind 为 none，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“至少一只粉杯挂钩”的受评终值。log step 73 记录模型提供方过滤拦截，无法判断本节点进度。" + }, + { + "t": null, + "log_step": 56, + "text_zh": "观察：log step 56 的脚本通过 set_world_pose 直接设置三杯位姿后自行调用检查，输出 ALL 16 CHECKS PASS: True，随后 load_ckpt 恢复初始检查点；这是会话测试，不能作为已交付受评轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹（评分器 missing_trajectory=1）；会话中的机器人测试及直接设置物体位姿不计入受评实际接触。" + } + ] + }, + "pink_mugs_hung_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 73, + "text_zh": "观察：inputs/video.json 的 kind 为 none，且无状态日志；评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“两只粉杯同时挂钩”的受评终值。log step 73 记录模型提供方过滤拦截，无法判断本节点进度。" + }, + { + "t": null, + "log_step": 56, + "text_zh": "观察：log step 56 的脚本通过 set_world_pose 直接设置三杯位姿后自行调用检查，输出 ALL 16 CHECKS PASS: True，随后 load_ckpt 恢复初始检查点；这是会话测试，不能作为已交付受评轨迹的节点结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付受评轨迹（评分器 missing_trajectory=1）；会话中的机器人测试及直接设置物体位姿不计入受评实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_center_rise_each", + "unit": "m", + "threshold": 0.045, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_world_z_each", + "unit": "m", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_to_nearest_hook_distance_each", + "unit": "m", + "threshold": 0.045, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_z_to_first_hook_z_angle_each", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_x_to_first_hook_plus_or_minus_x_min_angle_each", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "ee_home_position_error_each_axis_each_arm", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "ee_home_orientation_error_each_arm", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 73, + "where": "首步前", + "evidence_zh": "观察：log step 69 启动粉杯抓取挂架的会话测试，log step 70 仍称等待测试结果，log step 72 查看测试截图后，log step 73 出现“This request was blocked by Gemini's filters”。评分器 missing_trajectory=1、agent_records=0、agent_replays=0，且 replay=null，未有已保存并验证的受评交付；无法定位某个物理步骤的失败。" + }, + "unmet": { + "red_mug_hung": null, + "pink_mugs_hung_1": null, + "pink_mugs_hung_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次无受评视频、无状态日志，评分器仅报告缺失轨迹，未报告三个挂杯节点及原生指标的终值；inputs/oracle/replay.mp4 属于另一成功运行，不能证明本次进度。log step 73 为模型提供方过滤拦截，发生于轨迹交付前，按外部因素中断处理，应重试并排除出机器人失败分析。log step 56 的直接摆放检查和 log step 69 的抓取测试均为会话证据；无受评动作可供判定接触或失败现象，因此现象和根因均留空，不标“没尝试”或“交付操作出错”。" + }, + "summary_zh": "评分器保留 success=0、missing_trajectory=1，但本次没有交付可供评估的轨迹，三个挂杯节点的终值均未知，实际接触均为不适用。log step 73 的模型提供方过滤拦截发生在交付前，按外部因素中断处理，应重试且不纳入机器人失败分析，断点记 unknown／首步前，现象和根因留空。缺少本次视频与状态日志；log step 56 的三杯检查全通过来自脚本直接设置位姿后的会话测试，不能计为受评进度，七项原生指标也未获评分器报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频/状态日志，评分器 missing_trajectory=1、agent_records=0；log step 73 为模型提供方过滤拦截，发生在交付前，按外部因素留空层并写 gap_zh 正确；step 56 的16项检查为 set_world_pose 会话测试，已正确排除。未发现错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-privileged--7ubd8i6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-privileged--7ubd8i6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f7996397b5482e6cbc9726eda7ca7075bae02e3a7fce3b21fa78b339b4ff1ce6", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--qymiwbv.json b/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--qymiwbv.json new file mode 100644 index 0000000000000000000000000000000000000000..272524d8dfae8d5f44152be1076c2fd54501dc4b --- /dev/null +++ b/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-privileged--qymiwbv.json @@ -0,0 +1,248 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-hang-mugs-random-i00-privileged--qymiwbv", + "taskKey": "robodojo/hang_mugs_random", + "dag_sha256": "2522cdd99bd63db64a0d220e0115a518099159ca006b4084de1a549603fa4469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 19, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "red_mug_hung": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告本节点的受评终态；inputs/video.json 为 kind=none，且无本次状态日志。" + }, + { + "t": null, + "log_step": 907, + "text_zh": "观察：log step 907 中 agent 编写重置后抓取 mug1、旋转腕关节并读取方向的调试脚本；日志最终止于 log step 921 的文件状态查询，未交付受评轨迹。该会话测试不能确定本节点的终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，故本节点无可标注的受评机器人作用端与杯子接触。" + } + ] + }, + "pink_mugs_hung_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告本节点的受评终态；inputs/video.json 为 kind=none，且无本次状态日志。" + }, + { + "t": null, + "log_step": 907, + "text_zh": "观察：log step 907 中 agent 编写重置后抓取 mug1、旋转腕关节并读取方向的调试脚本；日志最终止于 log step 921 的文件状态查询，未交付受评轨迹。该会话测试不能确定本节点的终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，故本节点无可标注的受评机器人作用端与杯子接触。" + } + ] + }, + "pink_mugs_hung_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/run.json 的评分器字段为 success=0、missing_trajectory=1、agent_records=0、agent_replays=0，未报告本节点的受评终态；inputs/video.json 为 kind=none，且无本次状态日志。" + }, + { + "t": null, + "log_step": 907, + "text_zh": "观察：log step 907 中 agent 编写重置后抓取 mug1、旋转腕关节并读取方向的调试脚本；日志最终止于 log step 921 的文件状态查询，未交付受评轨迹。该会话测试不能确定本节点的终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，故本节点无可标注的受评机器人作用端与杯子接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_center_rise_each", + "unit": "m", + "threshold": 0.045, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_world_z_each", + "unit": "m", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_to_nearest_hook_distance_each", + "unit": "m", + "threshold": 0.045, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_z_to_first_hook_z_angle_each", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_x_to_first_hook_plus_or_minus_x_min_angle_each", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "ee_home_position_error_each_axis_each_arm", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "ee_home_orientation_error_each_arm", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 921, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0；log step 907 仍在编写重置后的抓杯与腕部转动测试，log step 921 最后仅查询调试结果文件状态，没有交付记录。推断：无受评轨迹可定位到某个挂杯步骤，断点记 unknown、首步前；不以会话测试代替受评失败事件。" + }, + "unmet": { + "red_mug_hung": null, + "pink_mugs_hung_1": null, + "pink_mugs_hung_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有交付轨迹，也没有本次视频或状态日志；评分器仅报告整体失败及缺少轨迹，没有逐杯终态或原生几何指标。log step 161 的脚本直接调用 set_world_pose 将三杯移至钩位后触发检查，log step 165 的 success=True 属于该会话测试，不能作为受评进展；log step 903 的挂杯检查失败也仅为调试证据。日志结束时仍在测试，run.json 记录墙钟耗时 3603 s、预算 3600 s，但这不构成物理失败现象或能力根因。依 D23，无交付时两层留空；现有证据不能确定导致未交付的具体控制、规划或保存操作错误。inputs/oracle/replay.mp4 是另一成功运行的参考视频，不能填补本次轨迹缺口。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，本次没有交付受评轨迹；红杯及两只粉杯的三个挂钩节点终值均未知，无可确认的达成节点。日志包含直接改物体位姿触发成功检查的会话测试（log step 161、165），末尾仍在调试抓杯与腕部转动（log step 907、921），均不能替代受评进展。断点记 unknown／首步前；缺少本次视频、状态日志及逐杯评分结果，接触记不适用，失败现象与根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1）。三节点 unknown、断点 unknown/首步前、现象与根因留空并给出 gap_zh，符合 D23(a)；会话测试（step 161/165/903）未被当作受评事实，时间均标明为 log step / 墙钟，无转换。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-privileged--qymiwbv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-privileged--qymiwbv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "fa946f0178dc4283bdb1e05ccecb4232feb831be717d61d7b97d39a4b916d979", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-standard--ruhxv7t.json b/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-standard--ruhxv7t.json new file mode 100644 index 0000000000000000000000000000000000000000..75b5a75192b3e83cbc65ad9ede054d1938603745 --- /dev/null +++ b/phase2/robodojo/hang_mugs_random/trajectories/robodojo-hang-mugs-random-i00-standard--ruhxv7t.json @@ -0,0 +1,258 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-hang-mugs-random-i00-standard--ruhxv7t", + "taskKey": "robodojo/hang_mugs_random", + "dag_sha256": "2522cdd99bd63db64a0d220e0115a518099159ca006b4084de1a549603fa4469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 515, + "sim_steps": 515, + "physics_steps": 5150, + "steps": 122, + "elapsed_s": 2217.9, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 57, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "red_mug_hung": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 24–25 只有红杯候选抓取及挂钩位姿的无状态逆解测试；log step 30、34 执行的是粉杯脚本，log step 35、37 服务状态为 control_steps=515、done=false。评分器只报告整体 success=0，未报告红杯挂架条件；无本次视频或状态日志，不能把未执行红杯挂架计划或 agent 在 log step 38 自述“没有杯挂好”当作本节点的终态读数。" + } + ] + }, + "pink_mugs_hung_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 30, + "text_zh": "观察：log step 30 执行左臂对粉杯的闭爪、抬升、送钩、开爪脚本，log step 34 又执行一次粉杯挂架脚本；两次打印夹爪 opening=0.185，不能由此确认持杯或挂好。log step 35、37 的服务 done=false 及评分器 success=0 仅否定整体成功，没有单杯结果字段；无本次视频或状态日志，本节点终态未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 30、34 的脚本让左臂二指夹爪对粉杯闭合并向杯架运动，右臂停放；实际是否夹住杯柄、是否碰到杯身或架杆无画面及接触日志可核验，故不把抓握指令或 opening=0.185 标成已发生的抓握。两次均为争取首只粉杯挂住的尝试。" + } + ] + }, + "pink_mugs_hung_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 34 的第二次粉杯操作仍瞄准下层左钩，服务返回 done=false；log step 38 中 agent 自述第二次误选了首次操作的粉杯。日志没有服务对“两只粉杯同时挂好”的计数或判定字段，整体 success=0 不能单独否定本节点；无本次视频或状态日志，本节点终态未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "mug_center_rise_each", + "unit": "m", + "threshold": 0.045, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_world_z_each", + "unit": "m", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "handle_to_nearest_hook_distance_each", + "unit": "m", + "threshold": 0.045, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_z_to_first_hook_z_angle_each", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "handle_x_to_first_hook_plus_or_minus_x_min_angle_each", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "ee_home_position_error_each_axis_each_arm", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "ee_home_orientation_error_each_arm", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "pink_mugs_hung_1", + "t": null, + "log_step": 30, + "where": "操作中", + "evidence_zh": "推断：log step 30 的实时调用执行首只粉杯向下层左钩的挂架动作，服务返回插入段多行末端目标误差约0.06–0.09 m；log step 33 中 agent 自述杯架被碰斜、粉杯掉落，log step 34 再次尝试同一挂钩关系后，log step 35、37 服务仍为 done=false，随后不再动作。结合 log step 38 自述两次均失败，断点定位为首只粉杯挂钩操作；没有可确定的视频时刻，且该节点未修复的判断依赖日志及 agent 自述。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 标为 kind=none（回放请求404），inputs/ 没有本次 replay.mp4 或 states.jsonl；日志里的图片仅有占位和索引，无法检视实际接触、杯子位姿及最终挂杯数量。评分器虽有 video_rendered=1、video_frames=57，输入仍未提供该视频；成功 oracle 只可展示达标外观，不能证明本次进度。服务只返回整体 done=false / success=0，无逐杯或原生几何指标，故所有 intervals 与节点 final 均为 null，实际接触记未知。缺少本次视频、状态日志或能证实具体接触机理的服务读数，失败现象与根因均无法判定，两个层次留空；log step 36、38 中 agent 自述杯身撞立杆、杯心距杆约5.5 cm而需约6 cm净空，仅作待核实的背景记录，不作为根因。log step 30、34 的末端目标跟踪误差不能独立证明杯身碰撞或净空不足。log step 38 自述“时间用尽”与 wall_s=2397、time_limit_s=3600 不相符，未据其认定超时或任何停止根因。", + "unmet": { + "red_mug_hung": null, + "pink_mugs_hung_1": null, + "pink_mugs_hung_2": null + } + }, + "summary_zh": "本次实时回合评分失败，日志可确认执行了两次粉杯挂架动作指令，随后双臂归位指令执行，服务最终仍为 done=false；三个挂杯节点均无可采信的逐项终态结果，确认达标0项、未知3项。断点定位为首只粉杯挂钩操作；缺乏本次视频与状态日志，agent 自述的碰撞及净空不足机理未获证实，失败现象与根因均留空。已查看成功 oracle 的挂杯外观，但它不作为本次结果证据。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频/状态日志，三个节点 unknown 与整体 success=0 一致，断点落在首只粉杯挂钩可接受。但唯一的根因“抓取和接触设计”完全来自 agent 自述（杯身净空5.5 vs 6 cm、撞立杆），而 03 规定 agent 自述不算证据；该根因应撤掉并写入 gap_zh。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志（video.json kind=none），三个节点 unknown 与评分器仅给整体 success=0 一致；断点落在首只粉杯挂钩（log step 30、34 为服务执行的粉杯脚本）可接受，现象与根因留空且 gap_zh 说明充分，agent 自述的撞杆机理未被当作根因。第1轮的修改已落实，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-standard--ruhxv7t/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-standard--ruhxv7t/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-standard--ruhxv7t/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robodojo-hang-mugs-random-i00-standard--ruhxv7t/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ac783d1767e502fa3fcec3acd4431d2218623a5dfd727a8e58db964a028e787d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--gqmy66d.json b/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--gqmy66d.json new file mode 100644 index 0000000000000000000000000000000000000000..022be349955bac79f5517600d6239a8b8370e735 --- /dev/null +++ b/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--gqmy66d.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-insert-key-i00-privileged--gqmy66d", + "taskKey": "robodojo/insert_key", + "dag_sha256": "b1f4cec30f50c145af8a97f6fd548c8967406861faffa12cc343a9a2d94d397a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 0, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "key_inserted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 60, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0，未报告插入深度、居中及竖直方向的节点验收值；log step 60 仍是 agent 读取机械臂初始配置，未见保存或回放交付轨迹的结果。本次无视频、无状态日志，不能判定此节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward 的 missing_trajectory=1；未交付受评轨迹，此节点无可标注的轨迹级接触。" + } + ] + }, + "key_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 60, + "text_zh": "观察：评分器 reward 报告 missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0，未报告钥匙目标转向的节点验收值；log step 60 仍是 agent 读取机械臂初始配置，未见保存或回放交付轨迹的结果。本次无视频、无状态日志，不能判定此节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward 的 missing_trajectory=1；未交付受评轨迹，此节点无可标注的轨迹级接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "key_depth_m", + "unit": "m", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "key_slot_xy_distance_m", + "unit": "m", + "threshold": 0.007, + "direction": "lower_better", + "value": null + }, + { + "name": "key_up_error_deg", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "key_turn_error_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 60, + "where": "首步前", + "evidence_zh": "观察：评分器 reward 报告 missing_trajectory=1，agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0。agent 在 log step 43 启动后台驱动，输出仅为 starting；log step 44 主动发出终止驱动命令；log step 60 仍在读取机械臂配置，log step 61 无文本和调用。没有交付可供评分的动作轨迹，无法指定失败的物理节点。" + }, + "unmet": { + "key_inserted": null, + "key_turned": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，本次无受评视频和状态日志；评分器仅报告缺失轨迹及整体 success=0，未报告两个节点终值和四项原生几何指标。run.json 记录 wall_s=3603、time_limit_s=3600，日志末尾没有交付结果或最终完成声明。推断：会话到预算结束仍无交付，但预算本身不是现象或根因；依 D23，未交付时不把会话中的网格分析、导入错误或驱动终止当作受评物理现象，也不凭缺失交付推定根因，两层留空。另有成功参考视频，但它不能证明本次节点或接触。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1；本次没有受评轨迹，插入和转到位两个节点的终值均未知。agent 在 log step 43 尝试启动后台仿真驱动，log step 44 发出终止命令，至 log step 60 仍查阅机械臂配置，未见轨迹保存或回放结果。无本次视频、状态日志或逐节点验收值，断点为未知步骤的首步前，现象和根因按未交付规则留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_sim_steps=0，未交付受评轨迹。两个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；log step 43/44/60/61 均存在且描述属实，预算耗尽未被当作现象或根因。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-privileged--gqmy66d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-privileged--gqmy66d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "9ecb91028438b189feca238b1b41bd3730fea2d089301819cf41d64fd48af135", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--uxvgyfn.json b/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--uxvgyfn.json new file mode 100644 index 0000000000000000000000000000000000000000..c020e0fc27044ae824fb7b568114c508d5c0bf9d --- /dev/null +++ b/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-privileged--uxvgyfn.json @@ -0,0 +1,192 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-insert-key-i00-privileged--uxvgyfn", + "taskKey": "robodojo/insert_key", + "dag_sha256": "b1f4cec30f50c145af8a97f6fd548c8967406861faffa12cc343a9a2d94d397a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 21, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "key_inserted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 168, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1、agent_records=0、agent_replays=0；inputs/video.json 为 kind=none，且没有本次状态日志。log step 168 仅为 agent 抓取抬升测试的输出，不是交付回放或评分器的插入结果；无节点级验收字段可判断钥匙插入孔的终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；会话测试的夹爪动作不作为本节点的轨迹级接触。" + } + ] + }, + "key_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 170, + "text_zh": "观察：inputs/run.json 的评分字段为 missing_trajectory=1，未提供钥匙转向的节点结果或角度指标；本次无视频和状态日志。log step 169 发起的是 agent 本地逆解搜索，log step 170 返回搜索残差，不是评分轨迹中的钥匙转向结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，未交付评分轨迹；会话测试的夹爪动作不作为本节点的轨迹级接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "key_depth_m", + "unit": "m", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "key_slot_xy_distance_m", + "unit": "m", + "threshold": 0.007, + "direction": "lower_better", + "value": null + }, + { + "name": "key_up_error_deg", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "key_turn_error_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 170, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0。日志最后的 log step 170 仍为 agent 本地逆解搜索结果，没有交付保存或最终完成报告；记录的会话墙钟耗时为3603秒，预算为3600秒。推断：未形成可供评分的交付尝试，不能将会话中的抓取或逆解测试定位成某个评分节点的物理断点。" + }, + "unmet": { + "key_inserted": null, + "key_turned": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有评分视频、状态日志或交付轨迹；inputs/oracle/replay.mp4 属于另一成功运行，不能作为本次节点或接触证据。评分器未报告两个节点的终值和四项原生几何指标；总 success=0 不足以分别判两个节点为假。log step 168 的抬升数据及 log step 170 的逆解残差均为 agent 会话测试输出，不构成评分尝试的失败现象；缺交付本身也不能证明具体的交付操作错误。依无交付规则，现象与根因均留空。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），两个节点的终值均未知，不能由总失败判为均未达成。日志中的 agent 抓取抬升测试在 log step 168 返回结果，随后于 log step 169—170 继续搜索目标姿态逆解，未见保存交付或最终完成报告，故断点为 unknown／首步前。缺少本次视频、状态日志及节点级评分字段，无法确定评分动作中的物理现象或根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志、missing_trajectory=1、agent_records=0，节点均为 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合无交付规则；log step 168-170 确为 agent 本地测试，未被当作评分尝试。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-privileged--uxvgyfn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-privileged--uxvgyfn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ec46eab00077f763efe06aa97c30df6f201e8525743f6648666eb9d76d6a0200", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-standard--vlza7up.json b/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-standard--vlza7up.json new file mode 100644 index 0000000000000000000000000000000000000000..9d572bd4d81478efcf9390e9afddfdaa2189f52f --- /dev/null +++ b/phase2/robodojo/insert_key/trajectories/robodojo-insert-key-i00-standard--vlza7up.json @@ -0,0 +1,260 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-insert-key-i00-standard--vlza7up", + "taskKey": "robodojo/insert_key", + "dag_sha256": "b1f4cec30f50c145af8a97f6fd548c8967406861faffa12cc343a9a2d94d397a", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 680, + "sim_steps": 680, + "physics_steps": 6800, + "steps": 588, + "elapsed_s": 2142.4, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 138, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 2, + "base": null, + "peak": null, + "final": null, + "nodes": { + "key_inserted": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 49, + "text_zh": "观察：log step 49 中，agent 的脚本向现场机器人服务提交右臂抓取、抬升和插入目标姿态，返回 insert sent done? False；该服务负责执行本次唯一受评现场 episode，未报告钥匙插入的独立判据值。" + }, + { + "t": null, + "log_step": 55, + "text_zh": "观察：log step 55 的服务最终状态为 control_steps=680、done=False、resumes=0；评分字段为 live_success=0、graded_by_live=1。没有本次视频或状态日志，整体未成功不能单独决定插入深度、居中和直立三项是否同时满足，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "手指/夹爪", + "how": "未知", + "note_zh": "观察：log step 44 定义、log step 45 执行的脚本在右夹爪闭合后读取现场机器人服务的 get_obs().meta[\"proprio\"][\"now\"][13]，输出开度 0.0 m；log step 52、53 同样在闭爪后读取该服务值，均为 opening 0.0。推断：这三次右夹爪为空夹，未建立夹住钥匙所需的抓握接触；空夹没有对应的接触方式枚举，how 保留未知，不能标为抓握。观察：log step 49 的同类读数先为 0.0266 m，抬升后为 0.0 m；无钥匙图像或接触对，不能确认该次曾夹住钥匙，也不能确定其他推碰接触。" + } + ] + }, + "key_turned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 49, + "text_zh": "观察：log step 49 的脚本将齿向目标设为世界平面内 -45 度，并以 M_hold(TEETH) 求得 q_ins 后提交右臂关节动作；这是末端目标，未提供钥匙本身的三维轴向或转向误差服务结果。" + }, + { + "t": null, + "log_step": 55, + "text_zh": "推断：log step 55 的 done=False 及评分器 live_success=0 仅否定联合成功，不能分别决定独立转向条件。无本次视频、状态日志或逐节点服务结果，不能用手腕目标或 agent 自述判定钥匙转到位，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 49 的右臂插入动作同时包含目标转向；无本次图像和接触记录，无法确认右夹爪是否持有并带动钥匙转向。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "key_depth_m", + "unit": "m", + "threshold": 0.025, + "direction": "higher_better", + "value": null + }, + { + "name": "key_slot_xy_distance_m", + "unit": "m", + "threshold": 0.007, + "direction": "lower_better", + "value": null + }, + { + "name": "key_up_error_deg", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "key_turn_error_deg", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "key_inserted", + "t": null, + "log_step": 45, + "where": "操作中", + "evidence_zh": "观察：本次按现场执行评分（graded_by_live=1、sim_startups=1、resumes=0）。log step 45 首次完成接近钥匙后的闭爪，服务右夹爪开度为 0.0 m，随后抬升求解输出 IK FAIL，控制脚本对 None 求 len 抛错，未提交该抬升阶段；log step 49 为后续重抓、抬升及插入重试，服务仍为 done=False；log step 52、53 再次闭爪后开度均为 0.0 m，log step 54 最后恢复因 no q 退出，log step 55 最终 done=False。推断：log step 45 的首次空夹是为插入获取钥匙时已有证据的失败，后续没有完成插入的证据，依 03 Step 3.1／S14 将断点日志锚点前移至此，仍归钥匙插入孔的操作中；无本次视频，视频时刻保持 null。" + }, + "unmet": { + "key_inserted": null, + "key_turned": null + }, + "phenomena": [ + { + "cat": "接触", + "item": "没建立接触", + "t": null, + "log_step": 45, + "source_zh": "日志", + "evidence_zh": "观察：本次为唯一现场受评 episode（评分字段 graded_by_live=1、sim_startups=1、resumes=0）。log step 44 定义的脚本在 log step 45 提交右夹爪闭合 20 个控制步后，从机器人服务 get_obs().meta[\"proprio\"][\"now\"][13] 读取并打印 grip opening R (m): 0.0；log step 52、53 闭爪后从同一服务字段读取的 opening 也均为 0.0。推断：这些是服务本体读数而非 agent 的成功判断；对任务说明中约 2.6 cm 宽、1 cm 厚的钥匙，闭爪后开度为零支持这三次空夹、未建立所需抓握接触（03 Step 1／N5）。观察：log step 49 的开度曾为 0.0266 m，抬升后回到 0.0 m；推断：这可能涉及未保持住，但缺少钥匙物体观测，不能确认曾抓住后滑脱，不另标没保持住。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 45, + "source_zh": "日志", + "evidence_zh": "推断：agent 的控制实现反复中断取钥匙及恢复动作。