Add 90 Kimi 3.1 Pro trajectories (phaseK, batch K04; writer Claude Sonnet 5.5)

phaseK/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--i7pqwga.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-privileged--i7pqwga",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1640,
+   "sim_steps": 1640,
+   "stages_completed": 2,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 6,
+  "base": null,
+  "peak": null,
+  "final": 2,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：无视频、无状态日志。评分器 stages_completed=2（run.json reward），底包开局即在盘中央，按总数反推底包层与肉饼层为已达成（逻辑推断，非帧观察）。agent 日志（log step 107）显示肉饼放置后底包仍在盘上，属会话证据。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "log",
+    "intervals": null,
+    "final": true,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：评分器 stages_completed=2，说明除底包外肉饼层达成（总数反推）。会话日志 log step 48 / 107 记录肉饼放到底包上偏心约5 mm，仅作旁证；无视频，无法给出时间。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "无视频、无状态日志，无法确认灵巧手对该层食材的实际接触方式；agent 日志自述用手掌/近端指节的侧向包握，仅为会话证据。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：芝士层：stages_completed=2 不足以含第3层，故未达成（总数反推）。agent 会话中芝士多次在抓取/抬升时滑脱或倾斜（log step 64-112），最后仍未得到稳定抓取。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "无视频、无状态日志，无法确认灵巧手对该层食材的实际接触方式；agent 日志自述用手掌/近端指节的侧向包握，仅为会话证据。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：番茄层依赖芝士层，评分器总数 stages_completed=2 不允许其达成；日志中无任何尝试。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：生菜层同上，未达成；日志中无尝试。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "推断：顶包层同上，未达成；日志中无尝试。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "cheese_on_patty",
+   "t": null,
+   "log_step": 112,
+   "where": "操作中",
+   "evidence_zh": "推断：评分器 stages_completed=2，肉饼之后的芝士层未达成。agent 日志 log step 64-112 显示其反复尝试抓取芝士，多次在抬升时滑脱，直到 3600 s 预算结束（log step 112 仍在扫描抓取高度）。无视频，t 无法定位。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志（video.kind=none），无法观察交付轨迹中芝士层的具体失败现象；会话内的测试不是评分回放，不能作现象或根因证据。因此现象与根因留空，节点区间为 null。native_metrics 未在评分器字段中报告。",
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": true,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  }
+ },
+ "summary_zh": "无视频与状态日志：评分器 stages_completed=2，据此推断底包与肉饼层达成（2/6），芝士层起未达成。agent 在会话中（log step 64-112）反复尝试抓取芝士层，抬升时滑脱，直到 3600 s 预算结束；断点为芝士叠到肉饼上（操作中）。主要缺口：没有视频，时间与失败现象无法定位，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": "无视频、无状态日志：标注只依据评分器 stages_completed=2（底包开局成立+肉饼层）推断前两层达成、芝士层起未达成，所有推断均标明为推断，现象与根因留空并有 gap_zh，断点为芝士层（操作中）。没有发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:27:58Z",
+  "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/dexhand-assemble-hamburger-i00-privileged--i7pqwga/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-privileged--i7pqwga/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "08a996af88e00d0b6fb17e0b28d00f1f5ef86958007355445484f2da282537cb",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--gyxstek.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-assemble-hamburger-i00-standard--gyxstek",
+ "taskKey": "dexhand/assemble_hamburger",
+ "dag_sha256": "8fcc440ea79579cd20bf3359bd20d84b2942ce3638aa32282b17b686831db048",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 429,
+   "control_steps_total": 21654,
+   "elapsed_s": 2980.004,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 702,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 702,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.406,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.449,
+   "peak_cpus": 2.48,
+   "peak_pids": 87,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-assemble-hamburger-i00-standard--gyxstek.mp4",
+  "duration_s": 16.4,
+  "fps": 5.0,
+  "frames": 82,
+  "sha256": "72d0c68f56342b62c8747c2f8239d7b76dfb9d4fc2955e1b798d613a21876a58"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "bottom_bun_on_plate": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 起白盘中央即有浅黄色底包，顶部状态栏“Aligned 1/6”，直到视频结束（16.4 s）一直在盘上，手未碰它。"
+     }
+    ]
+   },
+   "patty_on_bottom_bun": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程深褐色肉饼一直留在前方备料支座上，盘上只有底包，状态栏始终“Aligned 1/6”；视频 2-6 s 手只在盘/芝士附近上方移动，未见搬运肉饼。"
+     }
+    ]
+   },
+   "cheese_on_patty": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程黄色芝士片平放在自己的支座上，未被拿起，盘上无芝士。"
+     }
+    ]
+   },
+   "tomato_on_cheese": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：番茄片全程留在备料支座上，未被移动。"
+     }
+    ]
+   },
+   "lettuce_on_tomato": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：生菜全程留在备料支座上，未被移动。"
+     }
+    ]
+   },
+   "top_bun_on_lettuce": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": 263,
+      "text_zh": "观察：视频 7-13 s 右手移到远端顶包支座并压住顶包，视频约 13.5-14.0 s 顶包翻离支座，状态栏变为“FAIL: ingredient_dropped”，顶包未到生菜上。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "其他",
+      "note_zh": "右灵巧手手指压住顶包并试图抓起，顶包被碰翻离开支座（候选：碰倒），未形成抓握。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_alignment_error_m",
+   "unit": "m",
+   "threshold": 0.012,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_tilt_rad",
+   "unit": "rad",
+   "threshold": 0.22,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_linear_speed_m_s",
+   "unit": "m/s",
+   "threshold": 0.025,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "max_angular_speed_rad_s",
+   "unit": "rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "peak_bend_rad",
+   "unit": "rad",
+   "threshold": 0.65,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "top_bun_on_lettuce",
+   "t": 14.0,
+   "log_step": 263,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7-14 s 右手在顶包支座上抓取顶包，约视频 14.0 s 顶包掉离支座，状态栏显示 FAIL: ingredient_dropped，盘上仍只有底包（1/6）。推断：图中最后一次（第 20 次）重置后的回放只有顶包被操作；肉饼等前序层在本回放里从未搬运，但机器人并未试图做它们，故以被操作的步骤为断点。agent 自述最后一次重置在顶包抬起时失败（log step 264）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 14.0,
+    "log_step": 263,
+    "evidence_zh": "观察：视频约 13.5-14.0 s 手指压到顶包后顶包翻出支座，状态栏转为 ingredient_dropped；顶包没有被抓握离开支座。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：agent 20 次重置中，薄层（芝士、番茄）一直抓不稳，agent 自述顶包“power grasp”抬起时失败（log step 261-264）；未见证据表明有更好的接触方案已被验证。推断：手指对薄/软圆盘的接触几何不合适。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；视频只有最后一次回放，前面 19 次重置的过程不在视频中，仅作 session 证据。顶包被碰翻的精确接触面看不清。",
+  "unmet": {
+   "bottom_bun_on_plate": true,
+   "patty_on_bottom_bun": false,
+   "cheese_on_patty": false,
+   "tomato_on_cheese": false,
+   "lettuce_on_tomato": false,
+   "top_bun_on_lettuce": false
+  }
+ },
+ "summary_zh": "观察：图中被评分的是最后一次回放（视频 16.4 s），只有底包留在盘上（1/6，开局即成立），肉饼、芝士、番茄、生菜均未动。推断：机器人在视频约 14.0 s 抓顶包时把它碰翻离开支座，评分器报 ingredient_dropped；agent 用完 20 次重置，自述只验证过肉饼（log step 268）。无状态日志，接触细节靠视频判断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频约14.0 s（对应控制步702，约14.04 s@50Hz）状态栏变为FAIL: ingredient_dropped，与log step 262-263（verify top bun lift，steps 702，task_failure）吻合；盘上始终只有底包（1/6），其余节点未达成，断点落在被操作的顶包，标注与视频一致。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:09Z",
+  "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/dexhand-assemble-hamburger-i00-standard--gyxstek/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-assemble-hamburger-i00-standard--gyxstek/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5d281228b459de3665652a09bcd868cc8cc5855f95642a8245506dfe76160520",
+   "video_sha256": "72d0c68f56342b62c8747c2f8239d7b76dfb9d4fc2955e1b798d613a21876a58",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--39m9vvd.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-privileged--39m9vvd",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 766,
+   "sim_steps": 766,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 5.084,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 2.98,
+   "peak_pids": 92,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-batter-whisk-i00-privileged--39m9vvd.mp4",
+  "duration_s": 17.5,
+  "fps": 10.0,
+  "frames": 175,
+  "sha256": "45695abab237dbe30533c340d74ed2ab618d18f0224916baf296ed71036600dc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [
+     [
+      6.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.2,
+      "log_step": 57,
+      "text_zh": "观察：视频 6.2 s 横幅首次由 Stage 0/5 变为 Stage 1/5，打蛋器被右手握住提离碗沿和台面，头朝下悬垂（评分器横幅）。"
+     },
+     {
+      "t": 15.5,
+      "log_step": 225,
+      "text_zh": "观察：视频 14.6 s 横幅仍为 IN PROGRESS，15.5 s 已为 FAIL: whisk_dropped（评分器读数，FAIL 出现在 14.6-15.5 s 之间）；帧中打蛋器仍悬在手下碗上方，未见明显滑落。推断：拿起是事件节点，已在 6.2 s 达成并锁存，final=true；掉落发生在后续搅拌步骤。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手指（拇指、食指、中指等）捏住打蛋器柄提起并搬运（视频 6.2 s 起）；评分器后来报 whisk_dropped，帧中未见滑脱细节"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.4,
+      "log_step": 225,
+      "text_zh": "观察：视频全程横幅 revolutions 0.00/5，Stage 始终未超过 1/5；打蛋器头始终悬在碗上方、未进入面糊，未见绕碗画圈；横幅 15.5 s 起为 FAIL: whisk_dropped。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手握柄，打蛋器头悬在碗上方，未完成画圈；评分器报 whisk_dropped"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.4,
+      "log_step": null,
+      "text_zh": "观察：视频最后一帧横幅仍为 Stage 1/5、drain 0/25、set-down hold 0/50，前置节点未达成，该节点未达成。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 17.4,
+      "log_step": null,
+      "text_zh": "观察：视频最后一帧横幅仍为 Stage 1/5、drain 0/25、set-down hold 0/50，前置节点未达成，该节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "value": 0.0,
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "value": 0.0,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "batter_whisked",
+   "where": "操作中",
+   "t": 15.5,
+   "evidence_zh": "观察：视频 6.2 s 拿起后（Stage 1/5），打蛋器悬在碗上方，revolutions 始终 0.00/5，15.5 s 横幅为 FAIL: whisk_dropped（评分器读数；14.6 s 仍为 IN PROGRESS）。",
+   "log_step": 225
+  },
+  "phenomena": [
+   {
+    "t": 15.5,
+    "log_step": 225,
+    "evidence_zh": "观察（评分器读数）：横幅 15.5 s 为 FAIL: whisk_dropped；帧中打蛋器仍悬在手下碗上方，未见可见滑落、未进入面糊。agent 自述（非视频观察）称握持滑脱、拇指先失去接触。",
+    "cat": "接触",
+    "item": "没保持住"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断，仅来自 agent 会话自述（log step 99、128、225 为会话内测试，会话显示 stage 2/浸入，与视频横幅 Stage 1/5、revolutions 0.00 不一致）：柄在指尖捏持中滑动，拇指先失去接触；视频未证实。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，节点时间来自视频横幅；FAIL 出现在 14.6-15.5 s 之间；视频未见可见滑落；根因仅来自 agent 自述的会话测试，视频未证实。",
+  "unmet": {
+   "whisk_picked_up": true,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  }
+ },
+ "summary_zh": "观察：视频 6.2 s 右手拿起打蛋器（Stage 1/5），revolutions 始终 0/5，打蛋器悬在碗上方未进入面糊，横幅 15.5 s 为 FAIL: whisk_dropped（评分器读数）。节点 1/4 达成；断点为搅拌面糊，现象为没保持住（评分器支撑），根因推断为抓握接触设计（仅 agent 自述，视频未证实，conf 低）。无状态日志。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（拿起达成、其余未达成）与断点 ref 基本成立，但掉落时刻和“滑脱掉落”的观察性描述与视频不符：横幅 FAIL 出现在约 15.5-15.6 s，不是 14.5-15.0 s；全程帧里打蛋器一直悬在手上，没有可见的滑落；根因全部来自 agent 会话自述。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（拿起达成、其余未达成）、断点 batter_whisked/操作中、15.5 s 的 FAIL 横幅与现象“没保持住”均有视频横幅支撑；根因明确标为推断且 conf 低，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:10Z",
+  "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/dexhand-batter-whisk-i00-privileged--39m9vvd/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--39m9vvd/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--39m9vvd/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-privileged--39m9vvd/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "972fcbf5715ef55ddd702057e1bf04875bcf45458daca64caa56f900820e3edc",
+   "video_sha256": "45695abab237dbe30533c340d74ed2ab618d18f0224916baf296ed71036600dc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--ebwhemz.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-batter-whisk-i00-standard--ebwhemz",
+ "taskKey": "dexhand/batter_whisk",
+ "dag_sha256": "6e00e241e1946ef6b1177646e941187a35e0a039cdd0f28d568b3a649d569de9",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 319,
+   "control_steps_total": 12267,
+   "elapsed_s": 3646.239,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 3135,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 19,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 3135,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.406,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.315,
+   "peak_cpus": 2.33,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-batter-whisk-i00-standard--ebwhemz.mp4",
+  "duration_s": 59.2,
+  "fps": 5.0,
+  "frames": 296,
+  "sha256": "8587682a117e7018dd2a7f4ca32123360432b167e510db5e36b01bff0cd83a46"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "whisk_picked_up": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程横幅 Stage 0/5、revolutions 0.00/5；末帧（视频 59 s）打蛋器仍斜躺在台面上，被右手指尖擦碰，未被提离。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手指尖反复触碰、拨动台面上的打蛋器柄，打蛋器仅被推动位移，未被握住提起（视频 0-59 s）"
+     }
+    ]
+   },
+   "batter_whisked": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程 Stage 0/5，revolutions 0.00/5，未达到该节点（前置节点“拿起打蛋器”未达成）。"
+     }
+    ]
+   },
+   "whisk_drained": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程 Stage 0/5，revolutions 0.00/5，未达到该节点（前置节点“拿起打蛋器”未达成）。"
+     }
+    ]
+   },
+   "whisk_on_counter": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程 Stage 0/5，revolutions 0.00/5，未达到该节点（前置节点“拿起打蛋器”未达成）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "revolutions",
+   "value": 0.0,
+   "unit": "rev",
+   "threshold": 5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_bowl_tilt_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "max_bowl_slide_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "whisk_picked_up",
+   "t": 5.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0-59 s 右手多次靠近打蛋器，打蛋器始终在台面上被推动，横幅一直 Stage 0/5。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 30.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 10-58 s 手指合拢时只擦过、推动细长光滑的柄，从未形成包裹抓握并提离，Stage 始终 0/5。推断（来自 agent 会话内试验自述，log step 165-168，非评分回放的事实）：柄光滑、指尖易滑开。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：视频显示重复抓取均未包住柄、未成功提起。推断（agent 会话自述，log step 150-171）：柄光滑致滑出、手指触台面、定位反复偏差。",
+    "source_zh": "视频为主 / agent 自述为辅"
+   }
+  ],
+  "gap_zh": "无状态日志，接触��节仅来自视频与 agent 自述；未逐帧核对每次抓取。",
+  "unmet": {
+   "whisk_picked_up": false,
+   "batter_whisked": false,
+   "whisk_drained": false,