log step 41 的服务 plan 返回右臂距目标约0.180米；log step 45 在提交接近和闭爪后，抬升路径求解输出 IK FAIL，脚本继续对 None 求 len 而抛错，未提交该抬升阶段；log step 47 重复出现同类错误，log step 48 四种倾角路径均输出 IKFAIL；log step 54 最后一次重抓又因无逆解打印 no q 并退出。这些执行记录支持控制实现与轨迹生成存在障碍，但不足以证明具体接触几何或夹持参数错误。", + "note_zh": "观察：log step 45、47 的控制脚本异常由 agent 自身未处理逆解失败造成，候选名称为“控制脚本异常”；此后虽继续重试，但多轮恢复仍未形成成功的操作。无法区分最终抓握失败的具体控制子类，保留上位项控制。" + } + ], + "gap_zh": "观察：inputs/video.json 为 kind=none（本次回放未获取），输入也无状态日志；日志的 look 输出仅有图片占位及索引，没有可检查的本次图像。评分器及 log step 55 服务最终状态仅报告联合失败，未报告两个节点的独立终值或四项原生几何指标，故节点终值、视频时间区间及原生指标仍未知。推断：依据 N5，log step 45、52、53 的服务闭爪开度支持空夹；但钥匙最终位置、其他推碰接触，以及 log step 49 的非零开度是否意味着曾夹住钥匙并滑脱，均无物体观测核验。agent 在 log step 51、56 关于钥匙位置、滑脱及误识别的自述不能补足这些缺口。" + }, + "summary_zh": "观察：本次唯一现场 episode 执行了680个控制动作，评分器 live_success=0；没有节点获得独立服务结果确认，两个节点终值均未知。推断：log step 45、52、53 的服务闭爪开度为零支持右夹爪空夹、没建立接触，断点日志锚点为首次空夹的 log step 45，归钥匙插入孔的操作中；反复逆解失败和控制脚本异常支持控制根因。观察：本次无视频及状态日志，钥匙最终位置、log step 49 是否曾抓住后滑脱及两个节点的精确验收状态仍无法核实，四项原生指标均留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频、无状态日志，节点终值 unknown 合理。但服务返回的右夹爪本体读数（graded 单 episode，N5）多次显示闭爪开度为 0（空夹），标签却声称无法区分而把现象层留空；断点 log_step 也应指向首次失败的 step 45 而非 49。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频与状态日志，两节点终值 unknown 合理（评分只给联合失败）。空夹现象、断点锚点 step 45、控制上位根因均由服务读数（闭爪开度 0.0、IK FAIL、done=False）支持，且已区分观察与推断；未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-standard--vlza7up/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-standard--vlza7up/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-standard--vlza7up/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robodojo-insert-key-i00-standard--vlza7up/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f6862804f942d87ba6dbdcdf6404fc0840f0197ddc5ca667420f7b39ca60dbcb", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-privileged--56a97wy.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-privileged--56a97wy.json new file mode 100644 index 0000000000000000000000000000000000000000..6587a222de229157989227e76c574fcccb8fda6a --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-privileged--56a97wy.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-privileged--56a97wy", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + 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kind=none，未提供状态日志；log step 100 记录 Gemini 过滤器中断，评分器未报告“第1张匹配牌朝上”的节点结果。" + }, + { + "t": null, + "log_step": 88, + "text_zh": "推断：log step 88 是 agent 在可恢复检查点的调试会话中自行调用检查函数的输出；结合缺少交付轨迹，不能将这些自测值作为受评节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，调试会话的夹爪操作不计作受评接触。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 100, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，inputs/video.json 的 kind=none，未提供状态日志；log step 100 记录 Gemini 过滤器中断，评分器未报告“第2张匹配牌朝上”的节点结果。" + }, + { + "t": null, + "log_step": 88, + "text_zh": "推断：log step 88 是 agent 在可恢复检查点的调试会话中自行调用检查函数的输出；结合缺少交付轨迹，不能将这些自测值作为受评节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，调试会话的夹爪操作不计作受评接触。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 100, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，inputs/video.json 的 kind=none，未提供状态日志；log step 100 记录 Gemini 过滤器中断，评分器未报告“三张匹配牌朝上且其余九张直立”的节点结果。" + }, + { + "t": null, + "log_step": 88, + "text_zh": "推断：log step 88 是 agent 在可恢复检查点的调试会话中自行调用检查函数的输出；结合缺少交付轨迹，不能将这些自测值作为受评节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，调试会话的夹爪操作不计作受评接触。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 100, + "text_zh": "观察：inputs/run.json 的 reward.missing_trajectory=1，inputs/video.json 的 kind=none，未提供状态日志；log step 100 记录 Gemini 过滤器中断，评分器未报告“补牌竖放排尾及两阶段联合验收”的节点结果。" + }, + { + "t": null, + "log_step": 88, + "text_zh": "推断：log step 88 是 agent 在可恢复检查点的调试会话中自行调用检查函数的输出；结合缺少交付轨迹，不能将这些自测值作为受评节点终值，故保留未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1；没有交付轨迹，调试会话的夹爪操作不计作受评接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 100, + "where": "首步前", + "evidence_zh": "观察：log step 97 仅启动从 ckpt_upright 恢复后的补牌放置自测，log step 98 的 agent 自述为等待该命令结束；log step 100 明确记录请求被 Gemini 过滤器阻断。评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未形成已交付且已验证的受评轨迹，无法定位物理步骤断点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/ 只有运行记录、视频元数据和 oracle 元数据等文件，没有本次视频或状态日志；inputs/video.json 为 kind=none，评分器报告 missing_trajectory=1。log step 30 的 record_start 与 save_ckpt 只是会话内录制和内存检查点；log step 88、89 的逐项自测与检查点比较属于会话证据，log step 97 的最后自测也没有返回结果。log step 100 记录模型提供方过滤器中断，且此前没有交付保存及验证记录；按外因中断规则不标没尝试，也不将调试中的异常归为受评现象或根因。四个节点终值及全部视频时间均无法确定；原生六项指标未在评分结果中报告。", + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + } + }, + "summary_zh": "观察：评分器记录 success=0、missing_trajectory=1，未交付受评轨迹，四个节点终值均未知。观察：agent 在调试会话中尝试翻牌、补牌及恢复检查点，最后于 log step 100 被 Gemini 过滤器中断；按外因中断规则记 unknown／首步前，现象与根因留空。观察：无视频、无状态日志、无逐节点评分结果，不能把会话自测进度计作受评进度。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1，agent_records=0，replay 为空）；log step 100 为 Gemini 过滤器中断，属外因。四节点 unknown、断点 unknown/首步前、现象与根因为空并带 gap_zh，均符合规则，会话自测未被当作受评事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:02Z", + "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/robodojo-make-kong-i00-privileged--56a97wy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-privileged--56a97wy/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "48f9d13632101de21e512f07f95ea22ecdac57e38904aa6feebd325a7c064de3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--am7csze.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--am7csze.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf4a93bf615932229212ad636c855e58f2bc19a --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--am7csze.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--am7csze", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 887, + "sim_steps": 887, + "physics_steps": 8870, + "steps": 779, + "elapsed_s": 606.4, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 103, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 4, + "base": null, + "peak": null, + "final": 4, + "nodes": { + "matching_face_up_1": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 的工具输出读取服务结果，记录“DONE success”和“True success”；inputs/run.json 的 reward.success=1、live_success=1、graded_by_live=1、finalized=1，且 replays=0、resumes=0，确认验收的是本次连续直播局。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "推断：上述原生服务成功结果及评分器直播成功字段，结合 task/task_dag.json 的联合成功判据，支持最终至少1张匹配牌面朝上，故本节点 final=true；无视频及状态日志，intervals 保持 null，不从 agent 时间或自测推算视频时间。" + }, + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 的脚本命令右夹爪闭合后沿远离机器人方向推动 x=0.043 处手牌；这是动作指令记录，不能据此确定实际接触或首次达标时刻。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 25、30 的脚本命令右夹爪推匹配手牌；本目录无视频、状态日志或实际接触对，无法核实右夹爪与牌的接触方式，故记未知。" + } + ] + }, + "matching_face_up_2": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 的工具输出读取服务结果，记录“DONE success”和“True success”；inputs/run.json 的 reward.success=1、live_success=1、graded_by_live=1、finalized=1，且 replays=0、resumes=0，确认验收的是本次连续直播局。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "推断：上述原生服务成功结果及评分器直播成功字段，结合 task/task_dag.json 的联合成功判据，支持最终至少2张匹配牌面朝上，故本节点 final=true；无视频及状态日志，intervals 保持 null，不从 agent 时间或自测推算视频时间。" + }, + { + "t": null, + "log_step": 30, + "text_zh": "观察：log step 30 的脚本先后调用右臂推牌程序，目标 x=-0.003、-0.049；agent 的深度统计属于自测，不能替代无视频条件下的节点验收结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 25、30 的脚本命令右夹爪推匹配手牌；本目录无视频、状态日志或实际接触对，无法核实右夹爪与牌的接触方式，故记未知。" + } + ] + }, + "matching_face_up_3": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 的工具输出读取服务结果，记录“DONE success”和“True success”；inputs/run.json 的 reward.success=1、live_success=1、graded_by_live=1、finalized=1，且 replays=0、resumes=0，确认验收的是本次连续直播局。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "推断：上述原生服务成功结果及评分器直播成功字段，结合 task/task_dag.json 的联合成功判据，支持最终三张匹配牌均面朝上，且另外九张手牌均按判据直立，故本节点 final=true；无视频及状态日志，intervals 保持 null，不从 agent 时间或自测推算视频时间。" + }, + { + "t": null, + "log_step": 30, + "text_zh": "观察：log step 30 记录右臂继续执行两次推牌，并运行 agent 自写的深度检查；未提供各牌真实姿态或接触对，不能由该检查确定节点时间线。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 25、30 的脚本命令右夹爪推匹配手牌；本目录无视频、状态日志或实际接触对，无法核实右夹爪与牌的接触方式，故记未知。" + } + ] + }, + "replacement_at_row_end": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 的工具输出读取服务结果，记录“DONE success”和“True success”；inputs/run.json 的 reward.success=1、live_success=1、graded_by_live=1、finalized=1，且 replays=0、resumes=0，确认验收的是本次连续直播局。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "推断：上述原生服务成功结果及评分器直播成功字段，结合 task/task_dag.json 的联合成功判据，支持最终补牌竖放排尾、双夹爪开度达标，且两阶段先后及三张朝上、九张直立的共同验收满足，故本节点 final=true；无视频及状态日志，intervals 保持 null，不从 agent 时间或自测推算视频时间。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 33、38、41 的脚本命令左臂取补牌、重定向并张开夹爪，log step 44 命令右臂移至排尾，log step 46 命令右夹爪张开；同一调用返回 done=True、reason=success，服务累计控制动作数为887。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 33、38、41、44、46 有左、右夹爪依次操作补牌的指令记录，但无视频或状态接触对，不能核实 mahjong9_0 的实际夹持、换握和离手接触，故记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：log step 46 中机器人服务返回 done=True、reason=success，评分器 reward.live_success=1 且 graded_by_live=1；据联合验收推断，三张匹配牌朝上及补牌竖放排尾四个目标节点最终均完成，无失败断点。观察：日志脚本记录右臂推牌、左臂整理补牌、右臂向排尾移牌并张开夹爪的指令，成功发生在服务累计控制动作数887处。观察：inputs/video.json 为 kind=none，目录亦无状态日志；无法独立核实中间姿态、实际接触、各节点首次达标或失去的时刻，全部视频时间及区间保持 null，六项原生指标未获评分器数值而记 null。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；四个节点 final=true 由 log step 46 的 done=True/success 与 live_success=1 支持，时间区间保持 null、contact_actual 记未知均合规，无失败断点。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:03:17Z", + "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/robodojo-make-kong-i00-standard--am7csze/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--am7csze/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f735fa3566a5632c5b6eb67b1e7f7fccbdba966a93338ed6336dd9e87d064e43", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--eieczdq.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--eieczdq.json new file mode 100644 index 0000000000000000000000000000000000000000..ea46d9df7b32c4aca133512d1d23fb0204a42841 --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--eieczdq.json @@ -0,0 +1,273 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--eieczdq", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1101, + "sim_steps": 1101, + "physics_steps": 11010, + "steps": 1101, + "elapsed_s": 767.3, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 222, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "matching_face_up_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 60, + "text_zh": "观察：log step 60 的机器人调用构造并提交左臂推牌轨迹，目标是 agent 称为 tile 7 的匹配牌；log step 81 的服务状态记录 control_steps=617、done=False。未提供推牌后的图像内容、视频或匹配牌朝上数量的服务结果，不能据 agent 自述或其深度统计确认至少一张牌朝上。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 60 记录左臂夹爪以闭合指令执行推匹配牌动作；没有可检查的接触画面或接触对，实际是否接触及接触方式未知。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 71, + "text_zh": "观察：log step 71 的机器人调用构造并提交左臂推 tile 6 的轨迹，发生在 log step 60 的推 tile 7 调用之后。日志没有服务报告的匹配牌朝上数量；无视频或状态日志，无法确认两张牌均达到朝上角度判据，final 保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 71 记录左臂夹爪执行另一次推匹配牌动作；缺少画面和接触对，实际接触未知。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 77, + "text_zh": "观察：log step 77 的机器人调用构造并提交右臂推 tile 8 的轨迹；log step 103、113 又分别提交扶起 tile 9 和推正 tile 10 的动作。上述是动作及修复意图记录，不是三张朝上且其余九张均直立的服务验收结果；agent 在 log step 84、97—99、117—118 自行计算的点云统计也不能决定本节点。" + }, + { + "t": null, + "log_step": 130, + "text_zh": "观察：log step 130 的服务最终状态为 control_steps=1101、done=False、reason=None；reward.live_success=0。没有逐牌姿态或第一阶段验收字段，整体未成功不足以判定本节点为假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 77、103、113 记录右臂推第三张匹配牌、双臂扶非匹配牌及右臂推正非匹配牌的动作方案；没有画面或接触日志，不能把指令方案当成实际接触。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 119, + "text_zh": "观察：log step 119 的机器人调用只把左腕相机移至补牌堆附近查看，输出为 IK ok=True 及图像已保存；log step 122、124—127 是逆解查询。log step 128 保存包含补牌抓取、转运和竖放动作的脚本，log step 129 只运行语法编译，之后没有执行该脚本的记录。" + }, + { + "t": null, + "log_step": 130, + "text_zh": "观察：log step 130 的服务状态仍为 control_steps=1101、done=False，reward 仅报告整体 live_success=0，没有补牌位置、朝向或本节点验收值。无视频及状态日志，不能用未执行的脚本或 log step 109 的 agent 深度统计认定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 119 记录左臂靠近补牌堆以腕部相机查看；补牌抓取转运仅见于 log step 128 保存且未执行的脚本。探索过程中夹爪是否碰到补牌无从确认，实际接触记未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 130, + "where": "未知", + "evidence_zh": "观察：reward 记录 graded_by_live=1、resumes=0、live_success=0、n_actions=1101、infra_error=0；log step 130 的服务状态为 done=False、reason=None。日志含 log step 60、71、77 的三次推匹配牌动作、log step 103、113 的非匹配牌修复动作及 log step 119 的补牌堆查看；log step 128—131 最后仅保存、编译并汇报补牌脚本。推断：缺少实际牌姿态和各节点服务验收结果，不能排除翻牌或扶牌阶段已有未修复失败，也不能将最后未执行的补牌方案直接指定为首个失败步骤，故断点与发生阶段均保留未知。" + }, + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频：inputs/video.json 明确 kind=none，说明 HF 视频不可用且无本地视频；inputs/ 中也没有状态日志。日志的看图调用只留下文件名和“完整内容”占位文本，没有可检查的图像；成功样例 inputs/oracle/oracle.json 同样无视频和状态日志，不能补成本次证据。按 N9，agent 自行计算的深度/点云统计与其翻牌成功自述不能决定节点终值，四个节点的 intervals、final 均为 null；reward 只给整体失败，不报告任何逐节点验收或六项原生指标。实际接触及首个未修复的物理失败无法核对，故现象层留空；保存并编译而未执行补牌脚本是可见的结束行为，但不能据此排除更早的物理失败或证明其原因，亦不据停止、缺执行或整体零分反推认知、控制或交付根因，根因层留空。log step 130 仍有约2744.9秒预算，且评分器无基础设施错误，不能归为超时或外因切断。" + }, + "summary_zh": "观察：本次按单次直播评分，机器人调用依次尝试推三张匹配牌、修复非匹配牌直立状态，并靠近补牌堆查看；补牌抓取与排尾放置仅见于 log step 128 保存的脚本，log step 129 只编译而未执行。观察：log step 130 服务仍为 control_steps=1101、done=False，评分器 live_success=0，随后 agent 在 log step 131 以脚本已保存作结。无视频、状态日志或逐节点验收结果，四个节点终值及实际接触均未知，不能确定首个未修复断点或其物理现象与根因。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志、评分器只给整体 live_success=0，按 N9 四个节点 final 与断点保持 unknown、现象/根因留空并写 gap_zh，符合规则；log 中无逐节点验收字段，未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:13Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--eieczdq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--eieczdq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e6da7ea93aa538d186cbb951ed07ae7f9a0f6508684cc8b345d9802775ccbc57", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--hcsae5d.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--hcsae5d.json new file mode 100644 index 0000000000000000000000000000000000000000..bea4ec9bef4dd4dff7e6b7fdb97f884756bce732 --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--hcsae5d.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--hcsae5d", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 1, + "reward": 1.0, + "source": "catalog", + "raw": { + "success": 1, + "live_success": 1, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1244, + "sim_steps": 1244, + "physics_steps": 12440, + "steps": 429, + "elapsed_s": 1295.1, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 250, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "log", + "denominator": 4, + "base": null, + "peak": null, + "final": 4, + "nodes": { + "matching_face_up_1": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 105 中机器人服务返回 done=true、reason=\"success\"、control_steps=1244；inputs/run.json 的 reward 同时报 live_success=1、graded_by_live=1、finalized=1、replays=0、resumes=0，确认评分对象为本次单一直播回合。" + }, + { + "t": null, + "log_step": 105, + "text_zh": "推断：依据该任务原生成功验收的合取条件及上述服务成功结果，原手牌中至少1张匹配牌面朝上的目标在本次直播终态已满足。本输入无视频、无状态日志，不由 agent 自述或自行计算的深度统计判定节点，也无法定位首次达成或中途失去的时间，故 intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 20、23、25、31、34 记录 agent 脚本命令左臂夹爪前移以推倒匹配手牌；输入无可检查的视频帧或状态接触记录，无法确认左夹爪与每张匹配牌的实际接触端、方式及先后，不把推牌命令或 agent 自述当作已观察接触。" + } + ] + }, + "matching_face_up_2": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 105 中机器人服务返回 done=true、reason=\"success\"、control_steps=1244；inputs/run.json 的 reward 同时报 live_success=1、graded_by_live=1、finalized=1、replays=0、resumes=0，确认评分对象为本次单一直播回合。" + }, + { + "t": null, + "log_step": 105, + "text_zh": "推断：依据该任务原生成功验收的合取条件及上述服务成功结果，原手牌中至少2张匹配牌面朝上的目标在本次直播终态已满足。本输入无视频、无状态日志，不由 agent 自述或自行计算的深度统计判定节点，也无法定位首次达成或中途失去的时间，故 intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 20、23、25、31、34 记录 agent 脚本命令左臂夹爪前移以推倒匹配手牌；输入无可检查的视频帧或状态接触记录，无法确认左夹爪与每张匹配牌的实际接触端、方式及先后，不把推牌命令或 agent 自述当作已观察接触。" + } + ] + }, + "matching_face_up_3": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 105 中机器人服务返回 done=true、reason=\"success\"、control_steps=1244；inputs/run.json 的 reward 同时报 live_success=1、graded_by_live=1、finalized=1、replays=0、resumes=0，确认评分对象为本次单一直播回合。" + }, + { + "t": null, + "log_step": 105, + "text_zh": "推断：依据该任务原生成功验收的合取条件及上述服务成功结果，三张匹配牌均面朝上、其余九张受检手牌均保持规定直立姿态的联合目标在本次直播终态已满足。本输入无视频、无状态日志，不由 agent 自述或自行计算的深度统计判定节点，也无法定位首次达成或中途失去的时间，故 intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 20、23、25、31、34 记录 agent 脚本命令左臂夹爪前移以推倒匹配手牌；输入无可检查的视频帧或状态接触记录，无法确认左夹爪与每张匹配牌的实际接触端、方式及先后，不把推牌命令或 agent 自述当作已观察接触。" + } + ] + }, + "replacement_at_row_end": { + "method": "log", + "intervals": null, + "final": true, + "evidence": [ + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 105 中机器人服务返回 done=true、reason=\"success\"、control_steps=1244；inputs/run.json 的 reward 同时报 live_success=1、graded_by_live=1、finalized=1、replays=0、resumes=0，确认评分对象为本次单一直播回合。" + }, + { + "t": null, + "log_step": 105, + "text_zh": "推断：依据该任务原生成功验收的合取条件及上述服务成功结果，补牌 mahjong9_0 竖放于排尾、位置达标且双夹爪张开达标；规定的第一阶段与更晚第二阶段联合验收已通过。本输入无视频、无状态日志，不由 agent 自述或自行计算的深度统计判定节点，也无法定位首次达成或中途失去的时间，故 intervals=null。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 39、43、45、47、51、57、94、99、103 记录 agent 脚本命令左夹爪抓取补牌、暂放，随后右夹爪再抓并放至排尾后张开；输入无视频帧或状态接触记录，无法确认夹爪与 mahjong9_0 的真实夹持几何或是否出现双臂同时接触，故实际接触保留未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": null, + "summary_zh": "观察：log step 105 的机器人服务返回 done=true、reason=\"success\"，且评分字段 live_success=1、graded_by_live=1、resumes=0，确认本次单一直播回合成功。推断：按原生成功验收，三张匹配牌朝上及补牌竖放排尾的4个目标节点最终全部达成，包含其余九张直立、两阶段顺序和双夹爪张开的联合条件，无失败断点。观察：inputs/video.json 标明无视频，输入亦无状态日志，故所有时间区间为 null、实际接触均为未知；评分器未报告 DAG 所列六项原生指标的数值。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志；成功由 log step 105 的服务结果（done=true, reason=success, control_steps=1244）及 live_success=1、replays=0 支持，四个节点 final=true、区间 null、接触未知、无失败断点均合理，推断与观察标注正确，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--hcsae5d/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--hcsae5d/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ed8edfbe77ff344bb84f375013a333ebb059ca314d789232a80ba5ad7550c1fe", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--hp26mky.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--hp26mky.json new file mode 100644 index 0000000000000000000000000000000000000000..b9323bf2658be847bb22f742462a26970261846d --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--hp26mky.json @@ -0,0 +1,284 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--hp26mky", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1029, + "sim_steps": 1029, + "physics_steps": 10290, + "steps": 894, + "elapsed_s": 2230.7, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 207, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "matching_face_up_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 280, + "text_zh": "观察：log step 279 的代理脚本依次向其认定的匹配牌（牌列序号6、7、8）发送左夹爪倾推动作，log step 280 返回各段末端读数；agent 在 log step 374 自述三张均已面朝上。无可用视频、状态日志或服务逐牌朝向判定，不能据代理自述确认至少1张达标或其终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 279–280 记录左夹爪对代理认定的匹配牌执行倾推尝试；没有图像或接触对记录，不能确认夹爪与目标牌实际如何接触。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 280, + "text_zh": "观察：log step 279 的代理脚本依次向其认定的匹配牌（牌列序号6、7、8）发送左夹爪倾推动作，log step 280 返回各段末端读数；agent 在 log step 374 自述三张均已面朝上。无可用视频、状态日志或服务逐牌朝向判定，不能据代理自述确认至少2张达标或其终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 279–280 记录左夹爪对代理认定的匹配牌执行倾推尝试；没有图像或接触对记录，不能确认夹爪与目标牌实际如何接触。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 280, + "text_zh": "观察：log step 279 的代理脚本依次向其认定的匹配牌（牌列序号6、7、8）发送左夹爪倾推动作，log step 280 返回各段末端读数；agent 在 log step 374 自述三张均已面朝上。无可用视频、状态日志或服务逐牌朝向判定，不能据代理自述确认至少3张达标或其终值。" + }, + { + "t": null, + "log_step": 371, + "text_zh": "观察：agent 在 log step 371 自述一张非匹配牌在转腕受阻时被碰倒，log step 367 的牌顶统计由代理自行计算；两者均未提供服务对其余九张牌直立条件的判定，因此不能据此确定本节点真假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 279–280 记录左夹爪对代理认定的匹配牌执行倾推尝试；没有图像或接触对记录，不能确认夹爪与目标牌实际如何接触。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 373, + "text_zh": "观察：log step 307–308、323、328–330 记录代理脚本尝试把补牌转正并移到排尾；log step 373 的 RoboDojo 服务最终状态为 done=false、control_steps=1029、resumes=0，评分器 live_success=0。服务仅报告整体未成功，没有补牌位置、朝向、阶段历史或本节点判定；无视频及状态日志，故终值未知，不能将整体失败直接分配给本节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 307–308 记录左夹爪推牌、右夹爪闭合尝试，log step 323、328–330 记录左夹爪闭合及转腕尝试；没有可检查的图像或接触对，闭合读数不能证明夹住补牌，实际接触未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "replacement_at_row_end", + "t": null, + "log_step": 308, + "where": "操作中", + "evidence_zh": "推断：log step 307–308 的直播控制脚本正执行补牌抓取、转向和排尾放置；其右臂 lower 目标 link6 高度为0.7975米，而服务 proprio 返回高度约0.915米，未到指令位置即继续 release。后续 log step 328–330 的左臂补牌尝试又在抬升逆解失败后发生转腕大偏差，log step 373 服务仍 done=false，agent 在 log step 374 停止。因此将持续未修复的失败操作定位为补牌竖放排尾；无视频，不能核定最早失误时刻及牌本身状态。" + }, + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 328, + "evidence_zh": "观察：log step 323 的补牌脚本将左臂 startorient 目标设为(-0.0931,-0.0322,1.06)米；实际运行输出见 log step 328、330，服务 proprio 的左臂 link6 位置为(-0.049,0.046,0.903)米，最大关节跟踪误差为1.930弧度，未到预定转腕位置。此前 log step 308 也显示排尾下降目标高度0.7975米而右臂实际约0.915米；这里只确认机械臂位姿偏差，不据此宣称补牌被夹住或发生了某一碰撞。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 328, + "source_zh": "日志", + "evidence_zh": "推断：log step 323 的代理控制脚本对 lift、startorient、placeorient、lower 等返回值未设置成功门控；drive（log step 168）达到迭代上限仍返回结果，go 随后直接使用指令关节作为下一次种子。log step 328–330 实际出现 lift IK FAIL 后仍执行 startorient（跟踪误差1.930弧度、左臂关节力矩读数最大绝对值100），继而继续后续动作，而 lower 与 release 的逆解均失败。失败后的控制流程没有先恢复并确认抬升及转向，补牌操作未完成；缺少牌与夹爪几何及接触事实，根因保留在控制层，不细分为抓取设计、逆解或反馈控制。" + } + ], + "gap_zh": "inputs/video.json 为 kind=none，inputs/ 只有运行日志和元数据，没有可用视频、状态日志或逐节点评分字段；日志中的图片仅列路径及尺寸，未提供可检查的图像内容。