+   "whisk_on_counter": false
+  }
+ },
+ "summary_zh": "观察：视频 59.2 s 内始终 Stage 0/5，打蛋器未被拿起，4 个节点均未达成。推断：断在“拿起打蛋器”，右手无法稳固握住光滑的细柄（agent 自述滑脱，log step 165-168），属抓取接触设计问题；无状态日志。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点（4 个均未达成，Stage 0/5）、断点 whisk_picked_up、contact_actual 与视频一致；仅现象证据把 agent 会话中的“滑脱”自述当作图中事实，且与“没建立接触”的定义相互矛盾，需改证据。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频全程横幅 Stage 0/5、revolutions 0.00，打蛋器始终在台面被推动，4 个节点未达成、断点 whisk_picked_up、没建立接触与根因均与画面一致；上一轮修改已落实，无新增问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:14Z",
+  "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/dexhand-batter-whisk-i00-standard--ebwhemz/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--ebwhemz/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--ebwhemz/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-batter-whisk-i00-standard--ebwhemz/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "02b4033e4db9f57c2fbf9afd693bca24984e0c08d9891d1370e6c6d636cf22e6",
+   "video_sha256": "8587682a117e7018dd2a7f4ca32123360432b167e510db5e36b01bff0cd83a46",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d.json

@@ -0,0 +1,890 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 4130,
+   "sim_steps": 4130,
+   "stages_completed": 5,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.476,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.247,
+   "peak_cpus": 1.99,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d.mp4",
+  "duration_s": 30.6,
+  "fps": 10.0,
+  "frames": 306,
+  "sha256": "c397b606f4d8196ae64bc2bbbe212faa95c988a67c671e6d025cea448cdb6770"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 30,
+  "final": 30,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频 3-8 s 右手伸向轮圈近侧气门，手臂遮住泵头；视频 8.5 s 顶栏 strokes 已为 1/28（计次要求泵头已坐紧锁好），故推断泵头在视频 8.5 s 前已接通锁紧，具体时刻（约 8.0 s）因遮挡不确定。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 1/28，约在视频 8.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 2/28，约在视频 9.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 3/28，约在视频 9.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 4/28，约在视频 10.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 5/28，约在视频 10.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 6/28，约在视频 11.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 7/28，约在视频 11.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 8/28，约在视频 12.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 9/28，约在视频 12.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 10/28，约在视频 13.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [
+     [
+      13.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 11/28，约在视频 13.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 12/28，约在视频 14.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 13/28，约在视频 14.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 14/28，约在视频 15.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [
+     [
+      15.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 15.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 15/28，约在视频 15.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 16/28，约在视频 16.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [
+     [
+      16.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 16.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 17/28，约在视频 16.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 18/28，约在视频 17.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 19/28，约在视频 17.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 20/28，约在视频 18.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 21/28，约在视频 18.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 22/28，约在视频 19.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [
+     [
+      19.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 19.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 23/28，约在视频 19.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 24/28，约在视频 20.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [
+     [
+      20.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 20.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 25/28，约在视频 20.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 26/28，约在视频 21.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.5,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 27/28，约在视频 21.5 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [
+     [
+      22.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 22.0,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 计数达到 28/28，约在视频 22.0 s（顶栏每 0.5 s 采样，误差约 0.5 s）；由视频 8.5 s 的 1/28 到 22.0 s 的 28/28，约每 0.5 s 两次。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [
+     [
+      28.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 28.8,
+      "log_step": null,
+      "text_zh": "观察：视频 22.0 s 起 strokes 28/28、表压 210.64 kPa；视频最后帧顶栏显示 SUCCESS，右手回到泵头附近。log step 120 记录“Disconnection at control 4047”：推断 4047/50 Hz=仿真 80.9 s，对应视频约 28.8 s（顶栏仿真时钟 t=0.56+2.8×视频秒，已在顶栏读数核对）。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "value": 210640,
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better"
+  },
+  {
+   "name": "piston_down_depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "piston_return_depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "piston_release_depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pump_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "handle_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：视频中顶栏 strokes 在视频 8.5 s 起计数，视频 22.0 s 达到 28/28、表压 210.64 kPa，最后帧显示 SUCCESS，30 个节点全部到达。泵头连接与断开的精确时刻被手臂遮挡，连接时刻由首次计次反推、断开时刻由 log step 120 的控制步 4047 换算，均为推断；各次泵压时间取自顶栏每 0.5 s 采样。无状态日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，30 个节点全部到达；顶栏 strokes 计数、SUCCESS、控制步 4047 换算均与视频一致，各节点时间误差在约 0.5 s 内，遮挡处已标为推断。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4c9cec47eb6387034d2e089c9139da14cd59e724a2f631489ea725fce6ca507b",
+   "video_sha256": "c397b606f4d8196ae64bc2bbbe212faa95c988a67c671e6d025cea448cdb6770",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ },
+ "contact_actual": {
+  "head_connected": [
+   {
+    "who": "手指/夹爪",
+    "how": "推/扫",
+    "note_zh": "观察：右手指在气门处作业，细节被手臂遮挡；推断为推入泵头并合锁。"
+   }
+  ],