故四节点的时间区间和终值全部未知，实际接触全部未知，不能把 agent 对翻牌成功、补牌滑动、夹持、碰倒非匹配牌的叙述当作已核实物理事实。现象仅依据单局直播服务的末端本体读数，根因依据代理脚本与其执行记录；无法定位具体阻挡物或确认最终各牌朝向。成功参考同样没有视频或状态日志，不能补足本次运行证据。" + }, + "summary_zh": "本次无重置直播最终 live_success=0；日志记录三张匹配牌的倾推及随后多次补牌操作，但无视频、状态日志和逐节点服务判定，四个节点终值均未知。补牌操作中服务本体读数显示机械臂未到指令位姿，代理脚本在抬升逆解失败后仍继续转腕和后续动作，断点推定为补牌竖放排尾，根因保留为控制。agent 关于三张牌已翻好及非匹配牌被碰倒的说法无法独立核验，实际接触和牌的最终状态保留未知。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，标签四节点全部 unknown、区间 null、final null，符合 N9；断点（补牌排尾，log step 308）、现象（位姿不准，log 328/330 的 1.930 rad 跟踪误差与 IK FAIL）和根因（控制）均有 run.json 日志与服务 proprio 读数支持，并已标为推断；agent 自述未被当作事实。gap_zh 已说明无视频。未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--hp26mky/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--hp26mky/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e8cea646dc8bfc3c4cb93c21a2da71364c8b6974ab383b911724e9ab04383a97", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--jnhsft8.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--jnhsft8.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb7d1a9e714fbf2f39723dc7def1076890f52e9 --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--jnhsft8.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--jnhsft8", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1778, + "sim_steps": 1778, + "physics_steps": 17780, + "steps": 1248, + "elapsed_s": 3480.4, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 357, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "matching_face_up_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 79, + "text_zh": "观察：log step 79 的 agent 脚本向服务提交右夹爪沿 +y 推牌的 ee_pose 轨迹；log step 80 的服务反馈为 done=False、reason=None，末端误差为0.0019米，没有报告任何匹配牌的朝向或合格数量。无视频、无状态日志，不能据动作名称或末端到位认定第1张匹配牌朝上。" + }, + { + "t": null, + "log_step": 183, + "text_zh": "观察：agent 在 log step 183 自述仍有四张牌面朝上，但没有可核对的图像或服务逐牌判定；该自述不作为节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录了机械臂推牌及后续扶正倒牌的命令，但无视频、无状态接触对；无法核对夹爪与牌是否接触及其方式，也无法把接触分配到各张匹配牌计数节点。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 84, + "text_zh": "观察：log step 84、88 的 agent 脚本继续提交右夹爪推牌轨迹；log step 85、89 的服务输出仅有机械臂末端位姿和跟踪误差，没有第2张匹配牌的状态。缺少视频及状态日志，无法判定至少两张匹配牌面朝上。" + }, + { + "t": null, + "log_step": 110, + "text_zh": "观察：agent 在 log step 110 自述三张匹配牌已经朝上，同时另有两张邻组牌倒下；这是 agent 对相机的解读，服务没有报告对应牌数，不能据此设定节点值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录了机械臂推牌及后续扶正倒牌的命令，但无视频、无状态接触对；无法核对夹爪与牌是否接触及其方式，也无法把接触分配到各张匹配牌计数节点。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 146, + "text_zh": "观察：agent 在 log step 146 自述两张倒牌仍平躺，并提交右夹爪在 x=-0.141、y=-0.194 附近下压的轨迹；log step 170、178 又提交针对 x=-0.141 和 x=-0.095 的下压轨迹，意图恢复邻组牌直立。日志未报告三张匹配牌及其余九张牌的实际姿态或阶段验收结果。" + }, + { + "t": null, + "log_step": 183, + "text_zh": "观察：agent 在 log step 183 自述扶正倒牌未能使牌列满足要求；评分器 reward.live_success=0 只说明整体任务未通过，没有报告本节点的终值。无视频和状态日志，保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志记录了机械臂推牌及后续扶正倒牌的命令，但无视频、无状态接触对；无法核对夹爪与牌是否接触及其方式，也无法把接触分配到各张匹配牌计数节点。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 183, + "text_zh": "观察：agent 在 log step 183 自述补牌仍未触碰；所查完整日志没有面向补牌堆及排尾的补牌搬运命令。评分器只报告 success=0、live_success=0，没有补牌位置、朝向或共同阶段验收值；无视频及状态日志，不能单凭自述或总失败判为本节点 false。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "matching_face_up_3", + "t": null, + "log_step": 110, + "where": "操作中", + "evidence_zh": "推断：本次为单次直播评分，reward.graded_by_live=1、resumes=0、replays=0；log step 100、110、146 的 agent 均把正在解决的问题描述为扶正误倒的邻组牌，log step 124—178 的脚本反复对这些位置执行夹持、抬升或下压，而没有转入补牌搬运。agent 在 log step 183 最终仍自述牌列不合格；据这条持续修复的操作线索，将断点定位到包含其余九张牌直立验收的 matching_face_up_3。该定位是日志推断，不代表已证实前两节点完成；没有视频，无法定位最早倒牌时刻。" + }, + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 标记 kind=none，原因是远端视频404且无本地视频；本目录也没有状态日志。inputs/run.json 的 out.pics 仅列图片偏移和长度，未提供可查看的对应图片；成功参考 inputs/oracle/oracle.json 同样无视频和状态日志，不能补作本次证据。评分器仅报告整体 success=0、live_success=0，未报告匹配牌数量、其余九张牌姿态、补牌位置或两个阶段的验收状态，故全部节点 intervals、final 及六项原生指标值均为 null；接触不能从脚本命令确证。agent 关于邻组倒牌、未接触到牌和补牌未动的自述未经图像核对，不能据此选择被挡/碰撞、没建立接触或位姿不准等现象。日志虽有末端跟踪误差，以及 log step 111 的动作维度错误、log step 118、156、169 的脚本语法错误，但后续仍继续提交修正动作，缺少把这些问题与最终未修复状态相联系的反馈，故根因留空；断点只按持续扶正邻组牌的日志线索推断。" + }, + "summary_zh": "评分器确认本次单次直播任务未成功（success=0、live_success=0），四个节点均没有可确认的终值，不能把 agent 自述的匹配牌朝上数量计为已完成。日志显示机器人执行推牌后，agent 持续尝试扶正邻组倒牌，并在 log step 183 自述仍未恢复合格牌列且补牌未动，因此断点推断为 matching_face_up_3 的操作中。无视频、状态日志及逐节点服务验收结果，无法核实实际接触、失败现象或根因，也无法给出视频时间。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，标注者按 N9 将所有节点设为 unknown、区间与终值为 null，gap_zh 说明了缺失，断点明确标为日志推断；符合规则，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--jnhsft8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--jnhsft8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "a8ccfc6c0524ab8ec50e727f9edc7d2e8ee565a088a9bd1ffc8329a48b9d80d3", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--skdeoej.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--skdeoej.json new file mode 100644 index 0000000000000000000000000000000000000000..9f65771b23df016b638a92a4b63e9f863ae5fc23 --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--skdeoej.json @@ -0,0 +1,292 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--skdeoej", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2874, + "sim_steps": 2874, + "physics_steps": 28740, + "steps": 656, + "elapsed_s": 2884.1, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 471, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "matching_face_up_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 113, + "text_zh": "观察：log step 113 的调用执行 agent 的左臂推牌脚本，服务返回 control_steps=506、done=False；log step 127、129 继续执行另外两张候选匹配牌的推牌动作。输入没有视频或状态日志，服务未返回匹配牌朝上数量；这些动作及 agent 自算的深度统计不能确认至少1张牌朝上的终值。" + }, + { + "t": null, + "log_step": 131, + "text_zh": "观察：log step 131 查询阶段信息，输出 status={}，未见 stage、checks 或逐牌姿态结果；log step 248 最后服务状态仍为 done=False。总失败不能决定本计数节点为真或假。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 113、127、129 记录左夹爪、左夹爪、右夹爪依次推候选匹配牌的命令，后续还有恢复动作；无视频或状态接触对，命令不能证明实际接触方式，故标未知。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 127, + "text_zh": "观察：log step 127 的调用执行 agent 的左臂推另一张候选匹配牌的脚本，服务返回 control_steps=669、done=False；log step 129 又执行右臂推牌脚本。服务没有报告至少2张匹配牌朝上的验收结果，无视频或状态日志，不能以 agent 的翻牌成功自述确认终值。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：agent 在 log step 245 自述后续扫动扰乱了先前翻牌姿态，但仍主张第一阶段已锁存；这是 agent 的场景判断，无法据此确定最后还有几张匹配牌合格。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 113、127、129 记录左夹爪、左夹爪、右夹爪依次推候选匹配牌的命令，后续还有恢复动作；无视频或状态接触对，命令不能证明实际接触方式，故标未知。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 129, + "text_zh": "观察：log step 129 的调用执行 agent 的右臂推第3张候选匹配牌的脚本，服务返回 control_steps=803、done=False；log step 130 的站立点数是 agent 自写深度统计，log step 131 没有查到服务阶段或逐牌检查字段，不能确认三张朝上且另九张直立的联合条件。" + }, + { + "t": null, + "log_step": 245, + "text_zh": "观察：agent 在 log step 154、159 自述补牌搬运扰乱了牌列，之后运行扶牌脚本；log step 245 又自述一张圆形图案牌倾斜，并选择不再恢复。缺少视频、状态日志和服务的逐牌验收值，不能确认该联合节点何时成立、丢失或最终是否成立。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 113、127、129 记录左夹爪、左夹爪、右夹爪依次推候选匹配牌的命令，后续还有恢复动作；无视频或状态接触对，命令不能证明实际接触方式，故标未知。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 235, + "text_zh": "观察：log step 138、150、215、216、222、235 的调用依次执行 agent 的补牌抓取、搬运、拨移、竖起及重新放置脚本；最后一次动作后服务返回 control_steps=2874、done=False。log step 235 的补牌坐标来自 agent 自写深度分析，并非服务的补牌验收结果。" + }, + { + "t": null, + "log_step": 248, + "text_zh": "观察：log step 248 最后一次查询服务，返回 control_steps=2874、done=False、reason=None；评分记录 graded_by_live=1、success=0、resumes=0、replays=0。仅有整局失败，未报告补牌位置、朝向及两阶段共同条件的逐项验收，因此本节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 138、150、216、222、235 记录左、右夹爪先后抓取和搬运候选补牌的命令；无视频、状态接触对或服务持牌结果，不能确认夹住、滑脱或换手时实际发生的接触，故标未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 248, + "where": "未知", + "evidence_zh": "观察：log step 248 的服务最终状态为 control_steps=2874、done=False、reason=None，评分记录 success=0；log step 245、249 中 agent 承认后续操作扰乱牌姿态，却因认为第一阶段已锁存而停止。推断：可确认整局未通过且 agent 放弃进一步恢复，但无视频、状态日志或逐节点服务结果，无法区分先前翻牌联合条件未恢复与补牌联合验收未达成，不能唯一定位第一个始终未修复的物理步骤；log step 248 仅为最终服务状态的导航锚点。" + }, + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "误以为完成", + "t": null, + "log_step": 245, + "evidence_zh": "推断：agent 对阶段锁存的错误完成判断直接驱动了停止。log step 176 读出的原任务说明明确写着“Both stages also need, at that same boundary”，随后列出三张匹配牌朝上和另九张直立；但 agent 在 log step 215 将先前第一阶段成立作为优先只做补牌的理由，在 log step 245 明知自己判断有匹配牌倾斜，仍称第一阶段早先成立加上当前补牌状态已足够，并决定停止操作；log step 249 再次宣称“Stage 2 complete”。log step 248 的服务状态仍为 done=False，评分 success=0；整段会话 wall_s=2958、预算 time_limit_s=3600，停止时仍有预算。此处记录的是有日志支持的错误完成信念及停止决策，不把 agent 的牌姿态自述作为物理节点真值。", + "source_zh": "agent 自述 / 日志 / 评分器字段" + } + ], + "gap_zh": "无视频（inputs/video.json 为 kind=none，来源记录 HF 返回404且无本地视频），无状态日志；inputs/ 中仅有运行日志、元数据及无视频的 oracle 元数据。日志图片只有外部 steps.bin 的偏移索引，所引用图片文件未提供；task_text 本身也含截断标记，阶段共同条件可由 log step 176 的任务文本摘录核对。服务只报告整局 done/reason 和控制步数，未报告匹配牌数量、九张直立、补牌姿态或阶段验收结果；agent 的深度统计、图像解读和持牌自述不能替代逐节点服务结果。因此四节点终值、实际接触和首个未修复的物理断点均未知，所有视频时刻与区间为 null，失败现象留空；不从 success=0 推定某一节点失败，也不把会话自述的碰倒、滑脱或位置偏差当作已观察现象。所有原生指标均未在评分字段中报告。" + }, + "summary_zh": "本次评分针对单次直播尝试，日志记录了三张候选匹配牌的推牌、恢复牌列以及补牌的多次抓取搬运和重新放置，最后服务仍为 done=False，评分 success=0；无逐节点验收结果，四个节点终值均未知。agent 在 log step 245、249 将第一阶段误当作可免除第二阶段共同牌姿态条件的已完成状态，并据此在尚有预算时停止，支持根因“误以为完成”。没有视频或状态日志，无法核实实际接触、具体失败现象及首个未修复的物理步骤，断点保留未知。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，四个节点、断点、现象均保持未知是合理的；根因“误以为完成”有日志支持（log step 176 任务原文写明两阶段都需在同一边界满足匹配牌朝上与九张直立，agent 在 step 215/245/249 却以阶段一早先成立为由停止，服务 done=False、success=0）。时间均为 null，无时钟转换问题。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:01:11Z", + "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/robodojo-make-kong-i00-standard--skdeoej/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--skdeoej/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "102e6dac70a073e9810af21299dd5674212d66f9407731772b4269a86b913507", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--wydbdyw.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--wydbdyw.json new file mode 100644 index 0000000000000000000000000000000000000000..68639a112b53db20428312aa804d7ce8f40c5773 --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--wydbdyw.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--wydbdyw", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1225, + "sim_steps": 1225, + "physics_steps": 12250, + "steps": 1225, + "elapsed_s": 3508.4, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 247, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + 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"未知", + "note_zh": "观察：日志有左夹爪针对匹配牌的推倒指令（log step 19、24）；无视频和接触状态记录，不能把指令中的接触方式当成实际接触。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 24, + "text_zh": "观察：log step 24 的代理脚本向机器人提交依次推倒另外两张匹配牌的动作；agent 在 log step 36 自述三张均已朝上。该自述没有逐节点服务结果或可检查画面支持，至少2张朝上的终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志有左夹爪针对匹配牌的推倒指令（log step 19、24）；无视频和接触状态记录，不能把指令中的接触方式当成实际接触。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 95, + "text_zh": "观察：agent 在 log step 36 自述三张匹配牌朝上且九张其他手牌未动；log step 73 是代理自己的倒牌位置分析，log step 95 又提交扶正非匹配牌 mahjong0_2 的动作。没有视频、状态日志或评分器对三张朝上与九张直立合取的结果，不能确认本节点曾成立或最后恢复。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志有左夹爪针对匹配牌的推倒指令（log step 19、24）；无视频和接触状态记录，不能把指令中的接触方式当成实际接触。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45 的代理脚本提交左夹爪抓取补牌、转至临时交接位置并张开的动作；log step 49、59 记录该段执行诊断，log step 139 最后仍在等待放置位姿的 IK 搜索。评分器仅报告 live_success=0，没有补牌位置、朝向、夹爪开度或阶段结果；代理自己的深度分析不能确定此节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：日志有左夹爪针对补牌的抓取、搬运及张开指令（log step 45）；无视频和接触状态记录，不能把指令中的接触方式当成实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 49, + "where": "操作中", + "evidence_zh": "推断：log step 45 提交补牌转正搬运，log step 49、55、59 的诊断显示执行未按指令完成，log step 95 随后尝试扶正非匹配牌。失败发生在操作尝试中；但 log step 36 的第一阶段完成仅为 agent 自述，缺少逐节点结果，不能区分此前翻牌未达标、九张直立条件被破坏与补牌放置失败中哪个是首个未修复步骤，故 ref 保留 unknown。" + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 55, + "source_zh": "日志", + "evidence_zh": "推断：log step 42 的补牌临时放置逆解给出左臂第4关节约2.085 rad，log step 45 按该位姿提交动作；log step 55 的代理执行诊断在该段采样帧34—43中记录实测第4关节停在约1.79 rad，log step 80 同段关节努力值反复为100。log step 59 还记录张开命令为1而归一化开度仅约0.36，直到撤离后才张开；此后 log step 95 转为扶正其他手牌，最后 log step 139 仍在搜索放置逆解。这些会话诊断支持操作执行存在控制问题，但不足以区分碰撞、限位、接触设计或跟踪子因，保留上位项控制。" + } + ], + "gap_zh": "输入 video.kind=none，inputs/ 无 replay.mp4 或 states.jsonl；oracle 也无视频与状态日志。run.json 的 reward 只有整体 live_success=0，未给出4个节点的真假、两阶段进度或6项原生指标；日志里的图像查看仅保留文件名，代理自己的深度分析与完成自述不能替代节点结果。因此所有 intervals、final 和视频时刻均为 null，实际接触填未知；不能唯一定位首个未修复节点，也无法确认断点是碰倒邻牌、失持还是未到位，现象层留空。控制根因只依据所引会话执行诊断，具体物理机制未核实。", + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + } + }, + "summary_zh": "本次直播评分失败，机器人收到三张匹配牌的推倒、补牌搬运及非匹配牌扶正指令（log step 19、24、45、95）；4个节点的最终真假均无服务字段可确认。补牌搬运诊断有逆解目标与实测关节角不符、夹爪张开未执行到位的记录（log step 42、55、59、80），支持控制层面的失败判断。无视频、状态日志和逐节点验收结果，首个未修复步骤与具体接触现象未知，不能将 agent 的阶段完成自述计为进度。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志，评分只给 live_success=0；标注把四个节点全部保守标为 unknown、接触未知、断点 ref 未知、现象留空并写了 gap_zh，符合 N9/N8，未发现需要改动内容的错误。控制根因只依据 log step 55/59/80 中服务返回的执行诊断（关节4实测约1.79 rad，努力值100，张开命令1而开度0.36），属于对实际执行的读数，写成推断并标低 conf，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:03:32Z", + "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/robodojo-make-kong-i00-standard--wydbdyw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--wydbdyw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd3a519d328492df0296dabc0110524e0c78eb6f53262ab4e0df053f8edffb1b", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--ynbyamv.json b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--ynbyamv.json new file mode 100644 index 0000000000000000000000000000000000000000..a408f2b061bd6110e7dda6c20cd3198928e9e1e3 --- /dev/null +++ b/phase2/robodojo/make_kong/trajectories/robodojo-make-kong-i00-standard--ynbyamv.json @@ -0,0 +1,271 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-kong-i00-standard--ynbyamv", + "taskKey": "robodojo/make_kong", + "dag_sha256": "85cb5510f7b86baac285e2e827699253efe72f0373f59a0d7274874378825500", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2039, + "sim_steps": 2039, + "physics_steps": 20390, + "steps": 855, + "elapsed_s": 3530.1, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 164, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 4, + "base": null, + "peak": null, + "final": null, + "nodes": { + "matching_face_up_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 26、42、52、58、61 中，agent 的脚本多次提交针对其识别为匹配组的第6至8号手牌的翻牌动作；log step 61 服务返回 done=False，并报告 left_joint6 指令被限位裁剪。输入无视频和状态日志，服务未报告最终匹配牌朝上数量，无法确认是否至少1张符合本节点判据；agent 的图像判断不能替代节点结果字段。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 26、42、52、58、61 的脚本向左臂发送翻牌动作，意图用夹爪推动匹配牌；输入无视频、无接触状态日志，无法确认左夹爪实际是否碰到各牌及接触方式。" + } + ] + }, + "matching_face_up_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 26、42、52、58、61 中，agent 的脚本多次提交针对其识别为匹配组的第6至8号手牌的翻牌动作；log step 61 服务返回 done=False，并报告 left_joint6 指令被限位裁剪。输入无视频和状态日志，服务未报告最终匹配牌朝上数量，无法确认是否至少2张符合本节点判据；agent 的图像判断不能替代节点结果字段。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 26、42、52、58、61 的脚本向左臂发送翻牌动作，意图用夹爪推动匹配牌；输入无视频、无接触状态日志，无法确认左夹爪实际是否碰到各牌及接触方式。" + } + ] + }, + "matching_face_up_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 26、42、52、58、61 中，agent 的脚本多次提交针对其识别为匹配组的第6至8号手牌的翻牌动作；log step 61 服务返回 done=False，并报告 left_joint6 指令被限位裁剪。输入无视频和状态日志，服务未报告最终匹配牌朝上数量，无法确认是否至少3张符合本节点判据；agent 的图像判断不能替代节点结果字段。" + }, + { + "t": null, + "log_step": 65, + "text_zh": "观察：log step 64 的脚本计划先恢复非匹配牌0至2直立，随后才搬运补牌；log step 65 服务拒绝该恢复动作矩阵，报 joint_position actions must be (T, 14), got [42, 20]。没有服务结果报告另外九张牌的最终直立状态，不能确认本节点的合取条件。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 26、42、52、58、61 的脚本向左臂发送翻牌动作，意图用夹爪推动匹配牌；输入无视频、无接触状态日志，无法确认左夹爪实际是否碰到各牌及接触方式。" + } + ] + }, + "replacement_at_row_end": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 65, + "text_zh": "观察：log step 64 的脚本将补牌从牌堆搬运到交接点及排尾的动作写在S2、S3；log step 64 先在S1规划中发生 IndexError，log step 65 修订后S1提交又因动作矩阵为[42,20]而被服务拒绝，未执行后续补牌搬运。评分器仅报告整体 live_success=0，未报告补牌最终位置、朝向或阶段值；输入无视频和状态日志，故本节点终值未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "matching_tile_face_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "nonmatching_tile_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_reference_rotation_error", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_up_angle", + "unit": "deg", + "threshold": 7, + "direction": "lower_better", + "value": null + }, + { + "name": "replacement_xy_distance", + "unit": "m", + "threshold": 0.015, + "direction": "lower_better", + "value": null + }, + { + "name": "minimum_gripper_opening", + "unit": "ratio", + "threshold": 0.6, + "direction": "higher_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 65, + "where": "操作中", + "evidence_zh": "观察：log step 26至61 的脚本反复尝试翻转匹配牌及恢复其他牌，服务多次返回逆解或跟踪误差；log step 65 在恢复非匹配牌直立的S1提交处因[42,20]动作矩阵被拒绝，未进入补牌搬运。推断：存在操作执行障碍，但无视频、状态日志或最终逐牌服务结果，无法判定最后翻牌是否修复了较早失败，也无法在三个计数节点中定位最早未修复步骤，故断点节点记 unknown。" + }, + "unmet": { + "matching_face_up_1": null, + "matching_face_up_2": null, + "matching_face_up_3": null, + "replacement_at_row_end": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 65, + "evidence_zh": "观察：log step 26 服务对翻牌动作报告 no solution within 1 cm，部分 left_ee_error_m 超过0.8米；log step 42、58 仍报告约0.19至0.24米的末端误差，log step 61 改用关节指令后服务报告 left_joint6 越限裁剪。log step 64至65 的 plan 函数将逆解返回的双臂12关节解整体与另一臂6关节拼接，生成20列动作，服务明确以期望14列拒绝，恢复及后续补牌动作因此未执行。推断：agent 的运动控制代码存在目标执行与指令构造问题，直接妨碍本次直播操作；不是基础设施崩溃。", + "source_zh": "日志", + "note_zh": "控制脚本异常：最后的动作维度构造错误有代码和服务拒绝记录支持；此前另有逆解误差与关节指令越限，统一保留在控制层，不据无图像日志进一步判断物理接触失败。" + } + ], + "gap_zh": "inputs/video.json 明确 kind=none（无本地视频，远端返回404），inputs/ 内无状态日志；日志中的 [picture] 仅为占位，不能检查图像。评分器 live_success=0、graded_by_live=1、resumes=0 确认本次单局直播失败，但未给出逐牌朝向、匹配牌数量、补牌位置或阶段验收字段；六项原生指标均未报告。按N9，四个节点 intervals 与 final 均为null；前三节点确有动作尝试但实际接触未知，补牌搬运仅写入未执行代码。无法唯一确定最早未修复节点，也无法辨别位姿偏差、碰撞或接触丢失等物理现象，故断点ref为unknown、现象层为空。控制错误有独立日志证据；任务文本和部分输出本身带省略标记，未将agent自述的倒牌、直立或完成情况当作物理事实。" + }, + "summary_zh": "评分器确认本次单局直播失败（live_success=0），日志显示agent多次尝试翻转三张匹配牌并恢复其他牌，但四个节点的最终状态均无可用服务结果字段，不能确认完成数量。服务记录多次逆解或跟踪误差、关节限位裁剪，最后恢复脚本因提交20列而非14列动作被拒绝，后续补牌搬运未执行。输入无视频、无状态日志，实际接触、物理失败现象及最早未修复节点无法定位，保留未知。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，节点/断点/现象均为 unknown 或空并附 gap_zh，符合 N9 与 CASES 的无视频规则；log step 26/42/52/58/61/64/65 的引用与 run.json 一致（step 64 IndexError、step 65 动作矩阵[42,20]被拒），控制根因有日志支撑。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:53Z", + "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/robodojo-make-kong-i00-standard--ynbyamv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-kong-i00-standard--ynbyamv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3074ddd9ac7706043d4b3f28e68e0acecb9d2bc05a7e50cfede5ff8b47b0730c", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--pabfwpg.json b/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--pabfwpg.json new file mode 100644 index 0000000000000000000000000000000000000000..32ca291af20a08b1cd5b32f9f57361c16ac5810e --- /dev/null +++ b/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--pabfwpg.json @@ -0,0 +1,222 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-toast-i00-privileged--pabfwpg", + "taskKey": "robodojo/make_toast", + "dag_sha256": "029a0b495e963da1b3fa7f391649927caddf75d92adcf122d10be8f7571c1aee", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 3, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 2, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bread_in_slots_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 38, + "text_zh": "观察：评分器 reward.missing_trajectory=1，且未报告占槽数量；log step 38 的会话生成器记录 NOT SUCCESSFUL - trajectory not saved。没有本次受评视频或状态日志，不能将会话中 bread_0 的取放诊断当作第1片入槽的受评终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，本节点无可标注的受评接触，会话测试不计入。" + } + ] + }, + "bread_in_slots_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 40, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告两个槽的逐节点结果；log step 40 只有第二次会话测试的面包位置、倾角诊断，log step 41 又启动第三次测试。没有本次受评视频或状态日志，第2片入槽终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，本节点无可标注的受评接触，会话测试不计入。" + } + ] + }, + "toaster_lever_down": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 28, + "text_zh": "观察：log step 28 的压杆测试和 log step 38 的生成器诊断报告压杆关节位置，但都属于未交付的会话测试；评分器 reward.missing_trajectory=1，未报告压杆节点结果。无本次受评视频或状态日志，压杆终值未知。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1；没有交付轨迹，本节点无可标注的受评接触，会话测试不计入。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lever_joint_ratio", + "unit": "1", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "bread_center_height_above_slot", + "unit": "m", + "threshold": [ + 0.03, + 0.065 + ], + "direction": "target", + "value": null + }, + { + "name": "bread_min_edge_to_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_max_coordinate_start_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 42, + "where": "首步前", + "evidence_zh": "观察：评分器记录 success=0、missing_trajectory=1、agent_replays=0。log step 35 的生成器仅在服务报告 success 时保存交付文件，log step 38 明确输出 NOT SUCCESSFUL - trajectory not saved；log step 41 修改夹爪动作并启动第三次会话测试，log step 42 轮询无输出，随后日志结束。没有交付的受评轨迹，无法定位某个物理步骤的失败。" + }, + "unmet": { + "bread_in_slots_1": null, + "bread_in_slots_2": null, + "toaster_lever_down": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 video.kind=none，inputs/ 无本次回放视频和 states.jsonl，state 为 null；评分器只有整体失败与 missing_trajectory=1，没有三个节点或五项原生指标的受评结果。log step 29-31 有会话重置异常，但 agent 随后另启进程继续测试（log step 36-42），不能据此认定整次运行被外因切断；run.wall_s=3603，time_limit_s=3600，末尾没有最终汇报或第三次测试结果。推断：会话中的逆解失败、倾角诊断和 agent 对夹爪碰撞的自述不能替代缺失的受评尝试；按 D23 未交付规则，现象与根因均留空，不从缺交付或预算耗尽反推根因。