+  "pump_stroke_1": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_2": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_3": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_4": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_5": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_6": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_7": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把��，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_8": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_9": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_10": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_11": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_12": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_13": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_14": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_15": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_16": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_17": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_18": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_19": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_20": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_21": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_22": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_23": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_24": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_25": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_26": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_27": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "pump_stroke_28": [
+   {
+    "who": "手指/夹爪",
+    "how": "压/擦",
+    "note_zh": "观察：右手掌/手指在 T 形把手处上下按压（视频 8-22 s），手臂遮住把手，具体抓握或压触方式推断为压。"
+   }
+  ],
+  "head_disconnected": [
+   {
+    "who": "手指/夹爪",
+    "how": "推/扫",
+    "note_zh": "观察：视频 26-30 s 右手回到气门泵头处（被手臂遮挡），推断为拨开拇指锁并推退泵头。"
+   }
+  ]
+ }
+}

phaseK/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt.json

@@ -0,0 +1,647 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-bicycle-pump-stroke-i00-standard--xwpuypt",
+ "taskKey": "dexhand/bicycle_pump_stroke",
+ "dag_sha256": "1e81e1d6887923dbaed96f9b3045c0eecce1c787fce830bd5914fcd0006f269f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 955,
+   "control_steps_total": 15033,
+   "elapsed_s": 3632.348,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 4059,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 4059,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.377,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.303,
+   "peak_cpus": 2.51,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-bicycle-pump-stroke-i00-standard--xwpuypt.mp4",
+  "duration_s": 59.2,
+  "fps": 5.0,
+  "frames": 296,
+  "sha256": "3f18da2b05e42e7db61d4dcce072790142893bcf7e42630d024c1850199e1bf0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 30,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "head_connected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": 100,
+      "text_zh": "观察：视频全程（0-59.2 s，对应仿真 t 1-81 s，视频时间≈仿真 t/1.37）顶栏 strokes 恒为 0/28、气压 200.00 kPa；仿真 t≈24-66 s（视频约 17-48 s）顶栏手柄深度多次往复升到约 180-190 mm 又回 0，却不计次。推断：计次要求泵头已坐紧并锁好，故锁角始终未达 1.50 rad，泵头连接未达成。仿真 t≈5-7 s（视频约 3.6-5 s）可见右手绿色指尖在气门泵头处操作，但看不清锁杆。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：仿真 t≈5-7 s（视频约 3.6-5 s）右手食指指尖压在气门泵头处推入并拨锁杆；锁杆是否被拨合看不见，计数 0 说明未合锁。"
+     }
+    ]
+   },
+   "pump_stroke_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：仿真 t≈24-66 s（视频约 17-48 s）右手张开的手掌压在 T 形把手上，把手下压至约 190 mm 再回升，多次往复，但因泵头未锁不计次。"
+     }
+    ]
+   },
+   "pump_stroke_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_7": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_8": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_9": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_10": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_11": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_12": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_13": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_14": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_15": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_16": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_17": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_18": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_19": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_20": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_21": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_22": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_23": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_24": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_25": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_26": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_27": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "pump_stroke_28": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 strokes 全程 0/28，该节点未达（前置 head_connected 未达）。"
+     }
+    ]
+   },
+   "head_disconnected": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 58.8,
+      "log_step": 100,
+      "text_zh": "观察：视频末帧（58.4-59.2 s）顶栏显示 FAIL: head_disconnected，右手在气门处做脱开动作。推断：连接从未达成，该节点未达。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频末段右手指尖在气门泵头处拨锁杆/外拉；末帧出现 head_disconnected 失败。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "tire_gauge_pa",
+   "value": 200000,
+   "unit": "Pa",
+   "threshold": 210600,
+   "direction": "higher_better"
+  },
+  {
+   "name": "piston_down_depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.18,
+   "direction": "higher_better"
+  },
+  {
+   "name": "piston_return_depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "piston_release_depth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pump_release_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.0873,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pump_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "handle_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "head_connected",
+   "t": 58.8,
+   "log_step": 100,
+   "where": "操作中",
+   "evidence_zh": "观察：视频全程 strokes 0/28，气压始终 200.00 kPa，仿真 t≈24-66 s（视频约 17-48 s）手柄深度往复到约 190 mm 也不计次；视频末帧 FAIL: head_disconnected。推断：泵头的拇指锁从未合上，连接这一步没有修复，后续泵压、脱开都无从成立。"
+  },
+  "unmet": {
+   "head_connected": false,
+   "pump_stroke_1": false,
+   "pump_stroke_2": false,
+   "pump_stroke_3": false,
+   "pump_stroke_4": false,
+   "pump_stroke_5": false,
+   "pump_stroke_6": false,
+   "pump_stroke_7": false,
+   "pump_stroke_8": false,
+   "pump_stroke_9": false,
+   "pump_stroke_10": false,
+   "pump_stroke_11": false,
+   "pump_stroke_12": false,
+   "pump_stroke_13": false,
+   "pump_stroke_14": false,
+   "pump_stroke_15": false,
+   "pump_stroke_16": false,
+   "pump_stroke_17": false,
+   "pump_stroke_18": false,
+   "pump_stroke_19": false,
+   "pump_stroke_20": false,
+   "pump_stroke_21": false,
+   "pump_stroke_22": false,
+   "pump_stroke_23": false,
+   "pump_stroke_24": false,
+   "pump_stroke_25": false,
+   "pump_stroke_26": false,
+   "pump_stroke_27": false,
+   "pump_stroke_28": false,
+   "head_disconnected": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 7.0,
+    "log_step": 94,
+    "evidence_zh": "观察：仿真 t≈5-7 s（视频约 3.6-5 s）右手指尖在气门泵头处拨锁，之后 strokes 恒 0。推断：拨锁弧线没有把锁杆压到位。agent 事后自述深度反投影显示锁杆尖比第一次假设高约 10 mm（log step 94）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "认知",
+    "item": "感知",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述锁杆位置估计偏约 10 mm（log step 94），其拨锁弧线按错误位置规划；agent 在 log step 49 曾判断锁已合上，后被 strokes 0 证否。属 agent 自述，未被独立核��。 注意矛盾：log step 94 的解锁阶段自述“未能松开锁杆”暗示锁曾闭合，而锁深度分数仅 0.019，连接是否曾部分成立无法判断；视频未显示锁杆没压到位。故该根因为推断，未被独立核实。",