oracle 视频属于另一成功运行，不能补作本次物理证据。" + }, + "summary_zh": "评分器记录 success=0、missing_trajectory=1，本次没有交付轨迹，三个物理节点的受评终值均未知，不能把整体零分解释为三个节点均为假。会话日志显示生成器测试失败后未保存，并在 log step 41-42 启动、轮询第三次测试后结束；断点记 unknown／首步前。缺少本次视频、状态日志及逐节点评分，按 D23 保留空的现象和根因层，会话压杆读数及取放诊断不计入进度。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1，未交付受评轨迹；标注按 D23(a) 将三个节点记为 unknown、现象与根因留空并写 gap_zh，与证据一致，未见需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:16:03Z", + "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/robodojo-make-toast-i00-privileged--pabfwpg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-toast-i00-privileged--pabfwpg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8d4d20647613f56c6210b175f79815f8f6db91948246df961030724a8f272477", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--xy7elft.json b/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--xy7elft.json new file mode 100644 index 0000000000000000000000000000000000000000..d4c44ddddd319f10619200cadc522f42d15909cf --- /dev/null +++ b/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-privileged--xy7elft.json @@ -0,0 +1,224 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-toast-i00-privileged--xy7elft", + "taskKey": "robodojo/make_toast", + "dag_sha256": "029a0b495e963da1b3fa7f391649927caddf75d92adcf122d10be8f7571c1aee", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 2, + "agent_resets": 2, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 12.868, + "peak_memory_gb": 8.924, + "peak_processes": 12, + "peak_disk_gb": 0.702, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bread_in_slots_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：inputs/video.json 为 kind=none，未提供状态日志；评分器 reward.missing_trajectory=1，未报告“第1片面包入槽”的节点值。log step 88–89 的面包位置与包围盒读数属于 agent 调试会话，不能作为已交付评分轨迹的入槽结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付供评分的轨迹；调试会话接触不计入本次受评轨迹。" + } + ] + }, + "bread_in_slots_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：inputs/video.json 为 kind=none，未提供状态日志；评分器 reward.missing_trajectory=1，未报告“第2片面包入槽”的节点值。log step 107 的生成脚本计划依次装入两片面包，log step 109 仅返回后台任务启动，未返回两槽验收结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付供评分的轨迹；调试会话接触不计入本次受评轨迹。" + } + ] + }, + "toaster_lever_down": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 109, + "text_zh": "观察：inputs/video.json 为 kind=none，未提供状态日志；评分器 reward.missing_trajectory=1，未报告“压下烤机压杆”的节点值。log step 67–73 是 agent 的压杆调试；log step 107 的完整脚本虽包含压杆动作，未见其完成或压杆终态验收回执。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，没有交付供评分的轨迹；调试会话接触不计入本次受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lever_joint_ratio", + "unit": "1", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "bread_center_height_above_slot", + "unit": "m", + "threshold": [ + 0.03, + 0.065 + ], + "direction": "target", + "value": null + }, + { + "name": "bread_min_edge_to_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_max_coordinate_start_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 110, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；log step 107 将保存操作安排在完整动作序列末尾，log step 109 只返回后台执行已启动，最后的 log step 110 是 agent 自述“已启动完整轨迹执行，等待完成”，没有保存成功或评分回放记录。" + }, + "unmet": { + "bread_in_slots_1": null, + "bread_in_slots_2": null, + "toaster_lever_down": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频或状态日志，评分器确认缺少交付轨迹，且未给出三个节点或原生指标的结果；成功参考视频属于另一 run，不能证明本次进度。日志包含压杆、抓取与换手等调试及完整脚本的启动，但未记录最终后台任务完成、异常或保存回执；wall_s=3603、time_limit_s=3600，仅能确认会话达到预算附近，不能据此确定物理失败原因。推断：按 DECISIONS.md D23 与 N9，三个节点结果及时间均保留未知，断点记 unknown／首步前，现象和根因留空；不从会话调试推定评分轨迹接触，也不从缺少交付推定交付操作出错。" + }, + "summary_zh": "评分器记录失败且 missing_trajectory=1，没有交付供评分的轨迹；三个节点均无法判定，未确认任何节点完成。log step 109 仅启动完整生成脚本，最后的 log step 110 仍称等待完成，未见保存成功回执，故断点记 unknown／首步前。没有本次视频、状态日志或节点级服务结果，按 D23、N9 留空失败现象与根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0；三个节点按 N9 留 unknown，断点 unknown／首步前，现象与根因留空并写 gap_zh，符合 D23(a)。log step 107–110 与标签描述一致（完整脚本启动后仅返回后台任务，无保存回执）。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:02:16Z", + "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/robodojo-make-toast-i00-privileged--xy7elft/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-toast-i00-privileged--xy7elft/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "030c49c74c72554a1933f202d464ac7c8d09a6455cf5baee013ce4072b6c1b6d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-standard--qtrtcwt.json b/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-standard--qtrtcwt.json new file mode 100644 index 0000000000000000000000000000000000000000..9d71fdab7b4e29328af9e5f3c86df8d942a04794 --- /dev/null +++ b/phase2/robodojo/make_toast/trajectories/robodojo-make-toast-i00-standard--qtrtcwt.json @@ -0,0 +1,263 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-make-toast-i00-standard--qtrtcwt", + "taskKey": "robodojo/make_toast", + "dag_sha256": "029a0b495e963da1b3fa7f391649927caddf75d92adcf122d10be8f7571c1aee", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1481, + "sim_steps": 1481, + "physics_steps": 14810, + "steps": 906, + "elapsed_s": 3135.5, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 298, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "bread_in_slots_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 28, + "text_zh": "观察：agent 脚本执行左臂取第一片面包，输出夹爪开度 0.185；log step 63 再执行取片、交接和入槽脚本，但其自编检测输出“PICK LIKELY EMPTY, continuing”和“hand0: no bread at handoff! n=0”。这些是动作记录及 agent 自编检测，不能作为面包入槽的服务判据。" + }, + { + "t": null, + "log_step": 66, + "text_zh": "观察：机器人服务 status（现场单次会话的运行状态接口）最终返回 control_steps=1481、done=False、reason=None；评分记录 graded_by_live=1、live_success=0，但均未单独报告已占槽数、面包中心高度或直立状态。本次无视频、无状态日志，故该节点终值未知，不能由整体失败推出未入槽。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、33、37、51、56、61、63 记录左夹爪取片尝试，末次还执行双臂交接和右夹爪入槽动作；缺少本次画面和接触日志，无法确认夹爪是否夹住面包、是否发生双臂共同持片或其他接触。" + } + ] + }, + "bread_in_slots_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 63, + "text_zh": "观察：agent 末次脚本依次执行 pick(0)…ins(1) 与 pick(1)…ins(2)，第二次取片开度输出 0.248、0.185，自编交接检测输出“hand1: no bread at handoff! n=1”；这些输出不报告评分器的两个不同槽占据条件。" + }, + { + "t": null, + "log_step": 66, + "text_zh": "观察：服务最终仅报告 done=False，评分记录仅报告整体 live_success=0，未给出逐槽验收结果；无本次视频或状态日志，不能确认第二片是否进入另一槽，终值保留未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62 的脚本和 log step 63 的运行输出记录第二次左夹爪取片、双臂交接及右夹爪入槽尝试；无画面或接触对数据，不能把计划中的抓握、交接当作实际接触。" + } + ] + }, + "toaster_lever_down": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 63, + "text_zh": "观察：agent 脚本在两轮放片动作后调用右臂 leverpush 并保持，服务返回 control_steps=1481、done=False；脚本打印的杆片定位来自 agent 自己处理的初始图像，不是压杆关节行程结果。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：agent 最终自述“lever was pushed down and held”，但评分记录与服务最终状态均没有压杆位置或行程比例；无本次视频和状态日志，不能验证严格大于 0.85 的判据，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62—63 的控制脚本命令右夹爪到压杆上方后下降并保持；无本次画面或接触读数，无法确认右夹爪是否压住压杆及其接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "lever_joint_ratio", + "unit": "1", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "bread_center_height_above_slot", + "unit": "m", + "threshold": [ + 0.03, + 0.065 + ], + "direction": "target", + "value": null + }, + { + "name": "bread_min_edge_to_up_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_max_coordinate_start_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "bread_in_slots_1", + "t": null, + "log_step": 63, + "where": "操作中", + "evidence_zh": "推断：最早持续未解决的问题位于第一片入槽的取片环节。log step 28 开始左臂取片，随后反复修改末端变换与取片位置；log step 63 的末次完整动作链仍输出疑似空抓及第一轮交接区无面包像素，agent 在 log step 64、67 自述取片失败、未能完成入槽后停止。评分记录 graded_by_live=1、resumes=0、sim_startups=1 说明这些动作属于同一现场评分会话，而非交付后另一次调试；此定位依据动作链及诊断作出，缺少逐节点服务验收和画面核验，视频锚点为空。" + }, + "unmet": { + "bread_in_slots_1": null, + "bread_in_slots_2": null, + "toaster_lever_down": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 61, + "source_zh": "日志", + "evidence_zh": "推断：夹爪末端坐标变换与偏移标定不可靠是取片环节的控制问题。log step 30 将控制库的 approach 轴取反以修正相机轴约定；log step 58 的标定脚本先把左臂停在远离面包的位置，再把面包顶点与该停靠位置的预测指尖差直接当作末端偏移修正，log step 61 实际写入 delta_o6=[-0.1189,0.1637,0.2499] 后再取片，输出开度 1.0；agent 在 log step 62 明确自述该标定无效并恢复偏移，log step 63 再试仍输出疑似空抓。代码与运行输出支持控制层归因，但没有真实指尖和面包姿态可独立确定残余误差，故不细分子类，也不将 agent 自述的厘米误差或夹持容差视为已核实事实。" + } + ], + "gap_zh": "本次 inputs/video.json 明确 kind=none，未提供本次 replay.mp4 或状态日志；run.json 的图片条目仅有引用，无法查看本次夹爪和面包的实际运动。reward 虽记 video_rendered=1，但该字段不等于存在可用视频；现场服务的 done=False 与 live_success=0 只决定联合任务未完成，不决定三个节点各自的真假。按 N9，全部 intervals 与 final 为 null，所有尝试节点的实际接触为未知；agent 自编开度阈值、颜色像素检测和最终自述只能支持失败定位与根因推断，无法区分没建立接触、没保持住或放置偏差，因此现象层为空。成功 oracle 视频仅用于理解参考场景，不能替代本次证据；五项原生指标均未由评分字段报告。" + }, + "summary_zh": "现场评分记录 live_success=0，服务最终在 control_steps=1481 时仍为 done=False；日志记录了两轮放片链和压杆尝试，但三个节点均缺少逐项服务结果，终值全部未知。推断断点在第一片入槽的取片环节，反复修正夹爪末端坐标变换和偏移后仍有疑似空抓诊断，根因保守记为控制。无本次视频或状态日志，实际接触与物理失败现象无法核实，不能把 agent 自述的面包仍在架内或压杆已压下作为节点结论。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志（video.json kind=none），标注按 N9 将三个节点终值与区间置 null、接触置未知、现象层留空并写了 gap_zh，断点和根因均标为推断，与 run.json 日志及服务状态（control_steps=1481、done=False、live_success=0）一致，未发现需修改的内容。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:53Z", + "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/robodojo-make-toast-i00-standard--qtrtcwt/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-make-toast-i00-standard--qtrtcwt/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "249dfa6fd6d5104ce53093b7c04780ba8c77c848d450b92ba6faf4016b590f78", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-privileged--kwhzyf6.json b/phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-privileged--kwhzyf6.json new file mode 100644 index 0000000000000000000000000000000000000000..3e8e647ff0f1f37a9e5a2cd034b37c052ef172ac --- /dev/null +++ b/phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-privileged--kwhzyf6.json @@ -0,0 +1,266 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-pack-objects-into-box-i00-privileged--kwhzyf6", + "taskKey": "robodojo/pack_objects_into_box", + "dag_sha256": "f27cc6f200e87a6073d3129beea155d5ecadc584b55145f7148fc4bec2fcd4bd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "car_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，agent_sim_steps=0、agent_records=0、agent_replays=0；log step 32 仅有离线生成并调用保存函数的脚本，返回为空。inputs/video.json 为 kind=none，且无状态日志；评分结果未单独报告“玩具车入箱”的终值，无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付供评分的轨迹；不把会话中的逆解测试或脚本内拟定的夹爪动作标为实际接触。" + } + ] + }, + "electric_toothbrush_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，agent_sim_steps=0、agent_records=0、agent_replays=0；log step 32 仅有离线生成并调用保存函数的脚本，返回为空。inputs/video.json 为 kind=none，且无状态日志；评分结果未单独报告“电动牙刷入箱”的终值，无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付供评分的轨迹；不把会话中的逆解测试或脚本内拟定的夹爪动作标为实际接触。" + } + ] + }, + "hammer_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，agent_sim_steps=0、agent_records=0、agent_replays=0；log step 32 仅有离线生成并调用保存函数的脚本，返回为空。inputs/video.json 为 kind=none，且无状态日志；评分结果未单独报告“锤子入箱”的终值，无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付供评分的轨迹；不把会话中的逆解测试或脚本内拟定的夹爪动作标为实际接触。" + } + ] + }, + "shoe_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，agent_sim_steps=0、agent_records=0、agent_replays=0；log step 32 仅有离线生成并调用保存函数的脚本，返回为空。inputs/video.json 为 kind=none，且无状态日志；评分结果未单独报告“鞋子入箱”的终值，无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付供评分的轨迹；不把会话中的逆解测试或脚本内拟定的夹爪动作标为实际接触。" + } + ] + }, + "box_upright_aligned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 32, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1，agent_sim_steps=0、agent_records=0、agent_replays=0；log step 32 仅有离线生成并调用保存函数的脚本，返回为空。inputs/video.json 为 kind=none，且无状态日志；评分结果未单独报告“纸箱保持正放”的终值，无法判定。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器报告 missing_trajectory=1，没有交付供评分的轨迹；不把会话中的逆解测试或脚本内拟定的夹爪动作标为实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "item_box_long_axis_error_xy", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "item_front_left_error_xy", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "box_up_axis_error_3d", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "box_long_axis_error_3d", + "unit": "deg", + "threshold": 40, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_position_error_per_axis", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 32, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_sim_steps=0、agent_records=0、agent_replays=0，infra_error=0、grader_error=0。log step 18 的会话状态为 actions=0；log step 24—25 为逆解及正解诊断，log step 32 尝试离线生成并保存轨迹但无返回或 SAVED 确认。没有交付轨迹可定位失败的物理步骤，断点记 unknown / 首步前。" + }, + "unmet": { + "car_in_box_left": null, + "electric_toothbrush_in_box_left": null, + "hammer_in_box_left": null, + "shoe_in_box_left": null, + "box_upright_aligned": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次 inputs/video.json 的 kind=none，无本次视频及状态日志，评分器只报告缺少交付轨迹，未报告五个节点或六项原生指标的终值。log step 31 的预算读数为剩余154.6秒，log step 32 是末次工具调用且返回为空，没有最终汇报或保存成功确认；无法据此确定保存为何未完成。推断：log step 24—25 的逆解失败属于会话诊断，不能证明评分尝试中的抓取或运动失败，也不能从缺交付或用尽预算推出具体能力根因；按 DECISIONS.md D23 将现象和根因均留空。成功参考视频属于另一运行，不能补足本次节点或接触证据。" + }, + "summary_zh": "观察：评分器报告未交付轨迹，仿真动作、记录及回放次数均为0；四件物品入箱和纸箱正放共五个节点的终值均未知，没有可确认的达成节点。观察：日志止于 log step 32 的离线生成与保存命令，没有保存成功返回，故断点为 unknown（首步前），不能定位物理失败步骤。推断：无本次视频、状态日志或逐节点评分，依 D23 与 N9 保留未知进度及空的现象、根因层，不把会话逆解诊断视为评分轨迹表现。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1、agent_sim_steps=0；五个节点 unknown、断点 unknown/首步前、现象与根因留空并附 gap_zh，均符合 D23/N9，未发现需改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:03:58Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-pack-objects-into-box-i00-privileged--kwhzyf6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-pack-objects-into-box-i00-privileged--kwhzyf6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3dd8f7356029a30d5d876c5f01167fcc097976fcff8c7fec8d233b69ef2270b8", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-standard--dwccvrg.json b/phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-standard--dwccvrg.json new file mode 100644 index 0000000000000000000000000000000000000000..d699cf258e5bca2f80582122a02e9fb34b722bbe --- /dev/null +++ b/phase2/robodojo/pack_objects_into_box/trajectories/robodojo-pack-objects-into-box-i00-standard--dwccvrg.json @@ -0,0 +1,306 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-pack-objects-into-box-i00-standard--dwccvrg", + "taskKey": "robodojo/pack_objects_into_box", + "dag_sha256": "f27cc6f200e87a6073d3129beea155d5ecadc584b55145f7148fc4bec2fcd4bd", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3014, + "sim_steps": 3014, + "physics_steps": 30140, + "steps": 2929, + "elapsed_s": 3523.7, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 604, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "car_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 34 的 agent 脚本执行 pick_car、place_car，服务返回 control_steps=267、done=False；这只报告整局尚未成功，没有玩具车中心入箱或朝向的逐项结果。" + }, + { + "t": null, + "log_step": 46, + "text_zh": "观察：log step 46 的服务 plan 返回右臂距离目标约0.055至0.060米；agent 在 log step 37 自述已抓起车，在 log step 38 改称滑落，又在 log step 46 改称从未抓住。缺少本次画面与状态日志，不能据这些叙述判定车的入箱状态或抓握。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 启动的新脚本包含再次操作玩具车，但 out.text 为空；评分器只给整体 live_success=0，没有玩具车终值，故节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 34 记录 agent 脚本用右夹爪尝试操作玩具车；无本次视频或接触状态日志，不能确认夹爪是否接触、夹住或仅碰动玩具车。" + } + ] + }, + "electric_toothbrush_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 63, + "text_zh": "观察：log step 63 的 agent 脚本运行 pick_tb、place_tb，服务最后返回 control_steps=2401、done=False；picked tb: opening=0.185 是 agent 脚本根据夹爪读数打印的文字，没有牙刷入箱及朝向的服务验收字段。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 的最后一轮脚本再次包含牙刷操作，未返回执行结果；无本次视频、状态日志或逐节点评分，牙刷终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 63 记录 agent 脚本用左夹爪尝试操作牙刷；无本次视频或接触状态日志，不能确认夹爪是否接触、夹住或仅碰动牙刷。" + } + ] + }, + "hammer_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 63, + "text_zh": "观察：log step 63 的 agent 脚本运行锤子抓取和放置阶段，服务在 place_hammer 后返回 control_steps=2086、done=False；log step 64 的 picked hammer: opening=0.185 是 agent 脚本打印，不能证明锤子曾被夹住或入箱。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 的最后一轮脚本以锤子抓放开始，out.text 为空；评分器没有锤子位置、朝向或本节点结果，且无本次视频与状态日志，锤子终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 63 记录 agent 脚本用左夹爪尝试操作锤子；无本次视频或接触状态日志，不能确认夹爪是否接触、夹住或仅碰动锤子。" + } + ] + }, + "shoe_in_box_left": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 55, + "text_zh": "观察：log step 55 的 agent 脚本运行 pick_shoe、place_shoe，打印多次 IK FAIL，服务返回 control_steps=1204、done=False；这些输出没有鞋子入箱、朝向或实际夹持的验收结果。" + }, + { + "t": null, + "log_step": 67, + "text_zh": "观察：log step 67 启动的新脚本也包含鞋子操作，但未返回执行结果；缺少本次视频、状态日志及鞋子的服务终值，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 55 记录 agent 脚本用右夹爪尝试操作鞋子；无本次视频或接触状态日志，不能确认夹爪是否接触、夹住或仅碰动鞋子。" + } + ] + }, + "box_upright_aligned": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": null, + "text_zh": "观察：inputs/video.json 标明本次 video.kind=none，inputs/ 没有本次 replay.mp4 或状态日志；run.json 的 reward 没有纸箱直立角度、长轴角度或本节点验收结果。任务 DAG 描述纸箱初始正放，但不能代替本次终态观测，故终值未知。" + }, + { + "t": null, + "log_step": 19, + "text_zh": "观察：log step 19 只有 agent 自编分割程序的点云中心与主轴估计，没有服务对纸箱正放的验收；记录中未见专门纠正纸箱姿态的动作，故不添加本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "item_box_long_axis_error_xy", + "unit": "deg", + "threshold": 45, + "direction": "lower_better", + "value": null + }, + { + "name": "item_front_left_error_xy", + "unit": "deg", + "threshold": 60, + "direction": "lower_better", + "value": null + }, + { + "name": "box_up_axis_error_3d", + "unit": "deg", + "threshold": 15, + "direction": "lower_better", + "value": null + }, + { + "name": "box_long_axis_error_3d", + "unit": "deg", + "threshold": 40, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_position_error_per_axis", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_start_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 67, + "where": "未知", + "evidence_zh": "观察：log step 34 起 agent 先尝试玩具车，log step 55 又尝试鞋子，log step 63 操作锤子和牙刷；log step 67 再次启动四件物品抓放及双臂回位脚本，但输出为空。评分器报告 live_success=0、finalized=1、n_actions=3014、resumes=0、infra_error=0，未报告哪项失败；缺少本次视频、状态日志及最后重试结果，无法确定首个未被修复的步骤或出错阶段。" + }, + "unmet": { + "car_in_box_left": null, + "electric_toothbrush_in_box_left": null, + "hammer_in_box_left": null, + "shoe_in_box_left": null, + "box_upright_aligned": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有可用视频或状态日志（inputs/video.json：HF 404、无本地视频）；reward 的 video_rendered=1、video_frames=604 仅为元数据，不等于本目录提供了受评视频。日志中的看图调用只留有 [picture] 占位和字节引用，未提供可读取的本次图片。五个节点均无服务逐项结果，全部 intervals=null、final=null；整体 success=0 也可能涉及双臂回初位，不能推出任一指定物品或纸箱姿态为假。log step 46 的服务位置误差及 log step 52、55、61 的 IK FAIL 支持存在控制困难，但最后重试没有输出，不能确认哪次偏差未被修复；故断点未知，现象和根因均留空。agent 在 log step 67 自述约3厘米跟踪偏差，但 log step 66 比较的是抓取后快照与抓取目标，不能单独证明下降时的反馈误差。inputs/oracle/replay.mp4 是另一成功运行，仅用于识别验收外观，不作本次节点或接触的证据。" + }, + "summary_zh": "本次为单一实时受评回合（graded_by_live=1、resumes=0），整体失败；日志记录了四件物品的装箱操作尝试，但五个节点的最终真假均无法确定。服务在 log step 46 报告右臂目标位置偏差，后续脚本多次打印逆解失败；log step 67 的最后一轮重试没有返回结果，无法判定首个未修复的步骤，也无法将早期控制困难确认为最终失败的现象或根因。本次视频和状态日志均不可用，已查看的成功参考视频仅帮助辨认入箱外观，不能补足本次达成时间、终值与实际接触。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，评分器只给整体 live_success=0；各节点 intervals/final 均为 null、断点未知、现象与根因留空并写明 gap_zh，符合 03 的 N9 规则，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:01Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-pack-objects-into-box-i00-standard--dwccvrg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-pack-objects-into-box-i00-standard--dwccvrg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b8868d1079ad0f8bd26cc28ed875206ed683aac7a1e3fe237547aa9c3db759d2", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--tpfanne.json b/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--tpfanne.json new file mode 100644 index 0000000000000000000000000000000000000000..1782c4ab129b21c54625a14abb43d6d4eb9df97e --- /dev/null +++ b/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--tpfanne.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-laptop-and-headphones-i00-privileged--tpfanne", + "taskKey": "robodojo/store_laptop_and_headphones", + "dag_sha256": "6810fe9937d83e8a2fa33772b2858d3768946876b27aad6ec003a1345c615c91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 2, + "agent_resets": 30, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "headphones_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 219, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告此节点的结果；inputs/video.json 的 kind=none，且无状态日志。log step 219 是 agent 自建测试脚本的挂耳机检查，不能代表未交付的受评轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中夹爪与目标物的交互不计为受评轨迹接触。" + } + ] + }, + "laptop_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 97, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告此节点的结果；inputs/video.json 的 kind=none，且无状态日志。log step 97 的 laptop_closed=1.0 来自 agent 自编 eval_conditions() 对合盖测试的检查，不能代表未交付的受评轨迹。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中夹爪与目标物的交互不计为受评轨迹接触。" + } + ] + }, + "laptop_in_rack": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 545, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告此节点的结果；inputs/video.json 的 kind=none，且无状态日志。log step 545 仍在启动重置后的笔记本深抓和旋转测试，未提供受评入架结果。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中夹爪与目标物的交互不计为受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "headband_bridge_to_support_cradle_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "headset_stand_frame_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "laptop_hinge_normalized_position", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "laptop_positive_y_to_world_up_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "each_arm_origin_position_error_per_axis", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "each_arm_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 546, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0；log step 545 启动的是重置后的笔记本深抓旋转测试，最后的 log step 546 中 agent 仅自述已启动该测试、将等待完成，没有交付成功记录。