+    "source_zh": "agent 自述 / 日志"
+   }
+  ],
+  "gap_zh": "视频看不清拇指锁杆的细节，head_connected 由 strokes 恒 0/28 推断；无状态日志。视频 59.2 s 对应仿真 81.18 s（4059 控制步，视频时间≈仿真 t/1.37）；视频顶栏 handle depth 多次往复至约 190 mm，与 log step 98 的 30 次泵压一致，strokes 仍为 0/28。"
+ },
+ "summary_zh": "观察：graded 第 4 个 episode（4059 控制步，视频 59.2 s（仿真 81.18 s））中右手在气门泵头处拨锁后，strokes 始终 0/28，气压 200 kPa，末帧 FAIL: head_disconnected。推断：泵头拇指锁从未合上，head_connected 未达，30 个节点 0 个完成；失败在连接步，可能因锁杆位置估计偏差约 10 mm（agent 自述，log step 94）。证据缺口：锁杆细节看不清，无状态日志。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（全部未达）、断点 head_connected 与 strokes 0/28 的读数与视频一致；但证据里多处把仿真时钟 t 写成“视频”时间（“视频 23-66 s”超出 59.2 s 的视频），且 gap_zh 对“视频只见 2-3 次往复”的说法与帧不符。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "全部节点未达、断点 head_connected、时钟标注（仿真 t 与视频时间分开）均与视频一致；末帧顶栏 strokes 0/28、FAIL: head_disconnected。根因为推断且已如实标注。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:22Z",
+  "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/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9f1ca110ce99ec0231c2f5f7c2a61521a3b6c664927ac621bb5d9aca9ec1c3ca",
+   "video_sha256": "3f18da2b05e42e7db61d4dcce072790142893bcf7e42630d024c1850199e1bf0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--wohxwks.json

@@ -0,0 +1,307 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-privileged--wohxwks",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 2580,
+   "sim_steps": 2580,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.91,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.298,
+   "peak_cpus": 3.23,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-binder-page-load-i00-privileged--wohxwks.mp4",
+  "duration_s": 30.7,
+  "fps": 10.0,
+  "frames": 307,
+  "sha256": "adafc11677e0ba96942fef078ea06c0e257153fe820451879037bbae2ae4a75e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.6,
+      "text_zh": "观察：视频顶部叠加字幕在 2.4 s 为 Stage 0/4、rings 0.33 rad，2.7 s 变为 Stage 1/4、rings 0.6 rad；右手食指下压助力拨片，拨板张开超过 0.5 rad。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手食指下压助力拨片使扣环张开"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.6,
+      "log_step": 177,
+      "text_zh": "观察：全程字幕 holes threaded 0/6；两张纸始终在桌面右侧，视频 30.6 s 末帧仍在桌面（离文件夹很远），未入环。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 10-30 s 右手指尖在桌边按压/拖动纸页，没有捏住纸页"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 30.6,
+      "log_step": 177,
+      "text_zh": "观察：全程 holes threaded 0/6，两张纸均未入环。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      2.4
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.4,
+      "text_zh": "观察：开局环为闭合（rings -0.0 rad），视频约 2.4 s 开始张开（0.33 rad）并保持张开到末尾（0.6 rad），未再闭合，故闭环丢失且未恢复。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hole_capture_radius",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_tilt",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wire_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hand_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_translation",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 12.0,
+   "log_step": 177,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 10-30 s 右手在桌面右侧的纸页上方/边缘反复尝试捏取，纸页只在桌面上被推动，字幕始终 holes threaded 0/6；agent 自述“没有抓住纸页”（log step 177）。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 20.0,
+    "log_step": 177,
+    "evidence_zh": "观察：视频 14-30 s 手指贴着纸页滑动，纸页始终未被手指提起或夹住，第1张纸从未离开桌面。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：纸页平放桌面，指尖捏取几何一直没成功；agent 日志 step 170 自述食指近端在卷曲时碰到纸页，多次改捏取姿态仍失败。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，未入环原因的细节（接触几何）主要来自 agent 自述和视频；结束前最后一秒手位于纸页上，未见抓起。",
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  }
+ },
+ "summary_zh": "观察：开环成功（视频约 2.6 s，Stage 1/4），但两张纸始终没入环（holes 0/6），环保持张开到视频 30.7 s 结束，闭环未恢复。断在第1张纸入环：右手无法捏起桌面上的纸页（推断：捏取接触设计不适配），agent 自述未抓到纸页并交付了未成功的轨迹（log step 177）。无状态日志，纸页接触细节依赖视频。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（开环 ≈2.6 s、两张纸未入环、断点 pages_threaded_1、没建立接触）与视频一致；仅 rings_opened / rings_closed 引用的 log_step 12 与证据内容无关。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（视频约 2.6 s 开环、两张纸未入环 holes 0/6、断点 pages_threaded_1、没建立接触、抓取和接触设计）与视频一致；第1轮的 log_step 问题已修复。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:33:36Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--wohxwks/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--wohxwks/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--wohxwks/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-privileged--wohxwks/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "da8be8963555a5c99bfdbee1073a39d3bf50935534a393b44d61cdad0b314813",
+   "video_sha256": "adafc11677e0ba96942fef078ea06c0e257153fe820451879037bbae2ae4a75e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--o3auual.json

@@ -0,0 +1,299 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-binder-page-load-i00-standard--o3auual",
+ "taskKey": "dexhand/binder_page_load",
+ "dag_sha256": "7b66f31f677549838769fa5d0443c5c82e455453dda042899107c711b92d17dd",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1370,
+   "control_steps_total": 25392,
+   "elapsed_s": 3629.364,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1653,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 10,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1653,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.416,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.451,
+   "peak_cpus": 2.72,
+   "peak_pids": 120,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-binder-page-load-i00-standard--o3auual.mp4",
+  "duration_s": 35.4,
+  "fps": 5.0,
+  "frames": 177,
+  "sha256": "1bfc533fdfa59151b8d538dd27c85f216d468f0e4521effe78998514ddcce7b9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rings_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-1.6 s 画面顶栏“rings -0.0 rad，Stage 0/4”，约 2.0 s 起顶栏变为“Stage 1/4 | rings 0.6 rad”，此后保持到视频结束（33.4 s 帧仍为 0.6 rad，近景可见三环张开）。推断：agent 的脚本控制右手食指按压拨板开环，达到 0.5 rad 阈值。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手手指（脚本）按压拨板开环；开环动作的画面在视频 0-2 s"
+     }
+    ]
+   },
+   "pages_threaded_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.4,
+      "log_step": null,
+      "text_zh": "观察：视频 33.4 s 终帧顶栏“FAIL: page_dropped | holes threaded 0/6 linked 0/6”；纸页斜落在手与文件夹之间，未套在环上，全程顶栏 holes threaded 始终为 0/6。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指-食指捏住第 1 张纸边缘，带到文件夹环上方（视频约 20-33 s），随后纸页落下未穿环"
+     }
+    ]
+   },
+   "pages_threaded_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.4,
+      "log_step": null,
+      "text_zh": "观察：全程顶栏 holes threaded 0/6，第二张纸仍散放在桌面右侧（33.4 s 帧），手从未去取。"
+     }
+    ]
+   },
+   "rings_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 33.4,
+      "log_step": null,
+      "text_zh": "观察：终帧 rings 0.6 rad（>0.05 rad），环仍张开，未执行闭环。推断：开头闭环状态不算该节点达成，节点判据含两页六孔被链接，未满足。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_toggle_open_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.5,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_toggle_closed_angle",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hole_capture_radius",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_horizontal_shift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "binder_tilt",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wire_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0012,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hand_page_penetration",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_translation",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.002,
+   "direction": "lower_better"
+  },
+  {
+   "name": "page_window_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pages_threaded_1",
+   "t": 33.4,
+   "log_step": 268,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 28-33 s 右手捏着纸页在文件夹环上方，约 33 s 顶栏转为 FAIL: page_dropped，holes threaded 0/6，纸页斜搭在手与文件夹之间。log step 268 脚本输出 OVER task_failure（control_steps 1653）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 33.4,
+    "log_step": 268,
+    "evidence_zh": "观察：视频终帧纸页在孔未对准环线、未套入时即离手/掉落，holes threaded 0/6。推断：松手时纸页尚不在环上，属位姿不准而非放后不稳。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：同一整合脚本在 episode 10、11 两次于首页释放处失败（log step 266、268）；agent 自述较早 episode 的校正后穿环成功（log step 166），并怀疑加快拖动改变了抓取几何（log step 269，仅为猜测）。子类型无法确定。",
+    "source_zh": "日志 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志；落纸瞬间手部遮挡了环附近的纸孔，具体是孔偏差还是捏持滑脱无法分辨；根因子类型不明。视频为最后一次 live 的 episode 11（1653 控制步），之前的会话尝试仅作旁证。",
+  "unmet": {
+   "rings_opened": true,
+   "pages_threaded_1": false,
+   "pages_threaded_2": false,
+   "rings_closed": false
+  }
+ },
+ "summary_zh": "观察：视频 2.0 s 起开环达 0.6 rad（第 1 节点达成）；agent 的脚本把第 1 张纸拖到桌边、捏起并送到环上方，但视频 33.4 s 顶栏出现 page_dropped，holes threaded 0/6。后续纸页入环、第二张纸和闭环均未做到，断点为第 1 张纸入环（操作中）；根因子类型无法确定，无状态日志。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值、时间、断点（第1张纸入环，操作中）与现象（位姿不准）和视频一致：2.0 s 起 rings 0.6 rad，终帧 FAIL: page_dropped、holes 0/6；根因子类型未知且已写明缺口，未发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--o3auual/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-binder-page-load-i00-standard--o3auual/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "52d4733bf44bf72264f5077db7dd25da343506cc46c1414739a9a186748e6d2f",
+   "video_sha256": "1bfc533fdfa59151b8d538dd27c85f216d468f0e4521effe78998514ddcce7b9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--zlpdupg.json

@@ -0,0 +1,141 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-privileged--zlpdupg",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 455,
+   "sim_steps": 455,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 3.676,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.26,
+   "peak_cpus": 1.45,
+   "peak_pids": 81,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-book-page-turn-i00-privileged--zlpdupg.mp4",
+  "duration_s": 11.2,
+  "fps": 10.0,
+  "frames": 112,
+  "sha256": "7f0f1963af83ff87d98f447d614b0dafd2d9ca66044c17d117efa5616373f00f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      9.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 9.1,
+      "log_step": 58,
+      "text_zh": "观察：视频叠字在 9.1 s 由 hold 45/50 变为 PASS、stage 4/4 (held)、hold 50/50；叶片2角度 181.7°，其他叶片最大 0.0°。右手食指约 5.6–7.3 s 拨起叶片2过竖直（92.2° 于约 7.0 s），随后落到左堆，手-书接触数在约 7.5 s 归零。log step 58 自述回放 455 控制成功。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：右手食指指尖贴着叶片2外缘沿弧线向上、向内推拨，叶片翻过竖直后自行落到左堆；叠字显示手-书接触 1–2 个，之后为 0。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：右手食指拨起第2号叶片翻过书脊落到左堆，视频 9.1 s 叠字显示 PASS、hold 50/50，唯一节点达成。书移位约10.6 mm、转动约1.9°，均在阈值内。无状态日志，节点时间来自视频叠字。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，唯一目标节点在视频 9.1 s 叠字 PASS、hold 50/50，与帧一致；接触（右食指推/扫）符合观察，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:17Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--zlpdupg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-privileged--zlpdupg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "7deabe4af58b8c4863d3dd13a3129d4150d1c1419ba1ae83b91d59e08b91c53c",
+   "video_sha256": "7f0f1963af83ff87d98f447d614b0dafd2d9ca66044c17d117efa5616373f00f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--9wengky.json

@@ -0,0 +1,158 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-book-page-turn-i00-standard--9wengky",
+ "taskKey": "dexhand/book_page_turn",
+ "dag_sha256": "b1614d794a716fb93ce7267d3c538874fe875ffd93b9add17265ecb5aed9cd91",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 194,
+   "control_steps_total": 5443,
+   "elapsed_s": 2434.9,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 1,
+   "missing_log": 0,
+   "n_actions": 1322,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 5,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1322,
+   "success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.385,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.358,
+   "peak_cpus": 1.9,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-book-page-turn-i00-standard--9wengky.mp4",
+  "duration_s": 28.8,
+  "fps": 5.0,
+  "frames": 144,
+  "sha256": "3edbf7fa507c1a3afcbc44d8ce3a8f37901659968f5beb9356ceec80497f46f0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "target_page_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      26.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 26.6,
+      "log_step": null,
+      "text_zh": "观察：视频 26.6 s 叠字变为 PASS / stage 4/4 (held) / hold 50/50，叶片2角度 181.7°，手-书接触 0；视频 25.0 s 为 142°，26.0 s 为 laid、hold 28/50；其他叶片最大 0.0°，书移位 5.1 mm、转动 0.45°（未越界）。评分器 reward 1.0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频约 8–24 s 一只灵巧手的手指从右侧拨起第2号叶片并将其带过书脊（叠字手-书接触数 1–2，角度 3.5°→142°）；未见合手夹持；约 25 s 起接触数为 0，手已离书。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：graded 视频（28.8 s）中机械手拨动第2号叶片，视频约 26.0 s 叶片落到左堆，视频 26.6 s 叠字 hold 50/50 并显示 PASS，唯一节点达成且 final 为真；书移位 5.1 mm、转动 0.45°，未触发约束。无状态日志，节点时间来自视频叠字；接触方式由接触数与帧推断，未逐帧核对指尖。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "唯一节点 target_page_turned 在视频26.6 s叠字PASS/hold 50/50、角度181.7°、接触0，与评分器reward 1.0一致；接触推/扫与帧相符，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:19Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--9wengky/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-book-page-turn-i00-standard--9wengky/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "452a675ef36fbb8f7d4ef7b9a21252041b5a379f6f8738a46a55f3e717fab591",
+   "video_sha256": "3edbf7fa507c1a3afcbc44d8ce3a8f37901659968f5beb9356ceec80497f46f0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--piunnle.json

@@ -0,0 +1,318 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-privileged--piunnle",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 0,
+   "infra_error": 0,
+   "missing_trajectory": 1,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.482,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.262,
+   "peak_cpus": 1.28,
+   "peak_pids": 81,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "none",
+  "denominator": 7,