推断：没有可定位物理失败步骤的受评轨迹，故断点为 unknown／首步前。" + }, + "unmet": { + "headphones_on_stand": null, + "laptop_closed": null, + "laptop_in_rack": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次无交付轨迹、无受评视频（inputs/video.json: kind=none），也无状态日志；评分器仅报告整体失败及 missing_trajectory=1，没有三个节点或原生指标的终态值。日志所含多次重置、合盖、挂耳机、抓取和入架诊断均为 agent 会话测试，不能用于填写受评节点值或物理失败现象。inputs/run.json 的 wall_s=3603、time_limit_s=3600 与会话预算耗尽相符，但没有日志记录的明确终止事件，不能据此确定缺交付的具体原因，也不能认定外部中断；按 DECISIONS.md D23，现象和根因均留空，不从缺交付反推交付操作出错。inputs/oracle/replay.mp4 属于另一成功运行，只可作参照，不能补充本次轨迹证据。" + }, + "summary_zh": "评分器报告本次运行失败且未交付轨迹（missing_trajectory=1），耳机挂架、合上笔记本和笔记本竖直入架三个节点均无法判定，不能把会话测试结果计为受评进度。断点记为 unknown／首步前；无本次视频、状态日志和节点级评分结果，现象、根因及全部六项原生指标值留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无交付轨迹（missing_trajectory=1），标注按 D23(a)：三节点 unknown、断点 unknown/首步前、现象和根因为空并附 gap_zh，未把会话测试当作受评事实。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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:11Z", + "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/robodojo-store-laptop-and-headphones-i00-privileged--tpfanne/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--tpfanne/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8ef4e436333ae0321d514c7d9d816b970a2abce9c54ed03251dffb0269ffce8a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--vh8boo4.json b/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--vh8boo4.json new file mode 100644 index 0000000000000000000000000000000000000000..a30e902cacacb9bcee1b6df1083cd6981fba6041 --- /dev/null +++ b/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-privileged--vh8boo4.json @@ -0,0 +1,228 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-laptop-and-headphones-i00-privileged--vh8boo4", + "taskKey": "robodojo/store_laptop_and_headphones", + "dag_sha256": "6810fe9937d83e8a2fa33772b2858d3768946876b27aad6ec003a1345c615c91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.138, + "peak_memory_gb": 9.42, + "peak_processes": 12, + "peak_disk_gb": 0.791, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "headphones_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 179, + "text_zh": "观察：inputs/video.json 标记 kind=none，且没有状态日志；评分器 reward.missing_trajectory=1，未报告受评轨迹的耳机挂架终态。log step 66 定义了 agent 自用的 check_details，log step 179 的耳机检查输出来自反复重置后的调试测试，不是交付轨迹验收，不能据此赋予节点真值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付受评轨迹；会话中的夹爪调试动作不记为本节点的轨迹接触。" + } + ] + }, + "laptop_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 179, + "text_zh": "观察：本次无视频、无状态日志，评分器仅报告未交付轨迹（reward.missing_trajectory=1），未报告笔记本合盖节点的终态。log step 179 的 laptop_closed=false 来自 agent 在 log step 66 定义的调试检查，不能作为受评轨迹的节点值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付受评轨迹；会话中的夹爪调试动作不记为本节点的轨迹接触。" + } + ] + }, + "laptop_in_rack": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 179, + "text_zh": "观察：本次无视频、无状态日志，评分器未报告笔记本入架的节点结果，且 reward.missing_trajectory=1。log step 179 的 upright/in_rack=false 属于 agent 自用调试脚本的输出，没有已交付轨迹可将其绑定到受评终态。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1，未交付受评轨迹；会话中的夹爪调试动作不记为本节点的轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "headband_bridge_to_support_cradle_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "headset_stand_frame_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "laptop_hinge_normalized_position", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "laptop_positive_y_to_world_up_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "each_arm_origin_position_error_per_axis", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "each_arm_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 183, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0；log step 179 仍是耳机调试测试结果，log step 182 输出耳机与架子的网格尺寸，最后的 log step 183 继续编辑几何诊断脚本，没有交付或受评回放结果。推断：没有可定位物理失败步骤的受评轨迹，断点取 unknown、位置取首步前。" + }, + "unmet": { + "headphones_on_stand": null, + "laptop_closed": null, + "laptop_in_rack": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有视频（inputs/video.json: kind=none），也没有状态日志，评分器确认未交付轨迹。日志含反复重置、直接设置物体位姿及 agent 自用检查（log step 51、65、66、173—179），这些只是会话调试证据，不能决定受评节点终态或实际接触；另一个成功运行的 oracle 视频也不能证明本次进度。会话 wall_s=3603、time_limit_s=3600，最后的 log step 183 仍在编辑脚本，未记录完成交付或明确的外部中断。推断：依无交付处理规则（DECISIONS.md D23）将现象和根因留空；不能从缺交付反推控制、规划或交付操作出错，也不能将预算结束当成根因。" + }, + "summary_zh": "评分器报告本次失败且未交付轨迹，耳机挂架、笔记本合盖、笔记本竖直入架三个节点的受评终态均未知。日志显示 agent 持续进行耳机摆放及几何调试，最后的 log step 183 仍在编辑诊断脚本，没有可定位的受评物理失败步骤，断点记为 unknown／首步前。无本次视频和状态日志，调试检查不能替代受评证据，因此现象与根因留空。", + "conf": 9, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、未交付轨迹（missing_trajectory=1）；三节点 unknown、断点 unknown/首步前、现象与根因留空并带 gap_zh，符合 D23 与 03 规则；未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:00:27Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--vh8boo4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-i00-privileged--vh8boo4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "395e649f80c7f8a6df472d424792b9c6dd0e83bf9953d4a363d6e49d88ce5034", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-standard--vuvqglq.json b/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-standard--vuvqglq.json new file mode 100644 index 0000000000000000000000000000000000000000..ef0528ea3a6493cb98592942aa0e5aabbfbe0abc --- /dev/null +++ b/phase2/robodojo/store_laptop_and_headphones/trajectories/robodojo-store-laptop-and-headphones-i00-standard--vuvqglq.json @@ -0,0 +1,255 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-laptop-and-headphones-i00-standard--vuvqglq", + "taskKey": "robodojo/store_laptop_and_headphones", + "dag_sha256": "6810fe9937d83e8a2fa33772b2858d3768946876b27aad6ec003a1345c615c91", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 851, + "sim_steps": 851, + "physics_steps": 8510, + "steps": 383, + "elapsed_s": 3523.6, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 172, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "headphones_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 48, + "text_zh": "观察：log step 48 中，机器人服务返回左臂抓取目标的位置残差为0.0499米，随后脚本执行了抬升、转移和放下命令；这些末端动作反馈没有报告耳机功能点与架子的关系，不能证明耳机随夹爪搬运。" + }, + { + "t": null, + "log_step": 68, + "text_zh": "观察：log step 68 的最后一次挂耳机脚本在抓取后打印末端目标误差0.1216米、夹爪关节读数0.0，并以“ABORT grasp”退出，未执行其后的挂架段；本次无视频、无状态日志，评分器只有整体live_success=0，没有该节点的终态字段，故终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 28、31、33、34、48、51—53、68 的脚本向左臂提交了靠近耳机及部分闭爪动作；无本次视频或物体接触记录，不能确认左夹爪实际碰到耳机的部位、是否夹持或只是推擦。" + } + ] + }, + "laptop_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：agent 在 log step 39 自述笔记本面朝下且“lid apparently closed by the fall”，随后执行的是左臂归位，没有服务端铰链读数或合盖验收结果；本次无视频、无状态日志，不能把该自述认定为达到归一化铰链位置大于0.85的条件，终值未知。" + } + ] + }, + "laptop_in_rack": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 61, + "text_zh": "观察：log step 59—61 的脚本准备将笔记本推到桌边以便后续抓取，log step 61 完成右臂推移动作并打印clip 0及右臂末端位置；服务未报告笔记本轴向或入架功能点验收。" + }, + { + "t": null, + "log_step": 64, + "text_zh": "观察：agent 在 log step 64 自述“The laptop slid off the table”，随后改做耳机；本次无视频、无状态日志及该节点的服务端终态字段，不能用该自述判定笔记本的最终位置，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 59—61 的脚本向右臂提交了闭爪推笔记本至桌边的准备动作；无本次画面或接触对，不能核实右夹爪是否以及如何实际接触笔记本。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "headband_bridge_to_support_cradle_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "headset_stand_frame_angle", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "laptop_hinge_normalized_position", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "laptop_positive_y_to_world_up_angle", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "each_arm_origin_position_error_per_axis", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "each_arm_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "headphones_on_stand", + "t": null, + "log_step": 31, + "where": "操作中", + "evidence_zh": "推断：本次为单个实时评分回合，评分器记录graded_by_live=1、resumes=0及851个动作；log step 28 已开始左臂耳机抓取准备，log step 31 的抓取反馈有0.0431米位置残差且目标被裁剪，log step 33、34 重试仍有残差。log step 48 虽执行挂架路径，却没有耳机关系验收；log step 49 记录agent决定重新定位并重试，log step 51—53 及68继续在抓取阶段中止。因耳机是最早持续重试、没有得到完成确认的步骤，将其作为有日志支持的断点；无视频可定位时刻或独立核实是否曾短暂完成。" + }, + "unmet": { + "headphones_on_stand": null, + "laptop_closed": null, + "laptop_in_rack": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 68, + "source_zh": "日志", + "evidence_zh": "推断：机器人服务在 log step 31、33、34 返回抓取末端目标残差0.0431、0.0428、0.0734米，并记录关节目标裁剪；log step 51、52 的服务规划反馈仍有0.0619及0.0772米残差，脚本因此中止抓取。log step 64、66 的重规划分别以NO GRASP IK、NO SOL退出；log step 68 最后一次实际提交后，脚本从服务本体读数计算的末端误差为0.1216米并在挂架前退出。这些独立于agent叙述的服务反馈及代码执行结果支持抓取运动的控制实现受阻，但不能确定是限位、跟踪、接触阻挡还是接触几何问题，故不细分控制子类。" + } + ], + "gap_zh": "本次 inputs/video.json 明确kind=none（回放下载404且无本地视频），inputs/中没有本次状态日志；日志图片只保留索引，所指图像数据未提供。评分器仅报告整体失败，没有三个节点的功能点、铰链、轴向或终态检查值，因此全部intervals和final均为null，不能把agent所称耳机移位、合盖或笔记本掉下桌当作已核实状态；也无法区分没建立接触、没保持住、碰撞等实际物理现象，现象层留空。断点依据动作脚本与持续重试推断，是否曾短暂达成并修复缺少独立证据；控制根因只到大类，不声称夹爪读数证明抓握。已查看独立成功参考视频137.2秒的终态（耳机挂在左架、笔记本竖在右架），它不能证明本次执行情况。六项原生连续指标未在本次评分器字段中报告，均保留null。" + }, + "summary_zh": "本次实时评分回合执行了851个动作，整体live_success=0；没有逐节点服务验收，三个节点终值均未知，不能将未知等同于未完成。日志显示耳机抓取是最早反复受阻且没有完成确认的步骤，末端目标残差、裁剪与逆解失败支持控制层面的困难；后续还执行了准备笔记本入架的桌边推移动作。缺少本次视频和状态日志，不能确认实际接触、合盖或入架结果，也不能给出物理失败现象及视频时刻。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志；标签把三个节点保持 unknown、现象层留空并写了 gap_zh，断点取最早持续受阻的耳机抓取，根因只到“控制”大类，均与 run.json 的服务反馈（log step 31/33/34 的 left_ee_error_m、clipped）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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:03:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-i00-standard--vuvqglq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-i00-standard--vuvqglq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3f0b6de0fee1f78e3839a76d3360f964e248b34b7c55c123b6523199419f37b1", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--pjsbxdg.json b/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--pjsbxdg.json new file mode 100644 index 0000000000000000000000000000000000000000..2d8281d4e8818e412925d9b03b9afe155501691c --- /dev/null +++ b/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--pjsbxdg.json @@ -0,0 +1,228 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-laptop-and-headphones-random-i00-privileged--pjsbxdg", + "taskKey": "robodojo/store_laptop_and_headphones_random", + "dag_sha256": "80a660120ae97c94687e51083f563bb48dfee18b1c8ce5f644769bc5fc767884", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.685, + "peak_memory_gb": 10.254, + "peak_processes": 10, + "peak_disk_gb": 1.019, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "headset_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 108, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1、agent_records=0、agent_replays=0；没有交付轨迹、视频或状态日志，也没有报告耳机挂架结果的评分器字段。log step 107–108 仅记录 agent 运行耳机挂架调试脚本及等待，不能据此确认评分节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；不将会话调试中的夹爪动作作为本节点的实际接触。" + } + ] + }, + "laptop_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；没有视频、状态日志或报告电脑合盖终值的评分器字段。log step 35、37 的电脑关节与姿态读数属于 agent 会话检查，不是已交付轨迹的终态验收。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；不将会话调试中的夹爪动作作为本节点的实际接触。" + } + ] + }, + "laptop_upright_in_rack": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 37, + "text_zh": "观察：inputs/run.json 的评分器字段 missing_trajectory=1；没有视频、状态日志或报告电脑入架终值的评分器字段。log step 37 的收纳架几何检查属于 agent 会话诊断，不能证明电脑完成竖放入架。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "未交付评分轨迹；不将会话调试中的夹爪动作作为本节点的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "headset_bridge_cradle_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "headset_stand_rotation_error", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "laptop_hinge_ratio", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "laptop_y_up_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_origin_max_coordinate_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_origin_rotation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 114, + "where": "首步前", + "evidence_zh": "观察：评分器报告 success=0、missing_trajectory=1、agent_records=0、agent_replays=0。log step 114 是日志最后一步，agent 仍在读取自编夹爪几何诊断脚本的输出；没有交付评分轨迹的记录，无法定位到某个物理节点。" + }, + "unmet": { + "headset_on_stand": null, + "laptop_closed": null, + "laptop_upright_in_rack": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无视频（inputs/video.json 为 kind=none），无状态日志，评分器明确报告交付轨迹缺失，且未报告三个节点的终值或 DAG 所列六项原生指标。会话中的重置排错、耳机抓放测试和自编测量不属于交付结果；日志最后的 log step 114 仍是诊断输出，没有最终完成报告。运行记录 wall_s=3602、time_limit_s=3600 与预算耗尽相符，但不能把时限当作失败现象或根因，也不能由交付缺失反推交付操作出错；按 DECISIONS.md D23 保留现象与根因空层。" + }, + "summary_zh": "评分器以未交付轨迹（missing_trajectory=1）判失败；耳机挂架、电脑合盖和电脑竖放入架三个节点的终值均未知，不能将其算作已完成或已确认未完成。agent 会话进行了耳机操作测试，至 log step 114 仍在检查夹爪几何；没有可定位的评分动作，断点记为 unknown／首步前。无视频、无状态日志且无逐节点评分字段，现象与根因按 D23 留空，六项原生指标均未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志，评分器 missing_trajectory=1；三个节点 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23(a)；未把会话测试当作评分事实，也未把超时当现象或根因。无需修改。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:58:33Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-random-i00-privileged--pjsbxdg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-random-i00-privileged--pjsbxdg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "57b9d5ea7d130ed9786f8adc77ed68b1fde2bebea1918474d39d8586c28ee81f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--zrmhwft.json b/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--zrmhwft.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0ec5924e234f0ce037b4afc4dbdae5aa1bb023 --- /dev/null +++ b/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-privileged--zrmhwft.json @@ -0,0 +1,226 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-laptop-and-headphones-random-i00-privileged--zrmhwft", + "taskKey": "robodojo/store_laptop_and_headphones_random", + "dag_sha256": "80a660120ae97c94687e51083f563bb48dfee18b1c8ce5f644769bc5fc767884", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 0, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "headset_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告耳机挂架的节点结果；agent 在 log step 38 查询耳机位姿、log step 39 分析耳罩和头梁几何，均为会话诊断。无评分视频或状态日志，无法判定本节点的最终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，本节点的轨迹级接触不适用。" + } + ] + }, + "laptop_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 44, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告合盖的节点结果；log step 33 的铰链读数与 log step 38 的电脑网格查询属于 agent 的诊断会话，log step 44 仅阅读录制 API。无评分视频或状态日志，无法判定本节点的最终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，本节点的轨迹级接触不适用。" + } + ] + }, + "laptop_upright_in_rack": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：评分器 reward.missing_trajectory=1，未报告电脑入架的节点结果；agent 在 log step 18 离线计算收纳架包围盒、log step 37 读取架的几何范围，log step 45 仍在阅读控制原语实现。无评分视频或状态日志，无法判定本节点的最终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 reward.missing_trajectory=1；没有交付轨迹，本节点的轨迹级接触不适用。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "headset_bridge_cradle_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "headset_stand_rotation_error", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "laptop_hinge_ratio", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "laptop_y_up_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_origin_max_coordinate_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_origin_rotation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 46, + "where": "首步前", + "evidence_zh": "观察：评分器 reward.missing_trajectory=1、success=0、infra_error=0。完整会话日志中 agent 启动仿真并查询几何与接口，log step 43–45 仍在阅读重置、录制和控制原语实现；最后的 log step 46 无发言、工具调用或输出，未见录制、保存或交付结果。推断：没有可供评分的交付轨迹，断点位于首步前，无法定位到某个物理节点。" + }, + "unmet": { + "headset_on_stand": null, + "laptop_closed": null, + "laptop_upright_in_rack": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 标明 kind=none，inputs/ 中无 replay.mp4、states.jsonl 或成功参考视频；评分器仅报告轨迹缺失及总体失败，没有节点结果或原生指标。run.wall_s=3603，time_limit_s=3600，日志末尾无最终汇报；会话中的几何查询和已恢复的诊断脚本异常不能代表交付轨迹中的物理失败。推断：无法给出视频时间、节点最终值或具体物理断点；依照未交付情形的规则，现象与根因均留空，不能仅由缺交付或预算结束推定规划、控制或保存操作出错。" + }, + "summary_zh": "评分器报告未交付轨迹（missing_trajectory=1），整体失败；耳机挂架、电脑合盖与电脑竖放入架三个节点均无可确认的评分终态。agent 会话只见源码阅读、仿真启动与几何诊断，末尾 log step 43–45 仍在查阅接口，断点记为 unknown／首步前。无视频、无状态日志且无节点评分字段，因此不计会话诊断为进度，失败现象和根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "未交付轨迹（missing_trajectory=1），无视频/状态日志；文件将三个节点记为 unknown、断点 unknown/首步前、现象与根因留空并写明 gap_zh，符合规则，未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:57:00Z", + "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/robodojo-store-laptop-and-headphones-random-i00-privileged--zrmhwft/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-random-i00-privileged--zrmhwft/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7ee69f6c168569a4db3545a624a1909b8bf3b4027b4845d2ddabd350eca0ffee", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-standard--htohkpn.json b/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-standard--htohkpn.json new file mode 100644 index 0000000000000000000000000000000000000000..6bdbc2e66d8025c7c5a541a4a56df8c45eb2415e --- /dev/null +++ b/phase2/robodojo/store_laptop_and_headphones_random/trajectories/robodojo-store-laptop-and-headphones-random-i00-standard--htohkpn.json @@ -0,0 +1,257 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-laptop-and-headphones-random-i00-standard--htohkpn", + "taskKey": "robodojo/store_laptop_and_headphones_random", + "dag_sha256": "80a660120ae97c94687e51083f563bb48dfee18b1c8ce5f644769bc5fc767884", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1131, + "sim_steps": 1131, + "physics_steps": 11310, + "steps": 702, + "elapsed_s": 3494.1, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 228, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 3, + "base": null, + "peak": null, + "final": null, + "nodes": { + "headset_on_stand": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 34, + "text_zh": "观察：log step 26、34 中机器人服务接受了左臂接近耳机右耳罩并闭爪的动作，均报告 left_joint6 limit [-3.1400,3.1400] 裁剪；log step 34 的服务状态为 control_steps=94、done=False。该反馈不报告耳机挂架判据。" + }, + { + "t": null, + "log_step": 40, + "text_zh": "观察：agent 在 log step 29 自述夹爪空闭；log step 35、37 的候选轨迹搜索输出 no feasible variant，log step 39 输出 BEST None，log step 40 转向电脑操作。没有可供核对的图像或耳机距离、朝向验收字段，不能据这些自述和搜索输出确定节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 26、34 的脚本让左夹爪接近耳机右耳罩并闭合；本输入无视频或接触状态日志，无法确认夹爪实际是否接触、夹住耳机或只空闭。" + } + ] + }, + "laptop_closed": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 45, + "text_zh": "观察：log step 45、47、51、52 中 agent 脚本提交右臂合盖及扫推动作，服务持续报告 done=False；log step 47 的“盖仍开着”是 agent 自述。没有铰链比例或本节点验收结果，整体未成功不能决定合盖终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 45、47、51、52 的脚本尝试用右夹爪推合电脑屏幕；没有视频或接触记录，实际触碰部位和接触方式未知。" + } + ] + }, + "laptop_upright_in_rack": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 53, + "text_zh": "观察：log step 52 的抓取、入架、归位脚本先后报 IndexError、FileNotFoundError 和 NameError；log step 53 修正后依次执行抓取翻转、入架、归位阶段，服务 control_steps 增至 1131、done=False，log step 54 最后状态仍为 done=False。输入未报告电脑轴向或功能点入盒结果，不能确认电脑实际被抓起或进入架内。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 53 的脚本让右夹爪执行电脑前缘抓取、翻转、搬运和入架，随后双臂归位；无视频或接触状态日志，无法确定实际抓握、搬运或放置接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "headset_bridge_cradle_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "headset_stand_rotation_error", + "unit": "deg", + "threshold": 30, + "direction": "lower_better", + "value": null + }, + { + "name": "laptop_hinge_ratio", + "unit": "ratio", + "threshold": 0.85, + "direction": "higher_better", + "value": null + }, + { + "name": "laptop_y_up_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_origin_max_coordinate_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_origin_rotation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "headset_on_stand", + "t": null, + "log_step": 34, + "where": "操作中", + "evidence_zh": "推断：耳机挂架是日志能定位的最早未修复操作。log step 26、34 的左臂抓取尝试被服务报告第六关节指令越限裁剪，log step 35–39 搜索替代轨迹仍未通过；log step 40 明确转去电脑，此后至 log step 54 未再执行耳机的抬起、搬运或挂放阶段。因无视频，断点按这条动作与反馈链推断，无法给视频时刻，也无法独立确认耳机最终几何状态。" + }, + "unmet": { + "headset_on_stand": null, + "laptop_closed": null, + "laptop_upright_in_rack": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "log_step": 34, + "t": null, + "evidence_zh": "推断：耳机阶段的控制实现未解决关节限位问题。机器人服务在 log step 26、34 的实际提交中反复报告 left_joint6 limit [-3.1400,3.1400]，agent 后续诊断在 log step 38 报候选轨迹第六关节约为 3.14、3.18 rad，log step 39 搜索结束为 BEST None，随后 log step 40 放弃耳机阶段。证据支持控制层面障碍，但不足以证明目标和接触方案本身可行，故不细分逆解或接触设计，也不把 agent 所称“服务端分支跳变”当作已证实原因。", + "source_zh": "日志" + } + ], + "gap_zh": "输入清单只有 run.json、video.json、meta.json 和 MANIFEST.json；video.json 标明 kind=none（远端视频 404 且无本地视频），无状态日志或成功示范。日志图片仅留下 [picture] 标记，无法观看；评分字段只报告整体 success=0、live_success=0，服务最终 done=False，没有逐节点验收或原生几何指标。因此三个节点终值、所有视频时间及实际接触均未知，不能从零分推断各节点失败。耳机断点来自提交、限位反馈与转向电脑的日志链；无法区分空抓、滑脱或其他物理现象，现象层留空。后续电脑脚本异常在 log step 53 已修正，不能把它们当作耳机断点的根因。" + }, + "summary_zh": "实时评分回合中，机器人先尝试抓取耳机，随后尝试合盖、将电脑竖放入架并双臂归位；log step 54 的服务状态仍为 done=False，评分器记录 success=0。依据 log step 26、34 的左臂关节限位裁剪、log step 35–39 的候选轨迹失败及 log step 40 转向电脑，推断最早未修复断点在耳机挂架，根因仅支持控制层面障碍。没有视频、状态日志或逐节点验收，三个节点终值均未知，无法确认物体实际运动、接触与物理失败现象。