+  "base": null,
+  "peak": null,
+  "final": null,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": null,
+      "text_zh": "观察：本次没有视频（video.kind none）、没有状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0，即没有交付可回放的轨迹；该节点无法从任何图像或评分字段判断，保持未知。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1），无被评分的接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "value": null,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better"
+  },
+  {
+   "name": "clods_brushed",
+   "value": null,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better"
+  },
+  {
+   "name": "brush_contact_controls",
+   "value": null,
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better"
+  },
+  {
+   "name": "hold",
+   "value": null,
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clod_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "boot_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "boot_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "brush_in_hand",
+   "t": null,
+   "log_step": null,
+   "where": "首步前",
+   "evidence_zh": "观察：评分记录 missing_trajectory=1、n_actions=0、sim_steps=0、success=0，没有交付任何动作轨迹，被评分的回合里机器人从未运动；agent 在 log step 2-177 只做会话内试验（抓刷、扫泥的脚本），末步仍在修改 outward_attempt.py 并运行出错（log step 177，agent 工作约 3565 s / 时限 3602 s），未保存可交付文件。推断：第一步“拿起鞋刷”在评分回合中从未开始。"
+  },
+  "unmet": {
+   "clods_in_tray_1": null,
+   "clods_in_tray_2": null,
+   "clods_in_tray_3": null,
+   "clods_in_tray_4": null,
+   "clods_in_tray_5": null,
+   "clods_in_tray_6": null
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "没有视频、没有状态日志，也没有交付轨迹；因 agent 一侧原因未交付，会话内的试验（log step 25-177）只是会话证据，不能作为失败现象或根因，故两层均留空。各节点 final 无评分字段可依，保持未知。"
+ },
+ "summary_zh": "观察：agent 在约 3600 s 会话中反复试验抓握鞋刷与扫泥脚本（log step 2-177），最后一步脚本仍报错，评分器记录 missing_trajectory=1、n_actions=0，未交付轨迹。因此评分回合中七个节点均无法判断（无视频、无状态日志），断点记在第一步“拿起鞋刷”之前（首步前）；未交付属 agent 一侧原因，不给现象与根因。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0；各节点 unknown、intervals 为 null、契约校验通过。断点首步前、现象与根因留空并写 gap_zh，符合 03 的“agent 一侧未交付”规则（D23）；会话内试验（log step 175 的 FAIL hand_touched_debris 等）未被当作评分回合的事实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:27:43Z",
+  "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/dexhand-boot-sole-brush-i00-privileged--piunnle/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-privileged--piunnle/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9b6a037583638c482bdc8b81bec77740eb0c9711d8bde9db82107ffcd3aff9ce",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--hcmsrmp.json

@@ -0,0 +1,329 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-boot-sole-brush-i00-standard--hcmsrmp",
+ "taskKey": "dexhand/boot_sole_brush",
+ "dag_sha256": "cd4451f62f3532c4b6d69d8cb39e471594d0629b38c2d857aeb9b6ca1a36e3a1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 293,
+   "control_steps_total": 12103,
+   "elapsed_s": 3650.572,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1731,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 15,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1731,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.404,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.446,
+   "peak_cpus": 1.72,
+   "peak_pids": 89,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-boot-sole-brush-i00-standard--hcmsrmp.mp4",
+  "duration_s": 36.0,
+  "fps": 5.0,
+  "frames": 180,
+  "sha256": "93b0a3d714a2d51cba20db6217aae86cf8fdeb7ff366899ddfaac48e684316b8"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      12.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 12.6,
+      "log_step": null,
+      "text_zh": "观察：视频 11 s（control 550）刷子仍平放在台面上、右手在其旁；视频 12-13 s（control 600-650）刷子已被右手带离台面并抬起，之后一直在手中直到结束（视频 36 s）。时间约 12.6 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右灵巧手握住木背鞋刷并拿离台面，之后一直握持。"
+     }
+    ]
+   },
+   "clods_in_tray_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：全程画面顶部计数“in tray 0/6”（视频 36 s 仍为 0/6，clods brushed 2/6，stage 1/3），没有泥块入盘；最后一帧显示 FAIL: hand_touched_debris。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持刷，用刷毛在视频约 21-36 s 扫靴底，计数显示 2/6 块被刷到，但无一块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：全程画面顶部计数“in tray 0/6”（视频 36 s 仍为 0/6，clods brushed 2/6，stage 1/3），没有泥块入盘；最后一帧显示 FAIL: hand_touched_debris。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手持刷，用刷毛在视频约 21-36 s 扫靴底，计数显示 2/6 块被刷到，但无一块入盘。"
+     }
+    ]
+   },
+   "clods_in_tray_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：全程画面顶部计数“in tray 0/6”（视频 36 s 仍为 0/6，clods brushed 2/6，stage 1/3），没有泥块入盘；最后一帧显示 FAIL: hand_touched_debris。"
+     }
+    ]
+   },
+   "clods_in_tray_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：全程画面顶部计数“in tray 0/6”（视频 36 s 仍为 0/6，clods brushed 2/6，stage 1/3），没有泥块入盘；最后一帧显示 FAIL: hand_touched_debris。"
+     }
+    ]
+   },
+   "clods_in_tray_5": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：全程画面顶部计数“in tray 0/6”（视频 36 s 仍为 0/6，clods brushed 2/6，stage 1/3），没有泥块入盘；最后一帧显示 FAIL: hand_touched_debris。"
+     }
+    ]
+   },
+   "clods_in_tray_6": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 35.8,
+      "log_step": null,
+      "text_zh": "观察：全程画面顶部计数“in tray 0/6”（视频 36 s 仍为 0/6，clods brushed 2/6，stage 1/3），没有泥块入盘；最后一帧显示 FAIL: hand_touched_debris。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "clods_in_tray",
+   "value": 0,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better"
+  },
+  {
+   "name": "clods_brushed",
+   "value": 2,
+   "unit": "count",
+   "threshold": 6,
+   "direction": "higher_better"
+  },
+  {
+   "name": "brush_contact_controls",
+   "value": null,
+   "unit": "control",
+   "threshold": 10,
+   "direction": "higher_better"
+  },
+  {
+   "name": "hold",
+   "value": 0,
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clod_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "boot_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "boot_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "clods_in_tray_1",
+   "t": 35.8,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 36 s（control 1731）叠加文字变为 FAIL: hand_touched_debris，此时 in tray 仍为 0/6，只有 2/6 块被刷到；右手/手腕贴在靴底附近，刷子在靴底边缘。第一块泥始终未入盘，故断在第1块泥入盘。"
+  },
+  "unmet": {
+   "clods_in_tray_1": false,
+   "clods_in_tray_2": false,
+   "clods_in_tray_3": false,
+   "clods_in_tray_4": false,
+   "clods_in_tray_5": false,
+   "clods_in_tray_6": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "被挡/碰撞",
+    "t": 35.8,
+    "log_step": null,
+    "evidence_zh": "观察：视频 34-36 s 机械臂把右手压到靴底旁，视频 36 s 评分器叠加显示 hand_touched_debris（右手任一部分碰到泥块即判负）；泥块未入盘。具体接触的是哪块泥画面被手臂遮挡，未能看清。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：agent 的预编脚本（log step 131 的输出显示反复 reset、重放含“heel engagement”的刷扫轨迹）把手送得离靴底过近，手部越过安全间隙。该判断来自轨迹几何，未见更直接的证据。",
+    "source_zh": "视频 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志；右手与泥块的具体接触时刻和哪块泥被碰在视频中被手臂遮挡；根因仅为推断，子类不明。"
+ },