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频回合，三个节点均为 unknown、intervals 为 null，符合 N9；断点标为耳机挂架并明确写成推断，根因停在“控制”大类，现象层留空并有 gap_zh，均有日志支持，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T21:59:02Z", + "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/robodojo-store-laptop-and-headphones-random-i00-standard--htohkpn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-laptop-and-headphones-random-i00-standard--htohkpn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "387bd1333f3b7755b3bf4780947bb6e2754b0f43e417dd98a88b465218cc4d51", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--ppfinip.json b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--ppfinip.json new file mode 100644 index 0000000000000000000000000000000000000000..699a0e8f8028ab057c41c39fa90f5e8e9f7867de --- /dev/null +++ b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--ppfinip.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-tools-in-toolbox-i00-privileged--ppfinip", + "taskKey": "robodojo/store_tools_in_toolbox", + "dag_sha256": "b4d666b49706ae98036408a8b4bd58ee48f6bfc079d4d4a9622a82a88b888257", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 24, + "agent_resets": 1, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "hammer_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 213, + "text_zh": "观察：log step 213 的交付目录清单仅有会话日志 rcb_session_log.jsonl；评分器最终报告 missing_trajectory=1、success=0，未报告“锤子入槽”的单节点结果。本次无视频、无状态日志，无法判定该节点终值；会话测试及计划不作为受评节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；依 CONTACT-8，不把会话测试中的机械臂接触计入本次受评轨迹。" + } + ] + }, + "pliers_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 213, + "text_zh": "观察：log step 213 的交付目录清单仅有会话日志 rcb_session_log.jsonl；评分器最终报告 missing_trajectory=1、success=0，未报告“钳子入槽”的单节点结果。本次无视频、无状态日志，无法判定该节点终值；会话测试及计划不作为受评节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；依 CONTACT-8，不把会话测试中的机械臂接触计入本次受评轨迹。" + } + ] + }, + "tape_measure_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 213, + "text_zh": "观察：log step 213 的交付目录清单仅有会话日志 rcb_session_log.jsonl；评分器最终报告 missing_trajectory=1、success=0，未报告“卷尺入槽”的单节点结果。本次无视频、无状态日志，无法判定该节点终值；会话测试及计划不作为受评节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；依 CONTACT-8，不把会话测试中的机械臂接触计入本次受评轨迹。" + } + ] + }, + "wrench_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 213, + "text_zh": "观察：log step 213 的交付目录清单仅有会话日志 rcb_session_log.jsonl；评分器最终报告 missing_trajectory=1、success=0，未报告“扳手入槽”的单节点结果。本次无视频、无状态日志，无法判定该节点终值；会话测试及计划不作为受评节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；依 CONTACT-8，不把会话测试中的机械臂接触计入本次受评轨迹。" + } + ] + }, + "arms_home": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 213, + "text_zh": "观察：log step 213 的交付目录清单仅有会话日志 rcb_session_log.jsonl；评分器最终报告 missing_trajectory=1、success=0，未报告“双臂回初位”的单节点结果。本次无视频、无状态日志，无法判定该节点终值；会话测试及计划不作为受评节点进度。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告 missing_trajectory=1，没有交付轨迹；依 CONTACT-8，不把会话测试中的机械臂接触计入本次受评轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hammer_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "hammer_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "wrench_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "wrench_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 261, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、infra_error=0、grader_error=0；log step 213 的交付目录仅有会话日志。agent 在 log step 249、259 启动完整任务脚本，最后在 log step 261 自述仍等待执行完成；没有保存成功或重放验收的返回结果。未形成交付受评轨迹，无法定位某个物理步骤的失败。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 的 kind=none，本次没有视频和状态日志；评分器未提供五个节点的单项终值，也未报告 DAG 所列原生指标。log step 252、253 的会话脚本输出停在“[1/4] Moving Hammer...”，log step 259 再次启动调试版脚本，log step 261 仅为 agent 等待执行的自述，无后续执行结果；因此不能确定未保存的具体原因，更不能把会话抓取测试当作交付轨迹的物理失败。运行记录 wall_s=3603、time_limit_s=3600，但预算耗尽不作现象或根因；依 DECISIONS.md D23 / CASES.md OPEN-16，未交付时两层均留空。参考成功视频仅属于另一运行，不能填补本次轨迹证据。", + "unmet": { + "hammer_in_slot": null, + "pliers_in_slot": null, + "tape_measure_in_slot": null, + "wrench_in_slot": null, + "arms_home": null + } + }, + "summary_zh": "观察：评分器报告 success=0、missing_trajectory=1，本次未交付轨迹，五个节点均无可判定的终值。log step 213 的交付目录仅有会话日志，最后 log step 261 仍为 agent 等待完整任务调试脚本执行的自述；断点记 unknown／首步前，不从会话测试推断受评物理失败。缺少本次视频、状态日志及单节点验收结果，现象与根因依缺交付规则留空，全部原生指标未报告。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1）。节点全 unknown、断点 unknown/首步前、现象与根因留空并写 gap_zh，符合 D23/OPEN-16；引用的 log step 均存在且内容属实，预算耗尽未作现象或根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": 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a/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--qbtvgo7.json b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--qbtvgo7.json new file mode 100644 index 0000000000000000000000000000000000000000..8f229c6d30cc34c257e17710dea0b9fafc5a1554 --- /dev/null +++ b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--qbtvgo7.json @@ -0,0 +1,338 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-tools-in-toolbox-i00-privileged--qbtvgo7", + "taskKey": "robodojo/store_tools_in_toolbox", + "dag_sha256": "b4d666b49706ae98036408a8b4bd58ee48f6bfc079d4d4a9622a82a88b888257", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 0, + 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reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“锤子入槽”的节点验收结果；inputs/video.json 的 kind=none，亦无状态日志。log step 50 仅启动 agent 的扳手调试脚本，未见交付结果；会话内自编检查不作为该节点的终态证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的机械臂或夹爪动作不计作评分轨迹的实际接触。" + } + ] + }, + "pliers_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“钳子入槽”的节点验收结果；inputs/video.json 的 kind=none，亦无状态日志。log step 50 仅启动 agent 的扳手调试脚本，未见交付结果；会话内自编检查不作为该节点的终态证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的机械臂或夹爪动作不计作评分轨迹的实际接触。" + } + ] + }, + "tape_measure_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“卷尺入槽”的节点验收结果；inputs/video.json 的 kind=none，亦无状态日志。log step 50 仅启动 agent 的扳手调试脚本，未见交付结果；会话内自编检查不作为该节点的终态证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的机械臂或夹爪动作不计作评分轨迹的实际接触。" + } + ] + }, + "wrench_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“扳手入槽”的节点验收结果；inputs/video.json 的 kind=none，亦无状态日志。log step 50 仅启动 agent 的扳手调试脚本，未见交付结果；会话内自编检查不作为该节点的终态证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的机械臂或夹爪动作不计作评分轨迹的实际接触。" + } + ] + }, + "arms_home": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告“双臂回初位”的节点验收结果；inputs/video.json 的 kind=none，亦无状态日志。log step 50 仅启动 agent 的扳手调试脚本，未见交付结果；会话内自编检查不作为该节点的终态证据。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "评分器报告未交付轨迹；会话调试中的机械臂或夹爪动作不计作评分轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hammer_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "hammer_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": 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"name": "right_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 50, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、agent_records=0、agent_replays=0，success=0；log step 47—48 是 agent 的左臂搬运测试及自编检查，最后的 log step 50 启动扳手跟踪调试脚本后没有返回执行结果，也没有保存、重放或最终汇报记录。推断：不存在可标注的已交付评分轨迹，无法将物理断点归到某一入槽步骤，依未交付规则记 unknown／首步前。" + }, + "unmet": { + "hammer_in_slot": null, + "pliers_in_slot": null, + "tape_measure_in_slot": null, + "wrench_in_slot": null, + "arms_home": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次没有视频或状态日志，也没有已交付轨迹或逐节点评分结果，五个节点的时间区间和终态均未知。log step 46、48 的距离、姿态及归位值来自 agent 自编的会话检查，不能代替评分轨迹证据；成功参考视频属于另一运行，也不能证明本次进度。run.json 的会话墙钟 wall_s=3602 s，预算 time_limit_s=3600 s；但日志止于 log step 50 的后台调试启动，没有最终执行结果或退出说明，无法确认未交付的具体原因。依 D23，未交付时不把会话测试失误标为评分轨迹现象，不从缺交付或预算结束反推控制、规划或交付根因，故两层留空。" + }, + "summary_zh": "评分器报告本次未交付轨迹（missing_trajectory=1），success=0；四件工具入槽及双臂归位共五个节点均无可确认的评分终态。日志止于 agent 启动扳手调试脚本（log step 50），断点记 unknown／首步前，失败现象与根因按未交付规则留空。没有本次视频、状态日志或逐节点评分结果，会话自编检查不能用于确认节点完成。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "本次无视频、无状态日志，评分器 missing_trajectory=1、agent_records=0、agent_replays=0，没有交付轨迹。五个节点 unknown、断点 unknown/首步前、现象与根因两层留空并写明 gap_zh，符合 03 的无交付规则和 D23(a)，没有把会话自编检查当作评分轨迹证据。校验器通过，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-store-tools-in-toolbox-i00-privileged--qbtvgo7/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-tools-in-toolbox-i00-privileged--qbtvgo7/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3a9885084671308ffe037c5ba4579ed67fe0bb445092b181e7f8552b8227b399", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--vmntr2r.json b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--vmntr2r.json new file mode 100644 index 0000000000000000000000000000000000000000..cdfaa58e21ad561f5db937dd6a87c59698103f2e --- /dev/null +++ b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-privileged--vmntr2r.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-tools-in-toolbox-i00-privileged--vmntr2r", + "taskKey": "robodojo/store_tools_in_toolbox", + "dag_sha256": "b4d666b49706ae98036408a8b4bd58ee48f6bfc079d4d4a9622a82a88b888257", + "outcome": { + 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[ + { + "t": null, + "log_step": 54, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无本次状态日志。log step 53 只报告 agent 启动第四次生成进程，log step 54 的工具输出为空，没有交付轨迹的逐项验收结果；无法判定“锤子入槽”终值，整体失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话调试中的机械臂动作不作为本次轨迹的实际接触。" + } + ] + }, + "pliers_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无本次状态日志。log step 53 只报告 agent 启动第四次生成进程，log step 54 的工具输出为空，没有交付轨迹的逐项验收结果；无法判定“钳子入槽”终值，整体失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话调试中的机械臂动作不作为本次轨迹的实际接触。" + } + ] + }, + "tape_measure_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无本次状态日志。log step 53 只报告 agent 启动第四次生成进程，log step 54 的工具输出为空，没有交付轨迹的逐项验收结果；无法判定“卷尺入槽”终值，整体失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话调试中的机械臂动作不作为本次轨迹的实际接触。" + } + ] + }, + "wrench_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无本次状态日志。log step 53 只报告 agent 启动第四次生成进程，log step 54 的工具输出为空，没有交付轨迹的逐项验收结果；无法判定“扳手入槽”终值，整体失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话调试中的机械臂动作不作为本次轨迹的实际接触。" + } + ] + }, + "arms_home": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：评分器 reward.missing_trajectory=1、success=0；inputs/video.json 的 kind=none，且无本次状态日志。log step 53 只报告 agent 启动第四次生成进程，log step 54 的工具输出为空，没有交付轨迹的逐项验收结果；无法判定“双臂回初位”终值，整体失败不等于本节点为假。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器 missing_trajectory=1，没有交付轨迹；会话调试中的机械臂动作不作为本次轨迹的实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hammer_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "hammer_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "wrench_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "wrench_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 54, + "where": "首步前", + "evidence_zh": "观察：评分器报告 missing_trajectory=1、success=0、infra_error=0、grader_error=0。log step 53 仅确认 agent 启动第四次生成进程，log step 54 等待后的工具输出为空，日志至此结束；没有可定位失败操作的交付轨迹，按首步前记录，不能把会话测试的锤子搬运作为受评断点。" + }, + "unmet": { + "hammer_in_slot": null, + "pliers_in_slot": null, + "tape_measure_in_slot": null, + "wrench_in_slot": null, + "arms_home": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：本次没有待评分视频（inputs/video.json: kind=none），也没有状态日志或交付轨迹（reward.missing_trajectory=1）；评分器未报告五个节点或任何原生距离、姿态指标的终值。log step 22 的 agent 脚本因调用 GetStage 报错，log step 28 的会话测试因 no IK for left 中止，log step 39 的脚本因 planning failed for hammer 中止；log step 49 仅为离线逆解探测，log step 53—54 未返回最后一轮运行结果。这些是会话证据，无法据此判定受评机器人现象或具体节点失败，依 DECISIONS.md D23（CASES.md OPEN-16）将现象和根因均留空；不从缺交付反推交付操作出错，也不把预算耗尽作为原因。inputs/oracle/replay.mp4 是另一成功运行的参考视频，不能补成本次的轨迹证据。" + }, + "summary_zh": "观察：评分器判定失败并报告 missing_trajectory=1，没有交付可重放轨迹；五个节点均无可判定终值，已确认完成节点为0/5（其余5项未知，并非已证实未完成）。观察：会话日志记录 agent 脚本接口错误及锤子搬运逆解失败（log step 22、28、39），最后一次生成进程启动后没有返回结果（log step 53—54）。推断：缺少本次视频、状态日志和逐项验收结果，断点只能记为 unknown／首步前，依 D23 不将会话尝试标成受评失败现象或根因。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、无交付轨迹（missing_trajectory=1）；节点全 unknown、断点 unknown/首步前、现象与根因为空并附 gap_zh，符合 D23(a)/OPEN-16，未把会话证据当成受评事实，未把预算当原因。未发现需修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:06:47Z", + "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/robodojo-store-tools-in-toolbox-i00-privileged--vmntr2r/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-tools-in-toolbox-i00-privileged--vmntr2r/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "4a069ece6ba6f70ccf9df5fac6a54dddd1abd08a247828ea9f8504d0b761a8f7", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-standard--76fqghs.json b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-standard--76fqghs.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb5dc8bb7adedbaa371f709cb30d2bb967c307b --- /dev/null +++ b/phase2/robodojo/store_tools_in_toolbox/trajectories/robodojo-store-tools-in-toolbox-i00-standard--76fqghs.json @@ -0,0 +1,378 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-store-tools-in-toolbox-i00-standard--76fqghs", + "taskKey": "robodojo/store_tools_in_toolbox", + "dag_sha256": "b4d666b49706ae98036408a8b4bd58ee48f6bfc079d4d4a9622a82a88b888257", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1906, + "sim_steps": 1906, + "physics_steps": 19060, + "steps": 1463, + "elapsed_s": 3124.8, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 110, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 5, + "base": null, + "peak": null, + "final": null, + "nodes": { + "hammer_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：agent 的脚本向左臂下发锤子抓取和抬升指令；log step 40、48 继续执行向锤子槽位移动和张爪的指令，但输出中的“hammer placed”是脚本无条件打印，并非服务的入槽验收结果。" + }, + { + "t": null, + "log_step": 55, + "text_zh": "观察：agent 最终自述锤子仍在桌面；本次无视频和状态日志，评分器未报告锤子槽位距离、朝向或包容检查，不能以该自述判定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 25、40、45、48 记录左夹爪对锤子的抓取指令，log step 46 记录左端推动锤子的指令；无本次画面或接触对，实际夹持、推动是否建立均未知。" + } + ] + }, + "pliers_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：agent 的脚本向右臂下发钳子抓取和抬升指令；log step 40 输出“pliers over slot False”后仍打印“pliers placed”，这些是脚本的路径判断及提示，不是钳子入槽验收。" + }, + { + "t": null, + "log_step": 47, + "text_zh": "观察：服务返回的 clipped 字段报告右臂第六关节限位，脚本打印右夹爪关节读数为0；没有钳子物体位姿或原生逐节点结果，无视频可核对实际抓取及入槽。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 25、40、45、47 记录右夹爪对钳子的抓取与搬运指令；无本次画面或接触对，实际接触方式未知。" + } + ] + }, + "tape_measure_in_slot": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 23, + "text_zh": "观察：log step 22 编写的卷尺测试在本步修正提交行数后运行，右臂收到向卷尺处下降、合爪、抬升的指令；打印的服务本体读数为合爪后及抬升后右夹爪关节均为0、opening均约0.185。该读数没有报告卷尺的位姿或槽位验收。" + }, + { + "t": null, + "log_step": 55, + "text_zh": "观察：agent 最终自述卷尺仍在桌面；无本次视频、物体状态日志或逐工具服务验收字段，不能从自述或夹爪读数确定本节点终值。" + } + ], + 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"观察：评分器success=0、live_success=0，没有分别报告双臂归位或四件工具同时达标的服务结果；无视频和状态日志，无法判定经四个前置节点门控的归位终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 49 记录双臂归位命令；无本次画面或接触对，不能核实归位过程中夹爪与工具是否仍有接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "hammer_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "hammer_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "pliers_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "tape_measure_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "wrench_slot_center_distance", + "unit": "m", + "threshold": 0.05, + "direction": "lower_better", + "value": null + }, + { + "name": "wrench_slot_orientation_error", + "unit": "deg", + "threshold": 10, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "left_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_x_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_y_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_z_absolute_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "right_ee_origin_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 55, + "where": "未知", + "evidence_zh": "观察：评分器记录graded_by_live=1、resumes=0、success=0、infra_error=0，故评分对象是本次现场单回合。log step 23 已执行卷尺抓取指令，log step 25 起还尝试锤子、钳子，log step 40 尝试扳手，log step 49 下发归位指令；agent 在log step 55 自述仅扳手入槽。推断：缺少本次物体运动及逐节点验收证据，无法确认这些尝试各自何时失败、是否后来修复，因而无法唯一确定最早未修复的断点。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json为kind=none（本次视频下载返回404且无本地视频），目录中无本次状态日志；run.json的图片条目只有占位文字与偏移信息，未提供可查看的本次图像。评分器仅给出整体失败，未报告五个节点的验收值，也未报告DAG所列16项原生距离与角度指标，因此所有intervals和节点final均为null，实际接触填未知。log step 23、45、47有末端未到指令位置或关节限位的服务读数，log step 22、35、36、46还有已继续修正的脚本错误，但没有物体运动或接触证据能把这些问题绑定到最早未修复的节点；不据此猜测接触现象或断点根因。agent 在log step 55关于空夹、碰动锤子及夹爪尺寸的解释属于自述，不能代替本次画面。已查看另一成功运行的oracle视频236.2 s，四件工具入箱的参照可见，但它不是本次轨迹的证据。log step 51自述“Time is up”时同一步预算输出仍有534.6 s，不能把该自述当作预算耗尽或失败根因。", + "unmet": { + "hammer_in_slot": null, + "pliers_in_slot": null, + "tape_measure_in_slot": null, + "wrench_in_slot": null, + "arms_home": null + } + }, + "summary_zh": "本次现场单回合由评分器判为失败（success=0、infra_error=0），日志记录了四种工具的操作及双臂归位指令。agent 在log step 55自述仅扳手入槽，但没有逐节点服务验收，故五个节点终值均未知，不能确认完成了1/5或将其余节点判为未完成。缺少本次视频、可用图片及状态日志，无法确认最早未修复的失败步骤、实际接触和物理失败原因，现象与根因留空。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志，仅有评分器整体 success=0；标注按 N9 将五个节点 final、断点、现象与根因留空并写明 gap_zh，且未把 agent 自述或脚本打印当作观察，我未发现需要改变内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:44Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-store-tools-in-toolbox-i00-standard--76fqghs/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-store-tools-in-toolbox-i00-standard--76fqghs/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f99cccf6acc8fea2f6a705a6d0630e6355ece02a2923855e33aab52f06ee4c76", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-privileged--5wwwcj4.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-privileged--5wwwcj4.json new file mode 100644 index 0000000000000000000000000000000000000000..bb986bfa787e14b4aa76ace93f13e2e7a5da2551 --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-privileged--5wwwcj4.json @@ -0,0 +1,295 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-privileged--5wwwcj4", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 1, + "agent_sessions": 1, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 9.165, + "peak_memory_gb": 9.316, + "peak_processes": 11, + "peak_disk_gb": 0.853, + "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": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告‘方块暂放中垫’的受评节点结果；inputs/video.json 为 kind=none，也无状态日志。log step 29 只有会话重置探测的 PROBE FAIL，不能据此确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的夹爪动作不作为受评轨迹接触。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告‘第一次按键’的受评节点结果；inputs/video.json 为 kind=none，也无状态日志。log step 29 只有会话重置探测的 PROBE FAIL，不能据此确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的夹爪动作不作为受评轨迹接触。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告‘另一块占空垫’的受评节点结果；inputs/video.json 为 kind=none，也无状态日志。log step 29 只有会话重置探测的 PROBE FAIL，不能据此确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的夹爪动作不作为受评轨迹接触。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告‘第二次按键’的受评节点结果；inputs/video.json 为 kind=none，也无状态日志。log step 29 只有会话重置探测的 PROBE FAIL，不能据此确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的夹爪动作不作为受评轨迹接触。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告‘暂存块归对垫’的受评节点结果；inputs/video.json 为 kind=none，也无状态日志。log step 29 只有会话重置探测的 PROBE FAIL，不能据此确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的夹爪动作不作为受评轨迹接触。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：评分器 reward.missing_trajectory=1、agent_records=0、agent_replays=0，未报告‘第三次按键’的受评节点结果；inputs/video.json 为 kind=none，也无状态日志。log step 29 只有会话重置探测的 PROBE FAIL，不能据此确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：评分器记录 missing_trajectory=1，没有交付轨迹；会话测试中的夹爪动作不作为受评轨迹接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 29, + "where": "首步前", + "evidence_zh": "观察：评分器记录 missing_trajectory=1、agent_records=0、agent_replays=0；log step 27—28 是 agent 脚本的按钮测试，log step 29 重置探测报 AttributeError 并输出 PROBE FAIL，之后无交付或最终汇报记录。推断：没有可供定位物理失败步骤的受评轨迹，断点记 unknown，位置为首步前。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次运行无视频、无状态日志，评分器仅报告缺少轨迹，没有六个节点的验收结果，故全部 intervals 与 final 保留 null，不能由 success=0 推出各步失败。log step 28 的按钮测试输出自身已被截断，随后 reset 在场景查找 SpringButton 对象时发生 AttributeError；log step 29 再次探测仍失败，此后没有恢复或交付记录。会话调试不能充当受评物理现象，也不足以确定未交付的根因；依 D23 留空现象和根因。成功参考视频存在，但不能证明本次运行的动作或节点结果。", + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + } + }, + "summary_zh": "评分器判定失败并记录 missing_trajectory=1，没有交付可回放轨迹；六个节点均无可确认的受评终值。日志仅显示会话内的逆解检查、按钮测试和末尾失败的重置探测（log step 26—29），断点记 unknown／首步前，现象和根因留空。本次无视频及状态日志，不能把会话测试进展迁移到受评节点。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "无视频、无状态日志、评分器仅报告 missing_trajectory=1，六个节点保持 unknown/null，断点 unknown/首步前，现象与根因留空并写 gap_zh，符合 03 第5条与 D23；log step 26—29 的描述与日志一致，未把会话测试当作受评事实。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:03:37Z", + "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/robodojo-swap-blocks-i00-privileged--5wwwcj4/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-privileged--5wwwcj4/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "d7eef6b6f85a3bdaec46c4555434c273f938a3b9dd16dc7c2f5288437542c272", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--d2i8yph.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--d2i8yph.json new file mode 100644 index 0000000000000000000000000000000000000000..b0e11f5540b81e454aa08a5dc1675d19f695ce7c --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--d2i8yph.json @@ -0,0 +1,319 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--d2i8yph", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2746, + "sim_steps": 2746, + "physics_steps": 27460, + "steps": 1540, + "elapsed_s": 2858.2, + "ended_failed_check": 1, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 551, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 42, + "text_zh": "观察：log step 42 的执行日志包含左夹爪抓取、抬升与脚本打印的“S2 done”；log step 41 的 agent 自述该次抓取因工具轴设错而失败。没有本次视频、状态日志或服务原生阶段结果，脚本完成提示和 agent 自检均不能决定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 42、45 记录左夹爪闭合、抬升及搬向中垫的尝试；没有本次画面或接触对，是否夹住方块、是否仅擦碰均未知。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 40、43 记录 agent 脚本执行右夹爪的按钮侧夹、上拉与下压指令，并自行输出“PINCH FAILED”或“cycle1 done”。这些输出及帽顶深度估计来自 agent 自己的程序，不是服务的阶段3、4验收；没有本次视频或原生阶段结果，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 40、43 记录右夹爪侧夹按钮帽并尝试升降；没有本次画面或接触对，实际夹持、下压或空夹方式未知。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 的执行日志包含“grasp right opening 0.984”“grasp retry opening 0.185”、搬向左垫时的“IK FAIL”，以及脚本打印的“S6 done”。没有本次视频或服务逐阶段结果，不能从夹爪读数及脚本提示确定另一块是否实际到达空垫，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 43 记录右夹爪抓取右方块并搬向左垫的尝试；缺少本次画面和接触对，实际是否建立抓握未知。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 43, + "text_zh": "观察：log step 43 在脚本打印“S6 done”后又输出右臂运动及“cap rest top”“pinch lift top”，对应第二轮按钮操作的尝试；这些帽高估计是 agent 的自检。服务未报告阶段7、8结果，且无本次视频或状态日志，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 43 在“S6 done”后记录右夹爪再次进行按钮操作；缺少本次画面和接触对，实际是否及如何碰到按钮帽未知。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：log step 36 的脚本列有中垫方块移往右垫的后续计划，但现有执行输出未确认该段实际运行；log step 50 的服务状态仅报告 done=True、reason=failed_check、control_steps=2746，没有已完成阶段。无本次视频或状态日志，不能判定本节点终值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 36 包含左夹爪将中垫方块移向右垫的计划；执行日志尾段不完整且无本次视频，不能确定该段是否实际开始及其接触方式。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 50, + "text_zh": "观察：log step 36、39 的脚本列有第三轮按钮操作计划，但没有对应的完整执行反馈或原生阶段11结果；log step 50 的服务终态只确认整个回合 failed_check。无本次视频或状态日志，总失败不决定第三次按压是否已完成，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 39 包含右夹爪第三次按按钮的计划；执行日志未确认该段开始且无本次视频，是否及如何操作按钮未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "block_on_middle", + "t": null, + "log_step": 42, + "where": "操作中", + "evidence_zh": "推断：log step 42 记录左臂执行首次移块的抓取和搬运；agent 在 log step 41 自述该次抓取因工具轴设错而失败，log step 45 的再次尝试又记录异常的工具长度自校准和抓取重试，log step 52 自述这些尝试均未通过阶段。由此把首个未修复操作失败定位到方块暂放中垫；这是日志推断，不能独立核验节点是否通过。log step 50 的服务状态确认回合在 control_steps=2746 以 failed_check 结束，但未报告具体触发条件。" + }, + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "source_zh": "agent 自述", + "t": null, + "log_step": 41, + "evidence_zh": "推断：agent 在 log step 41 自述首次抓取与按钮侧夹失败是把夹爪工具轴误当成 link6 的 z 轴；log step 36 的脚本确实使用相应的工具姿态，log step 43 随后将姿态改为 link6 的 x 轴朝下。log step 45 的自校准又输出 Ltip=0.1578，agent 在 log step 46、52 将其认定为错误并改为0.0835。这些记录支持控制实现与工具标定错误妨碍首次移块；真实接触后果及 failed_check 的直接触发机制无法独立核实，故不细分子类。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none（远端404且无本地副本），inputs/没有本次 replay.mp4 或 states.jsonl；日志图片仅有占位记录，不能观看。评分器与服务只给整个回合的失败及控制步计数，没有逐阶段通过数、按钮计数或原生距离、行程和归位误差；六个节点终值及全部视频时间均保留未知，不能用 agent 的深度自检、夹爪读数或“S2/S6 done”替代。实际接触、首次抓取失败的物理现象以及 failed_check 的具体原因均不可核验，所以现象层留空，断点与控制根因仅据日志推断；后段是否执行到第三次移块、第三次按键也不明确。成功参考的 oracle 视频只说明该任务的可见布局，不能补足本次运行证据。" + }, + "summary_zh": "观察：本次实时回合由服务在 control_steps=2746 以 failed_check 终止（log step 50），评分器 success=0；六个语义节点均无可用的逐节点服务验收结果，已确认完成数为0、未知数为6。推断：首次移块是日志中最早报告失败且未见修复证据的操作，断点定位为方块暂放中垫，agent 的工具轴修正与标定记录支持控制问题。没有本次视频或状态日志，无法核验实际抓握、节点进度和判负触发机制，因此不标具体物理失败现象。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志（video.kind=none），六个节点均为 unknown、intervals 为 null、现象层留空并在 gap_zh 说明，符合 N9；断点与控制根因明确标为日志推断，未把 agent 自述当作接触现象。未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:04:40Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--d2i8yph/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--d2i8yph/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e21798ff14c579c1e3e840b9cec46fc9b46b88ab4ea6052e895918bc090630fa", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--gobzsd8.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--gobzsd8.json new file mode 100644 index 0000000000000000000000000000000000000000..92fd02aa3a421812fc1b4aef70487bdd7661ebec --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--gobzsd8.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--gobzsd8", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 737, + "sim_steps": 737, + "physics_steps": 7370, + "steps": 226, + "elapsed_s": 786.8, + "ended_failed_check": 1, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 149, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 27, + "text_zh": "观察：log step 24–27 中 agent 的控制脚本先命令左夹爪闭合、抬升，再向中垫方向移动并下降、张爪；log step 28 agent 自述“左块已在中垫”。本次没有可用视频或状态日志，服务回包只有机械臂执行结果，没有方块中心位置或阶段1、2通过字段，无法确认本步达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 24–27 记录左夹爪针对左块的闭合及搬运指令；缺少本次画面和接触记录，不能确认夹爪是否实际夹住方块。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 35, + "text_zh": "观察：log step 31、33、35 中 agent 的脚本命令左夹爪闭合、上拉、下压、再上拉；log step 33、35 的服务回包报告末端运动及 done=false，没有按钮行程或阶段3、4状态。log step 36 的“完整按钮周期”是 agent 根据自有深度脚本作出的判断，不能据此填写本步真值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 31–35 记录左夹爪针对按钮帽的闭合及上下运动指令；无按钮接触对或本次画面，实际抓握或按压方式未知。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 39, + "text_zh": "观察：log step 36–39 中 agent 的脚本命令右夹爪在右块附近闭合、抬升、移向左垫并下降张爪。log step 39 服务在横移时报告 no solution within 1 cm，随后下降和张爪动作报告 Success；这些是机械臂执行结果，没有方块到垫关系或阶段5、6通过字段，无法确认放置结果。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 36–39 记录右夹爪针对右块的闭合及移向左垫指令；无本次画面或接触记录，实际接触未知。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 48, + "text_zh": "观察：log step 40–42 中 agent 的脚本先用右夹爪尝试第二次按键，log step 42 服务报告末端与目标相差约0.010–0.011米；log step 45–49 中脚本撤回右臂，改用左夹爪执行闭合、上拉、下压、再上拉。服务未报告按钮行程或阶段7、8通过状态，agent 自有深度统计不能替代节点验收。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 40–49 记录先右夹爪、后左夹爪尝试按钮操作；两臂依次尝试，实际是否夹住或压到按钮帽无法确认。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：log step 51–54 中 agent 的脚本命令右夹爪在中垫上方闭合、抬升、移向右垫、下降并张爪，log step 54 的服务回包报告这些末端动作执行结果及 done=false。没有本次画面、方块位置或阶段9、10字段，agent 自述“已完成交换”（log step 54）不能证明本步达成。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 51–54 记录右夹爪针对中垫暂存块的闭合及移向右垫指令；无本次画面或接触记录，实际接触未知。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 56, + "text_zh": "观察：log step 54–57 中 agent 的脚本命令左夹爪靠近按钮、闭合、上拉，再下压、上拉；log step 56 服务在 press_3 后报告 done=false、control_steps=694。服务未报告按钮是否低于半程或阶段11是否通过；随后 log step 63 的 failed_check 只给总体判负，不能单独决定本步真值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 54–63 记录左夹爪的第三轮按钮指令及最后的帽沿侧向调整；缺少按钮接触、行程记录和本次画面，实际接触方式未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "button_pressed_3", + "t": null, + "log_step": 63, + "where": "终态验收", + "evidence_zh": "推断：log step 56–58 中 agent 的脚本执行第三轮按键后尝试带帽归位，log step 60 明确自述正在调整帽沿以满足抬帽和归位联合条件；log step 63 脚本再次向帽沿侧移，RoboDojo 实时控制服务（机器人 API 的执行与终止状态来源）返回 done=true、reason=failed_check、control_steps=737。因此将断点归到第三次按键关联的终态验收；没有原生阶段字段，不能排除更早存在未通过的步骤。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none（回放获取返回404，且无本地视频），没有状态日志。inputs/run.json 虽有图像引用与 agent 自有深度统计，但没有可查看的本次图像、方块位置、按钮行程、原生阶段或按压计数；评分器仅报告总体失败，六个节点真值和实际接触均未知，所有视频时间为空。agent 在 log step 64、65 自述最后调整引发第四次按压；服务在 log step 63 的 failed_check 与此相符，但未给具体触发项，不能据此确认超次、丢失按钮帽接触等物理现象或细分根因，故两层留空。成功参考视频已粗看，只用于理解场景，不能补作本次节点证据。", + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + } + }, + "summary_zh": "日志记录了三轮移块与按键尝试，其中第二次按键由右臂尝试后改用左臂重试；无视频、状态日志或服务阶段结果，六个节点均无法确认。断点按操作记录推断为第三次按键后的终态验收：最后帽沿侧向调整时，服务返回 failed_check（log step 63），评分器 success=0。agent 自述误触第四次按压（log step 64、65），但没有计数或接触观测核实，失败现象与根因留空。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志（video.kind=none），六个节点按 N9 全部保持 unknown、intervals 为 null，符合规则；断点定在 button_pressed_3 并标为推断，两层留空并写明 gap_zh，均有 log step 60/63/64 支持，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:03Z", + "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/robodojo-swap-blocks-i00-standard--gobzsd8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--gobzsd8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5a40aa2f12a33bc4210905852aa8d91b225302c62ad478626c2f7feacf2bba7f", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--hzfs6hw.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--hzfs6hw.json new file mode 100644 index 0000000000000000000000000000000000000000..caf4871805dacdee1305d4db37d527a0975443c0 --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--hzfs6hw.json @@ -0,0 +1,370 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--hzfs6hw", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 10854, + "sim_steps": 10854, + "physics_steps": 108540, + "steps": 10446, + "elapsed_s": 2683.7, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 2172, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 175, + "text_zh": "观察：log step 161 的脚本调用左臂下降、闭爪、抬升并移向中垫；log step 175 直接读取 RoboDojo 服务 get_obs 的 proprio.now，左臂末端为 (-0.2642,-0.1264,0.9579) m，指令目标为 (-0.265,-0.123,0.933) m。该反馈只报告机械臂位姿，没有报告方块暂放阶段；没有本次视频或状态日志，不能用脚本的深度聚类、after-place0 名称或整体 success=0 判定此节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录左夹爪针对第一块红方块执行下降、闭合、抬升及向中垫放置的动作（log step 161、175）；缺少本次画面及接触对，实际接触方式未知。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 149, + "text_zh": "观察：log step 149 记录机器人左臂执行 L0-touch/L0-up、P1-press/P1-retreat、L1-touch/L1-up/L1-retreat，调用反馈均为 done=False；它们是脚本动作名，没有按钮关节行程、原生阶段3/4或有效计数的服务结果。没有本次视频或状态日志，无法判断第一次按钮确认是否通过。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录左夹爪执行第一次按钮压下和抬起动作（log step 149），对象为中垫前方按钮帽；无画面、接触对或按钮行程反馈，实际如何接触未知。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 161, + "text_zh": "观察：log step 161 记录右臂执行 pick2-down/pick2-close/pick2-lift，随后向左端垫放置时返回 ik fail，pos_m=0.020754；log step 215 又记录左臂执行 C-pick/C-place。这些调用说明脚本尝试了该移块步骤，但没有服务原生阶段5/6结果；脚本自测物体坐标不作为节点值，没有本次视频或状态日志，完成值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "机器人脚本先让右夹爪尝试抓取另一红块并送往左端垫（log step 161），后又使用左夹爪执行 C-pick/C-place（log step 215）；无实际接触观测，不判为抓握。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：log step 149 记录左臂 P2-press/P2-retreat 和 L2-touch，log step 190 记录脚本继续到第二次按钮循环后的 L2 检查；capz 是 agent 自行计算的深度统计，不是原生按钮阶段结果。服务没有报告阶段7/8、按钮行程或计数，没有本次视频或状态日志，第二次确认完成值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录左夹爪在按钮帽处执行第二轮按压、抬起动作（log step 149、190）；无画面或接触日志，实际接触方式未知。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 190, + "text_zh": "观察：log step 190 的脚本在 phase5 调用左臂 pick1-open/pick1-close 及向右端垫 place1 的动作；log step 215、229 也尝试 D-pick/D-place，后者报告放置逆解失败。没有服务原生阶段9/10结果，脚本把检测簇称为 middle block 不能证明其身份或先前暂存成功；无本次视频或状态日志，完成值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录左夹爪尝试将脚本选为暂存块的红方块移向右端垫（log step 190、215、229）；缺少可核对的物体身份、实际包夹和接触对，实际接触未知。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 147, + "text_zh": "观察：log step 147 记录机器人左臂执行 P3-press/P3-retreat、L3-touch/L3-up 和归位；log step 229 再次执行 button cycle 3 后，服务状态仍为 done=False。整体未成功不能单独证明阶段11未过，服务未报告该阶段、按钮行程或全程有效按压次数；无本次视频或状态日志，第三次按压完成值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "日志记录左夹爪在按钮帽处执行第三轮按压和抬起动作（log step 147、229）；没有实际接触观测，无法区分抓握、指面按压或未接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "block_on_middle", + "t": null, + "log_step": 175, + "where": "操作中", + "evidence_zh": "推断：方块暂放中垫是最早持续重试且未见完成或修复证据的任务步骤：log step 161 调用左臂抓取并移向中垫，log step 175 的服务 proprio 反馈显示下降末端仍比目标高约0.025 m，log step 183 再试时仍高约0.0245 m。后续 log step 225、231 继续重试抓取，log step 236 中 agent 自述“no block was ever lifted”；该自述不作为节点值。最终 log step 235 服务 control_steps=10854、done=False，评分字段 live_success=0、graded_by_live=1；据这些记录将断点定位到首个移块步骤，但缺少原生阶段记录，不能独立核实其首次失败时刻或排除它曾通过，视频时间留空。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 175, + "evidence_zh": "观察：log step 175 的脚本直接读取 RoboDojo 服务 get_obs.meta.proprio.now，机器人左臂下降末端 z=0.9579 m，指令 z=0.933 m，高出约24.9 mm；log step 183 保持12个控制步后，服务末端 z=0.9575 m，指令 z=0.933 m，仍高出约24.5 mm。log step 225 保持14个控制步后，服务本体反馈打印 z=0.9576 m，指令 z=0.9375 m，高出约20.1 mm；log step 231 在偏航偏置-0.30、0.60 rad的尝试中各保持12个控制步后，打印 z=0.9576、0.9577 m。log step 177 在目标 x、y=(-0.265,-0.123) m、z=0.90 m 的探测中，四种 roll 设置下服务实际 z=0.9551–0.9559 m。log step 175、183 的 x、y 相对指令偏差绝对值仅约0.4–3.4 mm，不作为主要证据。推断：下降末端反复未达到指令抓取位姿，支持运动·位姿不准；这些读数无法区分接触受阻、关节限位或跟踪问题，不能据此确定根因。指尖落在方块顶面仍是待核实的解释：log step 236 中 agent 自述指尖长度约0.158 m、块顶约0.8005 m，按其估计换算约0.9576-0.158=0.7996 m，但这些尺寸及实际接触未获本次图像或状态日志独立核实。" + } + ], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 为 kind=none，说明回放下载404且无本地视频；inputs/ 仅有日志、元数据和另一次成功运行的 oracle 视频，没有本次状态日志。评分器只报告整体 live_success=0，服务最终 done=False，未报告六节点的原生阶段、按钮行程或计数，因此所有节点 final 和视频区间均为 null，实际接触均为未知；这些未知不能当作六步均未完成。日志中的图片仅保留路径及格式文字，无法检查抓取、方块身份和放置过程，故不标没建立接触或没保持住；末端位姿不准主要依据本次单一实时回合的服务 proprio 高度读数：下降后仍比指令高约20–25 mm，保持12–14个控制步后仍未到位；毫米级横向偏差不作为主要证据。断点是日志支持的推断，其首次失败时间和是否曾修复缺少独立验证。重复的末端高度读数不足以确定控制层根因，故 root_causes 留空；指尖落在块顶仅与现有读数及 agent 自述尺寸相容，尚未独立核实，即使成立也不能区分深度定心误差、夹爪开度或其他接触与轨迹问题。另次成功 oracle 只供理解场景和目标外观，不能补作本次证据；agent 在 log step 236 所称最终按钮归位条件不可实现未经验证，不据此标任务设计问题。", + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + } + }, + "summary_zh": "本次按单次实时回合评分，最终 live_success=0；日志显示机器人尝试了三次移块及按钮循环，但没有逐节点服务判据，已证实完成为0/6，六节点完成值全部未知。推断断点为“方块暂放中垫”的操作中：log step 175、183 的服务本体反馈显示下降末端比指令高约24.5–24.9毫米，log step 225 保持14个控制步后仍高约20.1毫米，以此保留位姿不准；无法确定接触受阻、关节限位或跟踪等根因，根因留空。没有本次视频、状态日志和阶段计数，不能确认实际抓握、移块或按钮验收，也无法核实指尖落在块顶及其原因，故置信度仍为5。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频，六节点 unknown、断点写成日志推断，均与 gap_zh 一致，予以认可。问题在根因：标签把 z 偏差约0.025 m 读成控制跟踪不足，但 log 服务读数显示这个偏差在多次尝试和保持14步后都稳定，与指尖落在方块顶面相符，不是控制误差。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "无视频，六节点 unknown、断点作为日志推断、根因留空，均与证据和 gap_zh 一致，认可。唯一需改的是位姿不准的证据：现文以 2.6–3.4 mm 的横向偏差为主，这个量级不足以说明失败；服务读数里真正稳定可观察的是下降末端 z 反复停在约0.957 m、比指令高约0.025 m。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按 accept 落实：位姿不准的证据改以下降末端 z 未到指令高度为主，数值与 log 读数逐一吻合，根因仍留空，summary_zh 与 gap_zh 已同步。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按 accept 落实：位姿不准的证据改以下降末端 z 未到指令高度为主，数值与 log 读数逐一吻合，根因仍留空，summary_zh 与 gap_zh 已同步。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:12:46Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--hzfs6hw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--hzfs6hw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--hzfs6hw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--hzfs6hw/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--hzfs6hw/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--hzfs6hw/06_confirm_r3" + } + ], 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"robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 185, + "sim_steps": 185, + "physics_steps": 1850, + "steps": 185, + "elapsed_s": 1321.4, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 39, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 37, + "text_zh": "观察：完整日志中四次实时动作提交见 log step 19、28、31、33，内容是右夹爪试探按钮及退回，未记录移块动作；agent 在 log step 37 自述待逆解计算结束后再开始交换。无本次视频、状态日志或服务阶段值，不能仅凭该自述或 success=0 判定本节点真假。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 19, + "text_zh": "观察：log step 19 的服务返回 done=False、reason=None、control_steps=90；agent 脚本令右夹爪靠近按钮、闭合并上提，随后 log step 28、31 继续试探。日志没有原生阶段3、4或行程比例的服务验收值；脚本自算按钮高度不能替代验收，第一次按键节点未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 19、28、31 的脚本针对橙红按钮命令右臂二指夹爪闭合、上提，属于实时回合内的提前试探；缺少本次图像与接触对，不能确认实际夹住、压到或未碰到按钮，不照搬DAG的典型抓握。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 37, + "text_zh": "观察：log step 37 的 agent 自述尚待开始方块交换；本次评分器只返回总 success=0，没有阶段5、6结果。缺本次视频及状态日志，无法确认另一块到腾空端垫，终值未知。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 31, + "text_zh": "观察：log step 31 记录 agent 再次执行按钮夹持上提测试，但未返回原生阶段7、8或第二次确认结果；没有移块后的按键验收记录。本次无视频及状态日志，不将测试次数等同于第二次按键完成，终值未知。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 37, + "text_zh": "观察：log step 37 的 agent 自述仍将继续方块交换；评分字段未报告阶段9、10，也未报告两块身份与目标垫关系。本次无视频及状态日志，不能判定暂存块是否归对垫，终值未知。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 33, + "text_zh": "观察：log step 33 的 test_stage12_release.py 提交10个右臂回位动作，随后用 agent 自行计算的按钮高度与归位判据输出诊断；这不是服务报告阶段11或12通过，也不能证明第三次按键。评分器没有本节点的分项结果，终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 33 的脚本提前试探末次按键后所需的抬帽与右臂归位联合条件，命令右夹爪保持闭合并退回；不是已进入第三次按下阶段。无本次图像和接触对，实际按钮接触及脱离方式未知。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 39, + "where": "探索", + "evidence_zh": "推断：评分字段 graded_by_live=1、sim_startups=1、resumes=0，配合 log step 19、28、31、33 的四次提交，表明按钮及回位试探发生于同一实时评分回合；此处“探索”指机器人受命试探按钮，而非离线逆解计算。log step 39 明确报告 Gemini 过滤器拦截；此前 log step 36 的逆解搜索未返回，log step 37 的 agent 仍表示随后才交换方块，没有服务成功、不可逆判负或已结束回合的证据。按外因中断处理，无法将中断定位为某个物理节点失败。" + }, + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "观察：inputs/video.json 标记 kind=none，inputs/ 中没有本次 replay.mp4 或 states.jsonl；日志 look 调用的图片未随记录提供（out.pics均为空）。提供的 inputs/oracle/replay.mp4 是另一成功运行，不能证明本次动作或接触；评分字段仅报告总 success=0，没有原生阶段、按钮计数或DAG指标。推断：依N9，六个节点终值均未知、所有视频时间与区间为null；agent 自算的深度和归位数据只作会话诊断。log step 39 为模型供应商过滤器中断，之前最后一次动作回合仍无已通过或不可逆判负证据，依FAIL-5及D37不归为机器人能力失败，现象与根因留空，需重试；保留catalog的success=0而不据此反推节点失败。" + }, + "summary_zh": "本次为单回合实时评分，记录185个动作；日志中的执行脚本主要试探按钮夹持上提和右臂回位，未记录交换方块动作，六个节点均因缺少分项验收而保持未知。log step 39 报告 Gemini 过滤器中断，之前 agent 在 log step 37 仍表示将继续交换，按外因中断留空机器人失败现象及根因。无本次视频和状态日志，无法标注进展时刻或确认实际接触，成功参考视频不能替代本次证据。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志；全节点 unknown、断点 unknown、现象/根因留空并给 gap_zh，符合 N9 与外因中断（log step 39 的 Gemini 过滤器拦截，未交付、未判负）的处理。log 中 control step 175–185 的按钮试探与回位脚本与文件描述一致，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:08:26Z", + "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/robodojo-swap-blocks-i00-standard--n2a7tuc/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--n2a7tuc/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0f123d96f83c1be0455eeb33b646389fea87bc4b6e852d25a308e2254454d49d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--pocwgwd.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--pocwgwd.json new file mode 100644 index 0000000000000000000000000000000000000000..276f0ce8258ca0eeabed8111fac1f46a117118f7 --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--pocwgwd.json @@ -0,0 +1,289 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--pocwgwd", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 2468, + "sim_steps": 2468, + "physics_steps": 24680, + "steps": 2348, + "elapsed_s": 3498.7, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 495, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 81, + "text_zh": "观察：log step 62—77 记录机器人左夹爪闭合、抬升、横移及张开指令；agent 在 log step 81 自述“第一块已在中垫”。本次无视频和状态日志，服务未报告阶段1、2通过，不能以该自述确认暂放节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 62—77 向左臂二指夹爪发送闭合、移块及张开指令；缺少本次图像与接触状态，无法确认左夹爪与红方块实际怎样接触。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 359, + "text_zh": "观察：log step 180、274 说明 agent 转向第一次按钮确认；log step 352—363 记录右夹爪在按钮区域下移、闭合、上移和张开。服务只报告末端位姿与 done=false，未报告按钮行程或阶段3、4，无法确认首次按下及抬帽。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 352—363 向右臂二指夹爪发送按钮区域的闭合和上下移动指令；没有按钮接触对或图像，实际是否夹住按钮帽、是否压到按钮未知。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 274, + "text_zh": "观察：log step 115—118 记录机器人右夹爪在右方块原位置闭合并抬升，log step 126—270 多次发送远端方块的接近、闭合与抬升指令；agent 在 log step 274 自述方块仍在桌面、未被抬起。没有视频、状态日志或服务阶段5、6判定，节点终值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 115—118、126—270 记录右臂二指夹爪对右起始红方块及其后续恢复位置的抓取指令；无接触日志或可检查图像，不能确认实际抓握、推碰或脱落。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 422, + "text_zh": "观察：最终服务状态（log step 422）为 control_steps=2468、done=false、reason=null；没有阶段7、8或按钮行程结果，无法确认第二次按键节点。末段重复按钮区域动作没有原生阶段标识，不能直接按次数分配为本节点。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 423, + "text_zh": "观察：agent 最终在 log step 423 自述左起始块仍在中垫、右起始块仍在远端；日志没有服务对两块交换关系或阶段9、10的判定。本次无视频与状态日志，不能把自述或总失败结果直接换算为该事件节点的终值。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 422, + "text_zh": "观察：评分器给出 success=0、live_success=0，最终服务在 log step 422 仍为 done=false；未报告阶段11是否通过或按钮压下比例。总失败也可能来自其他阶段、计数或归位，无法据此单独判定第三次按键。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "other_block_on_vacated_mat", + "t": null, + "log_step": 118, + "where": "操作中", + "evidence_zh": "推断：log step 115—118 的右夹爪接近、闭合和抬升指令针对第二块移至腾出的左垫；随后 log step 126—270 反复恢复该方块。agent 在 log step 122 自述方块被移向桌子远侧，在 log step 274 自述仍未抬起，最终 log step 423 仍称方块留在远端；据此将持续未修复的操作定位为“另一块占空垫”。该定位依据动作记录和有明确出处的自述，缺少视频及原生阶段判定，无法确认前置节点通过情况或定位失误瞬间。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 明确为 kind=none（回放获取404且无本地视频），inputs/ 中也没有状态日志；run.json 的图片仅有二进制偏移索引，目录中未提供相应 steps.bin。评分器仅给总体失败，服务仅给末端、本体反馈和 done=false，没有方块持有/接触、阶段完成数、按钮行程及计数结果，因此全部节点终值未知、全部时间为空。断点按连续操作和 agent 自述推断，首次暂放与第一次按钮确认是否通过、哪个是最早未修复失败均不能独立核实。无法区分右方块未抓住、抓后丢失或被碰走，故现象留空；有末端跟踪误差与多次恢复记录，但不足以确定其如何导致该方块失败，根因也留空。已查看成功参考的粗采样接触表，仅用来理解圆垫、按钮和三次移块的外观，不能代替本次证据。", + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + } + }, + "summary_zh": "本次单次实时回合最终评分失败，服务在 log step 422 仍报告 done=false；六个节点均无可确认的服务分项结果，已确认完成数为0，实际完成数未知。动作日志与 agent 在 log step 122、274、423 的自述支持将断点推定为另一块移入腾出的端垫，其恢复尝试持续未解决。缺少本次视频、状态日志及原生阶段/按钮计数，不能确认接触现象、具体根因或各节点时间；成功参考只作外观对照。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志，标注者把全部节点设为 unknown、时间为空、现象和根因留空并写明 gap_zh，符合 N9 与证据纪律；断点按 log step 115—274 的连续操作推定并标明为推断，可接受。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:07:25Z", + "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/robodojo-swap-blocks-i00-standard--pocwgwd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--pocwgwd/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "eb2a2bbbb5563f1d3723fc54141c3eb3c5bc96016a183d2cf7a1005b0b8a5129", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--prw3kcw.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--prw3kcw.json new file mode 100644 index 0000000000000000000000000000000000000000..1710d6153928af60dcc60960b66cff6bc23efa53 --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--prw3kcw.json @@ -0,0 +1,324 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--prw3kcw", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1054, + "sim_steps": 1054, + "physics_steps": 10540, + "steps": 174, + "elapsed_s": 1720.1, + "ended_failed_check": 1, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 212, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 19, + "text_zh": "观察：log step 18–20 的 agent 脚本命令左夹爪在左端垫上闭合，抬高后移向中垫并张开；log step 19 服务返回的是机械臂位姿计划 Success，不是方块在垫或阶段通过字段。无本次视频、状态日志及原生阶段结果，不能确认暂放中垫。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪对左起始块的闭合、搬运和松开指令见 log step 18–20；无本次画面或接触对，实际是否夹住及接触方式未知。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 29, + "text_zh": "观察：log step 23–29 的 agent 脚本依次尝试夹住按钮帽上拉、闭爪下压、再夹帽上拉；log step 28 的 PRESSED 和 log step 29 的 cap after pull 均由 agent 自编深度处理代码产生。服务未报告阶段3、4是否通过，故第一次按键确认未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪对按钮帽的闭合上拉和下压指令见 log step 23–29；无本次画面或接触对，实际接触方式未知。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 54, + "text_zh": "观察：log step 36 命令右夹爪将右端块运往左垫，log step 39–54 又定位所谓掉落块并命令左夹爪重新搬到左垫。log step 54 的 Success 只报告机械臂计划；无方块关系或阶段5、6的服务结果，不能确认另一块占空垫。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：右夹爪搬运及左夹爪重抓、放置另一块的指令见 log step 36、53–54；不能用夹爪开度证实抓握，实际接触未知。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 57, + "text_zh": "观察：log step 56–57 的 agent 脚本执行下压按钮及夹帽上拉；PRESSED、cap after pull 是 agent 的图像深度检查输出，服务仅报告机械臂执行状态，未报告阶段7、8通过。无本次画面或状态日志，第二次按键确认未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪下压及夹帽上拉指令见 log step 56–57；无本次画面或接触对，实际接触方式未知。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "观察：log step 60–66 命令左夹爪从中垫抓取、移向右垫并松开，期间 log step 61 末端误差为0.0336米，log step 65 重试下降。log step 66 的方块位置为 agent 自编视觉测量，且另一块的测量报空数组错误；没有服务端交换关系或阶段9、10结果，故节点未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪从中垫搬往右垫的指令见 log step 60–66；无本次画面或接触对，实际接触方式未知。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 68, + "text_zh": "观察：log step 68 的 agent 脚本第三轮执行下压指令并打印自编判定 PRESSED；服务返回 done=False、reason=None，未报告按钮行程比例或阶段11结果，不能据此确认第三次按键节点。" + }, + { + "t": null, + "log_step": 102, + "text_zh": "观察：log step 101–102 命令右夹爪闭合上提按钮帽，同时准备让左臂经方块辅助保持帽抬起并归位；服务在控制步1054返回 done=True、reason=failed_check。此结果不报告六个语义节点的通过情况。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：左夹爪下压、后续右夹爪上拉及左臂准备辅助保持按钮的指令见 log step 68、95–102；无本次画面或接触对，不能确认抓握或双臂实际接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "button_pressed_3", + "t": null, + "log_step": 102, + "where": "操作中", + "evidence_zh": "推断：依据 log step 68 的第三轮下压指令及 log step 79–102 对按钮抬帽与双臂归位的持续尝试，将当前失败步骤定位为 button_pressed_3 所关联的最后按钮操作。log step 102 服务在左臂接近辅助方块的首行运动中，于控制步1054返回 failed_check，log step 103 再确认 done=True、resumes=0；这是实时评分回合的终止，不是随后保存脚本失败。log step 105 的 agent 自述“前11阶段很可能通过、意外计入第四次按压”未获原生阶段或计数读数证实，本定位不代表六个节点均已完成。" + }, + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "t": null, + "log_step": 102, + "source_zh": "日志", + "evidence_zh": "推断：log step 14 的 agent 辅助函数 ee 将未指定手臂的 None 替换为实测末端位姿，再向服务提交包含双臂的 ee_pose；log step 9 的服务说明明确两臂都重新求逆解。log step 101 右臂完成闭爪及上提指令后，log step 102 移动左臂时仍通过此函数重发右臂位姿，两个控制步后服务判负。agent 在 log step 105 自述该重求解扰动了右臂并造成额外按压，承认本应发送实测关节角保持右臂；代码与执行顺序支持保持控制不当这一归因，但无按钮和关节末态读数，不能确定具体逆解或反馈子类。" + } + ], + "gap_zh": "本次 inputs/video.json.kind=none（获取回放返回404且无本地视频），inputs/ 也无 states.jsonl；reward 中 video_rendered=1、video_frames=212 不等于已提供可检查画面。日志的 look 输出仅保留图片占位符；六节点的原生阶段、方块关系、按钮行程及按压计数均未报告，因此所有 intervals、final 保留 null，已尝试节点的 contact_actual 均为未知。agent 的深度检查及 log step 105 完成自述不作节点值；failed_check 未给具体失败检查项，不能独立确认第四次按压或具体接触失效，故现象层留空。控制根因依代码与 agent 自述推断，物理因果仍待核实。成功参考视频属于另一回合，仅用于理解视图与动作，不能补足本次证据，也不能据 agent 自述认定任务不可完成。" + }, + "summary_zh": "本次实时评分回合执行了三轮移块、按钮操作及后续抬帽归位尝试；agent 在 log step 105 自述交换与前三次按压完成，但没有逐节点服务结果，六个节点最终值均未知。服务在 log step 102、控制步1054以 failed_check 结束，断点定位于最后按钮抬帽归位操作；双臂位姿重求解导致保持失效是代码与 agent 自述支持的控制归因，额外按压尚未独立核实。本次无视频和状态日志，无法确认实际接触、节点时段或物理失败现象。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "本次无视频、无状态日志（video.kind=none），标注把全部节点保持 unknown、intervals 为 null、现象层留空并写明 gap_zh，符合 N9；断点定在 button_pressed_3（含阶段12保持/归位）、根因“控制”为带明确推断标记的代码级归因，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": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:05:09Z", + "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/robodojo-swap-blocks-i00-standard--prw3kcw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--prw3kcw/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd862d06eaf3380b6c3d13ed1062d72b5f2d4c24cdd5432dca4648dd1b361e3d", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--uphpjaw.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--uphpjaw.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc2117cf9cea21108b7b5dd00691ffe7db8d5ce --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--uphpjaw.json @@ -0,0 +1,339 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--uphpjaw", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 3970, + "sim_steps": 3970, + "physics_steps": 39700, + "steps": 2609, + "elapsed_s": 1571.2, + "ended_failed_check": 0, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 796, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 60, + "text_zh": "观察：log step 59 的脚本命令左夹爪将左起始块移到中垫并松开；log step 60 的服务状态仅给出 done=false、control_steps=815，没有阶段1、2通过字段。log step 62 称方块已在中垫是 agent 自述；无本次视频或状态日志，不能据此确定本节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 60 有涉及左夹爪与左起始方块、中垫的操作命令记录；没有本次画面或接触状态，无法核实实际接触及接触方式。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 66, + "text_zh": "观察：log step 65 的脚本命令左夹爪下移按钮帽后上拉；log step 66 的帽高是 agent 自编深度处理函数的输出，随后该函数读取深度序列时报 KeyError。log step 67 声称阶段4通过，但没有服务端阶段或计数读数；无本次视频，不能据此确认第一次按键验收。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 66 有涉及左夹爪与按钮帽的操作命令记录；没有本次画面或接触状态，无法核实实际接触及接触方式。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 100, + "text_zh": "观察：log step 67—92 的脚本多次命令左夹爪把右起始块放到左垫并修正，log step 99—100 又执行闭爪推块脚本；log step 100 的位置来自 agent 自编视觉处理，log step 101 据此声称阶段6通过。服务未报告该节点的验收结果，无本次视频或状态日志，完成值未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 100 有涉及左夹爪与右起始方块、左垫的操作命令记录；没有本次画面或接触状态，无法核实实际接触及接触方式。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 95, + "text_zh": "观察：log step 94—95 执行标为第二次按键的脚本，其自编函数输出 pressed cap z=0.7973、up cap z=0.7965；随后 log step 99—101 才继续修正第二块并自称阶段6通过。log step 101—102 随即执行中垫到右垫的移动；这些命令与自测不能证明按原生顺序通过了阶段7、8，日志也没有对应服务结果字段。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 95 有涉及左夹爪与按钮帽的操作命令记录；没有本次画面或接触状态，无法核实实际接触及接触方式。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 102, + "text_zh": "观察：log step 101—102 的脚本命令左夹爪将中垫块搬到右垫，打印的左右块坐标由 agent 自编视觉函数计算。log step 103 只称阶段9、10“should be passed”，未给出服务端阶段结果；无本次视频或状态日志，无法核实前置按键阶段及本节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 102 有涉及左夹爪与中垫暂存块、右垫的操作命令记录；没有本次画面或接触状态，无法核实实际接触及接触方式。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 105, + "text_zh": "观察：log step 103—105 执行标为第三次按键的脚本，agent 自编函数打印帽高0.7908，随后命令松爪并移回起始位置。log step 108 宣称全部12阶段通过、恰好按3次，但评分器 live_success=0 且未提供阶段11或累计按键计数；无本次视频，不能把该自述或自测作为本节点完成值。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "观察：log step 105 有涉及左夹爪与按钮帽的操作命令记录；没有本次画面或接触状态，无法核实实际接触及接触方式。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 105, + "where": "未知", + "evidence_zh": "观察：评分器记录 graded_by_live=1、live_success=0、finalized=1、sim_startups=1、resumes=0、infra_error=0，说明评分对象是这一次实时回合。log step 95、100、102、105 先后执行第二次按键、第二块位置修正、第三次移块和末次按键脚本，但没有原生阶段通过记录。推断：可以确定 agent 已执行任务操作并最终未通过，不能在缺少本次视频和状态日志时判定首次未修复的是哪一节点，亦不能认定已到终态验收；log step 105 仅作为最后操作的日志导航点。" + }, + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + }, + "phenomena": [], + "root_causes": [ + { + "cat": "认知", + "item": "误以为完成", + "source_zh": "agent 自述", + "evidence_zh": "推断：agent 在 log step 106 已称第三次按键注册、双臂归位，log step 107 仅语法检查记录脚本并从服务状态筛选打印 control_steps=3970，未显示 done 或阶段通过；log step 108 随即宣布“All 12 stages executed, exactly 3 presses”并结束。评分器实际 live_success=0，且 run.json 的 wall_s=1653、time_limit_s=3600，说明不是预算用尽；错误的完成判断促使其在仍有预算时停止。" + } + ], + "gap_zh": "本次 inputs/video.json 为 kind=none，inputs/ 中没有本次 replay.mp4 或 states.jsonl，也没有状态路径；run.json 的图片条目仅保留图片占位与偏移引用，未提供可查看的本次像素文件。已检查成功参考视频的抽样画面及参考视频约94.3 s的末帧，但它只展示另一回合，不能证明本次移块或按键。评分器只报告总体失败，没有六节点对应的原生阶段、按键计数或七项原生指标；按N9，六节点 final 与所有视频时间均保留 null，实际接触为未知，无法唯一定位首次未修复步骤或观察其物理失败现象，故现象层留空。agent 自编深度测量及其滑落、阶段通过自述仅用于理解会话和决策，不能补作节点或接触事实。 log step 52、103—105 中的 QD 只确定命令目标朝向，帽高来自 agent 自编函数；log step 108 的左臂偏差≤1.3毫米也只是位置自述，不能验证朝向。缺少按钮原生行程比例、按键计数、双臂实际朝向及阶段通过读数，按钮行程与双臂回位是否达标仍无法判定；代码和决策可作为规划疑点，但不足以确定该计划缺陷实际导致本次失败，故不保留规划类根因。" + }, + "summary_zh": "评分器确认该单次实时回合失败；日志记录了三次移块和三次按键意图，但六个节点均缺少可核实的服务验收结果，完成数未知。agent 在未取得成功确认时自称全部阶段完成并于仍有预算时停止，支持“误以为完成”；按钮行程和双臂回位是否达标及规划类根因无法判定。无本次视频或状态日志，无法确定首次未修复节点、实际接触和物理失败现象；成功参考视频不作本次证据。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "本次无视频、无状态日志，节点保持 unknown、现象留空、断点 unknown 符合 N9，合同校验通过。但第一条根因（认知·推理/规划）靠指令目标与代码推断，缺少服务端读数或画面支持，应删除或降为未决。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "无视频、无状态日志，六节点 unknown、断点 unknown、现象留空并附 gap_zh，符合 N9；第一轮指出的规划根因已删除，仅保留有 log 支持的“误以为完成”。合同校验通过。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:10Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--uphpjaw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--uphpjaw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--uphpjaw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--uphpjaw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "ac47df2436261f44c420a306bc2481fb511190c3332c3f3ece087cfcda459edd", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--zbhx8tr.json b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--zbhx8tr.json new file mode 100644 index 0000000000000000000000000000000000000000..28da6fc13ed6039443fd79d33595b48041bb1d8e --- /dev/null +++ b/phase2/robodojo/swap_blocks/trajectories/robodojo-swap-blocks-i00-standard--zbhx8tr.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-swap-blocks-i00-standard--zbhx8tr", + "taskKey": "robodojo/swap_blocks", + "dag_sha256": "9647c4bbfdb2fcef277fa607fcb98783349b267390db9aa90de863b74746d469", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "finalized": 1, + "missing_log": 0, + "n_actions": 1433, + "sim_steps": 1433, + "physics_steps": 14330, + "steps": 1433, + "elapsed_s": 773.6, + "ended_failed_check": 1, + "ended_step_guard": 0, + "determinism_verdict_mode": 0, + "video_rendered": 1, + "video_frames": 288, + "sim_error": 0, + "instance_mismatch": 0, + "instance_exact": 1, + "grader_error": 0, + "infra_error": 0, + "gave_up": 0, + "sim_crashed_on_call": 0, + "sim_startups": 1, + "resumes": 0, + "resume_state_mismatch": 0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "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, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "block_on_middle": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 83 中机器人服务起始 control_steps=0，agent 控制器打印“Left Block -> Middle Mat”计划；log step 99 的服务观测为 control_steps=998、done=false。日志未提供阶段1、2通过字段；本次无视频、无状态日志，不能确认方块实际抬起并进入中垫容差，final 未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "左臂夹爪被脚本指派搬运左起始红方块到中垫；后续修复脚本亦计划搬块，但缺少可观察的接触记录，不能确认夹住、滑脱或推碰。" + } + ] + }, + "button_confirmed_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 83 中 agent 控制器列出“Button Press #1”计划；log step 117 中又列出修复序列的第一次按键。没有服务原生阶段3、4、按钮行程或累计计数字段；无本次视频及状态日志，不能确认第一次按下和抬帽验收。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "脚本安排左臂夹爪靠近按钮、闭合并上下运动；没有实际接触和帽运动证据，无法区分抓握、按压或未接触。" + } + ] + }, + "other_block_on_vacated_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 83 中 agent 控制器打印“Right Block -> Left Mat”计划；log step 92 的方块位置为 agent 自编检测脚本输出，不能作为无视频时的节点值。没有服务阶段5、6通过字段，无法确认另一块占空垫及其顺序前置。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "脚本安排机械臂夹爪搬运另一红方块到腾出的端垫；没有本次图像或接触对日志，实际作用端接触方式未知。" + } + ] + }, + "button_confirmed_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 83, + "text_zh": "观察：log step 83 中 agent 控制器列出“Button Press #2”计划；log step 117 的修复计划也包含第二次按键，但服务未报告阶段7、8通过情况。无本次视频、状态日志或按钮行程字段，无法确认本节点。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "脚本安排左臂夹爪完成第二次按钮上下运动；实际是否夹住帽沿或向下压帽无法观察，接触未知。" + } + ] + }, + "parked_block_on_other_mat": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 99, + "text_zh": "观察：log step 99 的机器人服务观测为 control_steps=998、done=false；log step 95—97 只输出 agent 对计划关节轨迹的正运动学检查，log step 107 的方块身份及位置来自其自编检测。没有服务阶段9、10通过字段；无视频及状态日志，不能据这些检查确认暂存块归对垫。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "脚本安排右臂夹爪从中垫向右端垫搬运暂存块；实际抓取和搬运接触没有图像或状态日志佐证。" + } + ] + }, + "button_pressed_3": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 123, + "text_zh": "观察：log step 123 的机器人服务状态为 control_steps=1433、done=true、reason=failed_check；这只报告整回合失败，未报告阶段11是否通过。log step 124 中“Stage 11 & Stage 12”属于 agent 最终自述；无本次视频、状态日志及按钮行程读数，第三次按键的 final 仍未知。" + } + ], + "contact_actual": [ + { + "who": "未知", + "how": "未知", + "note_zh": "首轮脚本包含左臂夹爪第三次按键动作；服务控制步数表明首轮998步已走完，但不能据命令确认按钮上的实际抓握或按压接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "cube_mat_center_distance", + "unit": "m", + "threshold": 0.03, + "direction": "lower_better", + "value": null + }, + { + "name": "cube_rise_from_recorded_pose", + "unit": "m", + "threshold": 0.03, + "direction": "higher_better", + "value": null + }, + { + "name": "button_pressed_ratio", + "unit": "1", + "threshold": 0.5, + "direction": "lower_better", + "value": null + }, + { + "name": "button_up_ratio", + "unit": "1", + "threshold": 0.9, + "direction": "higher_better", + "value": null + }, + { + "name": "button_count_arming_ratio", + "unit": "1", + "threshold": 0.95, + "direction": "higher_better", + "value": null + }, + { + "name": "arm_return_max_axis_error", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_return_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 123, + "where": "未知", + "evidence_zh": "观察：log step 83 的机器人服务从 control_steps=0 开始；log step 117 的服务状态为 control_steps=998、done=false、resumes=0，agent 随后在同一回合执行修复脚本；log step 123 服务以 control_steps=1433、done=true、reason=failed_check 结束。评分器 reward 同时报 success=0、ended_failed_check=1、infra_error=0，但无失败子条件、阶段数或按钮计数；不能定位首个未修复的语义步骤，也不能判断当时属于操作中或转场。" + }, + "unmet": { + "block_on_middle": null, + "button_confirmed_1": null, + "other_block_on_vacated_mat": null, + "button_confirmed_2": null, + "parked_block_on_other_mat": null, + "button_pressed_3": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 的 kind=none，inputs/ 中没有本次 replay.mp4，也没有 states.jsonl 或状态路径；有成功参考视频，但它不是本次回合证据。完整运行记录中的图片查看步骤没有可供本次检查的图像内容，代码和部分工具回显还含原始截断。服务只给总状态 failed_check，未给逐阶段验收、按钮计数、物体位姿或接触对；因此六节点均无法判真伪，所有视频时间保持 null，断点位置未知，现象和根因留空。agent 自编深度检测（log step 92、104、107）与最终完成自述（log step 124）不作为节点或实际接触的证明；最终自述亦不能覆盖 log step 123 的服务失败结果。" + }, + "summary_zh": "评分器记录本次单一实时回合失败：首轮脚本执行到998个控制步后，agent 继续修复，机器人服务最终在1433个控制步以 failed_check 结束（log step 99、117、123）。六个语义节点没有任何一个获得服务逐节点验收证据，全部保留未知，不能从整体失败或 agent 最终完成自述反推其达成情况。缺少本次视频、状态日志、阶段及按钮计数，无法确定首个未修复步骤、实际接触、失败现象与根因。", + "conf": 3, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "本次无视频、无状态日志，服务只给整体 failed_check（control_steps=1433，其中首轮脚本998步，修复脚本只走了约435步即被终止），没有逐阶段字段。六节点全部 unknown、断点 unknown、现象与根因留空并写明 gap_zh，符合 N9 与证据纪律；未把 agent 自编深度检测或最终自述当作观察；未把 agent 时间换算成视频时间。未发现需要修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:06:37Z", + "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/robodojo-swap-blocks-i00-standard--zbhx8tr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-swap-blocks-i00-standard--zbhx8tr/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bd1e9115f3992f09b98cc11c7c89acd7d22f203fb985b0f65674485501763b7a", + "video_sha256": null, + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; no local video" + } + } +} diff --git a/phase2/robodojo/sweep_blocks_random/trajectories/robodojo-sweep-blocks-random-i00-privileged--uibekyv.json b/phase2/robodojo/sweep_blocks_random/trajectories/robodojo-sweep-blocks-random-i00-privileged--uibekyv.json new file mode 100644 index 0000000000000000000000000000000000000000..6ce79e1f6acad79199bdbd5723fe7cfbcc1e4b90 --- /dev/null +++ b/phase2/robodojo/sweep_blocks_random/trajectories/robodojo-sweep-blocks-random-i00-privileged--uibekyv.json @@ -0,0 +1,286 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robodojo-sweep-blocks-random-i00-privileged--uibekyv", + "taskKey": "robodojo/sweep_blocks_random", + "dag_sha256": "9a81656dfb84e8f8e2ebf2adb4363b4e9cb62b3f388bb5148f3085d2738efa74", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "deterministic": 0, + "grader_error": 0, + "infra_error": 0, + "bad_trajectory": 1, + "agent_sessions": 0, + "agent_resets": 0, + "agent_sim_steps": 0, + "agent_records": 0, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "resource_emergency_kills": 0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "none", + "url": null, + "duration_s": null, + "fps": null, + "frames": null, + "sha256": null + }, + "state": null, + "progress": { + "method": "none", + "denominator": 6, + "base": null, + "peak": null, + "final": null, + "nodes": { + "dustpan_on_table": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 中 agent 仅将全零关节目标、两夹爪列为1的25×14数组保存为占位文件；评分器仅报告 success=0、bad_trajectory=1，未报告“簸箕留桌面”的验收结果。本次无视频及状态日志，不能从占位数组或零分确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 25 仅保存占位文件，评分器标记 bad_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0；未形成可核验的有效评分轨迹。" + } + ] + }, + "paper_balls_in_dustpan_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 中 agent 仅将全零关节目标、两夹爪列为1的25×14数组保存为占位文件；评分器仅报告 success=0、bad_trajectory=1，未报告“第1个纸团入簸箕”的验收结果。本次无视频及状态日志，不能从占位数组或零分确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 25 仅保存占位文件，评分器标记 bad_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0；未形成可核验的有效评分轨迹。" + } + ] + }, + "paper_balls_in_dustpan_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 中 agent 仅将全零关节目标、两夹爪列为1的25×14数组保存为占位文件；评分器仅报告 success=0、bad_trajectory=1，未报告“第2个纸团入簸箕”的验收结果。本次无视频及状态日志，不能从占位数组或零分确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 25 仅保存占位文件，评分器标记 bad_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0；未形成可核验的有效评分轨迹。" + } + ] + }, + "brick_in_dustpan_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 中 agent 仅将全零关节目标、两夹爪列为1的25×14数组保存为占位文件；评分器仅报告 success=0、bad_trajectory=1，未报告“积木入簸箕”的验收结果。本次无视频及状态日志，不能从占位数组或零分确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 25 仅保存占位文件，评分器标记 bad_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0；未形成可核验的有效评分轨迹。" + } + ] + }, + "earbuds_in_dustpan_1": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 中 agent 仅将全零关节目标、两夹爪列为1的25×14数组保存为占位文件；评分器仅报告 success=0、bad_trajectory=1，未报告“第1个耳机入簸箕”的验收结果。本次无视频及状态日志，不能从占位数组或零分确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 25 仅保存占位文件，评分器标记 bad_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0；未形成可核验的有效评分轨迹。" + } + ] + }, + "earbuds_in_dustpan_2": { + "method": "unknown", + "intervals": null, + "final": null, + "evidence": [ + { + "t": null, + "log_step": 25, + "text_zh": "观察：log step 25 中 agent 仅将全零关节目标、两夹爪列为1的25×14数组保存为占位文件；评分器仅报告 success=0、bad_trajectory=1，未报告“第2个耳机入簸箕”的验收结果。本次无视频及状态日志，不能从占位数组或零分确定该节点终值。" + } + ], + "contact_actual": [ + { + "who": "不适用", + "how": "不适用", + "note_zh": "观察：log step 25 仅保存占位文件，评分器标记 bad_trajectory=1 且 agent_sessions、agent_sim_steps、agent_records、agent_replays 均为0；未形成可核验的有效评分轨迹。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "broom_root_x_minus_dustpan_root_x", + "unit": "m", + "threshold": 0.1, + "direction": "higher_better", + "value": null + }, + { + "name": "dustpan_root_z_rise", + "unit": "m", + "threshold": 0.01, + "direction": "lower_better", + "value": null + }, + { + "name": "dustpan_up_angle", + "unit": "deg", + "threshold": 5, + "direction": "lower_better", + "value": null + }, + { + "name": "target_xy_distance_to_support_center", + "unit": "m", + "threshold": 0.081, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_ee_absolute_position_error_per_axis", + "unit": "m", + "threshold": 0.15, + "direction": "lower_better", + "value": null + }, + { + "name": "arm_ee_orientation_error", + "unit": "deg", + "threshold": 20, + "direction": "lower_better", + "value": null + } + ], + "failure": { + "breakpoint": { + "ref": "unknown", + "t": null, + "log_step": 25, + "where": "首步前", + "evidence_zh": "观察：完整日志中 agent 只读取任务、运动学和资产几何，log step 25 保存的是固定初始关节目标的25×14占位数组；其后 log step 26 没有调用或最终汇报。评分器报告 bad_trajectory=1、agent_sessions=0、agent_sim_steps=0、agent_records=0、agent_replays=0。推断：未形成可核验的有效评分操作，无法将失败唯一定位到某个入簸箕节点，断点记 unknown／首步前。" + }, + "unmet": { + "dustpan_on_table": null, + "paper_balls_in_dustpan_1": null, + "paper_balls_in_dustpan_2": null, + "brick_in_dustpan_1": null, + "earbuds_in_dustpan_1": null, + "earbuds_in_dustpan_2": null + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "本次 inputs/video.json 的 kind=none，且无状态日志；评分器未给逐节点终态或原生几何指标，故六个节点均为未知，所有视频时间和区间均为null。log step 25虽保存占位文件，但评分器标记bad_trajectory=1，未提供拒收的具体原因；缺乏有效评分轨迹，依D23不把会话内诊断或缺少有效交付当作物理失败现象，也不能仅据此反推规划、控制或交付操作根因，两层均留空。log step 24的预算记录只说明临近截止，不构成根因；log step 16的缺包在log step 17修复，log step 20的几何查询异常也未终止agent会话，均无证据属于评分期外因中断。已查看oracle视频0.0 s与315.0 s，参考画面中空簸箕与物体进入簸箕的差别可见，但oracle属于另一成功运行，不能决定本次节点值。" + }, + "summary_zh": "观察：agent 在 log step 25 仅保存25×14的初始位姿占位动作，评分器返回 success=0、bad_trajectory=1，仿真会话、步数、记录和回放计数均为0。推断：未形成可核验的有效评分操作，断点记unknown／首步前，无法确认任何节点达成；本次无视频、状态日志或逐节点评分，六个节点终值均未知，现象和根因留空。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "无视频、无状态日志；评分器仅给 success=0、bad_trajectory=1 且会话/步数/回放均为0，log step 25 只保存了25×14的原地占位数组。六个节点 unknown、现象与根因留空并写 gap_zh，符合 D23(a)/OPEN-16，未发现被时钟、节点值或现象误标之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "codex", + "model": "gpt-6.1-sol", + "effort": "high", + "created": "2026-10-30T22:09:35Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robodojo-sweep-blocks-random-i00-privileged--uibekyv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robodojo-sweep-blocks-random-i00-privileged--uibekyv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": 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