+ "summary_zh": "观察：右手在视频约 12.6 s 拿起鞋刷（1/7），之后用刷毛扫靴底，计数显示 2/6 块被刷到，但入盘一直是 0/6。视频 36 s 评分器显示 hand_touched_debris（右手碰泥块）而失败，断在第1块泥入盘；原因只能推断为手与靴底间隙过小，证据缺口：无状态日志，接触瞬间被遮挡。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频一致：约12.6 s右手拿起鞋刷（11-12 s刷子仍在台面，13 s已离台），入盘全程0/6，36 s叠加显示FAIL: hand_touched_debris，断点在第1块泥入盘；被挡/碰撞现象与控制根因（标为推断、conf 5）均有分寸，未发现需改内容的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:34Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-standard--hcmsrmp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-boot-sole-brush-i00-standard--hcmsrmp/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3ade3b928e3a7392efab29409b0925d2d0a7f63f46649c38715d8f81faf476af",
+   "video_sha256": "93b0a3d714a2d51cba20db6217aae86cf8fdeb7ff366899ddfaac48e684316b8",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--jodpbvj.json

@@ -0,0 +1,312 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-privileged--jodpbvj",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 0,
+   "infra_error": 0,
+   "missing_trajectory": 1,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.891,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.276,
+   "peak_cpus": 2.96,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "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": {
+   "rack_unfolded": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0；agent 最终报告（log step 196）自述未交付通过的 trajectory.npz，故无被评分的轨迹可判此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0；agent 最终报告（log step 196）自述未交付通过的 trajectory.npz，故无被评分的轨迹可判此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0；agent 最终报告（log step 196）自述未交付通过的 trajectory.npz，故无被评分的轨迹可判此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0；agent 最终报告（log step 196）自述未交付通过的 trajectory.npz，故无被评分的轨迹可判此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "unknown",
+    "intervals": null,
+    "final": null,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0；agent 最终报告（log step 196）自述未交付通过的 trajectory.npz，故无被评分的轨迹可判此节点。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "unknown",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "观察：本次运行无视频、无状态日志，评分记录 missing_trajectory=1、n_actions=0、sim_steps=0；agent 最终报告（log step 196）自述未交付通过的 trajectory.npz，故无被评分的轨迹可判此节点。"
+     },
+     {
+      "t": null,
+      "log_step": 196,
+      "text_zh": "推断：评分器 success=0 且 missing_trajectory=1，目标节点“晾衣架正放”未达成，final 为 false（��评分总结果逻辑推出，非帧观察）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "没有交付轨迹（missing_trajectory=1）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.3141592653589793,
+   "direction": "lower_better"
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better"
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better"
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better"
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.5707963267948966,
+   "direction": "higher_better"
+  },
+  {
+   "name": "tilt_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "unknown",
+   "t": null,
+   "log_step": 196,
+   "where": "首步前",
+   "evidence_zh": "观察：评分字段 missing_trajectory=1、n_actions=0、sim_steps=0，没有被评分的轨迹；agent 在 log step 196 自述 3600 s 限时内未产出通过的轨迹，未交付 trajectory.npz / gen.py。会话内的试验（展开折角、部署部分支腿）只是会话证据，不是被评分的轨迹。"
+  },
+  "unmet": {
+   "rack_unfolded": null,
+   "legs_opened_1": null,
+   "legs_opened_2": null,
+   "legs_opened_3": null,
+   "legs_opened_4": null,
+   "rack_standing": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志，且未交付任何轨迹（agent 侧原因：未在限时内得到可保存的通过轨迹）；会话内的尝试不能作为现象或根因，故现象与根因留空。"
+ },
+ "summary_zh": "观察：本次运行没有交付轨迹（missing_trajectory=1，n_actions=0），也没有视频和状态日志，因此各节点无法判定，仅按 success=0 推出“晾衣架正放”未达成。agent 在会话里（log step 196 自述）只把折角打开、部分支腿展开，从未同时展开四条腿并交付。证据缺口：被评分的轨迹不存在，现象与根因留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "无视频/状态日志，未交付轨迹（missing_trajectory=1，log step 196 自述无 trajectory.npz，接近 3600 s 限时）。各节点 unknown、rack_standing 由 success=0 推出 false、现象与根因留空并写 gap_zh，均符合规则，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:27:33Z",
+  "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/dexhand-drying-rack-unfold-i00-privileged--jodpbvj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-privileged--jodpbvj/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bca43d091ab76210d47e49cb36619ae525536124bf496c0a8204b57761072c8b",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--zzhldne.json

@@ -0,0 +1,339 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-drying-rack-unfold-i00-standard--zzhldne",
+ "taskKey": "dexhand/drying_rack_unfold",
+ "dag_sha256": "044da74935ab7bbd4a0b895fad36baee09e495811264f09ed418f743b236ddb1",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 270,
+   "control_steps_total": 14770,
+   "elapsed_s": 3555.085,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 2401,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 8,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2401,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.389,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.415,
+   "peak_cpus": 1.8,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-drying-rack-unfold-i00-standard--zzhldne.mp4",
+  "duration_s": 50.2,
+  "fps": 5.0,
+  "frames": 251,
+  "sha256": "805c759814544fb077e817e6cf3f69f37c3c7c43dc1502a80da5301124c8625f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 6,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "rack_unfolded": {
+    "method": "visual",
+    "intervals": [
+     [
+      10.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": null,
+      "text_zh": "观察：视频 0-10 s 手把架面翻开，字幕 fold 由 180° 降到 24°（10.4 s）再到 1°，约视频 10.6 s 起 ≤18°，此后保持到视频结束（fold 1°）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 2-9 s 右手拇指与食指夹住活动半框管边，抬起并绕铰链翻开（fold 84°→17°，视频 8-10.6 s）。"
+     }
+    ]
+   },
+   "legs_opened_1": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10-50 s 字幕 legs 全为 -0/0°（仅视频 0-10 s 展开架面时被动短暂到 ≤36°，未达 90°），末帧 49.6 s 仍为 0°。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "推断（agent 自述，log step 58/103/113/175：捏/勾腿杆后滑脱）：手尝试夹住腿杆；5 fps 视频看不清手-腿接触，不作为观察。"
+     }
+    ]
+   },
+   "legs_opened_2": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10-50 s 字幕 legs 全为 -0/0°（仅视频 0-10 s 展开架面时被动短暂到 ≤36°，未达 90°），末帧 49.6 s 仍为 0°。"
+     }
+    ]
+   },
+   "legs_opened_3": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10-50 s 字幕 legs 全为 -0/0°（仅视频 0-10 s 展开架面时被动短暂到 ≤36°，未达 90°），末帧 49.6 s 仍为 0°。"
+     }
+    ]
+   },
+   "legs_opened_4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：视频 10-50 s 字幕 legs 全为 -0/0°（仅视频 0-10 s 展开架面时被动短暂到 ≤36°，未达 90°），末帧 49.6 s 仍为 0°。"
+     }
+    ]
+   },
+   "rack_standing": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 49.6,
+      "log_step": null,
+      "text_zh": "观察：末帧 49.6 s 字幕 Stage 0/3、tilt 180°、hold 0/50，架子仍底面朝上平放。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "fold_angle_rad",
+   "value": 0.017,
+   "unit": "rad",
+   "threshold": 0.314,
+   "direction": "lower_better"
+  },
+  {
+   "name": "leg_angles_rad[0]",
+   "value": 0.0,
+   "unit": "rad",
+   "threshold": 1.5708,
+   "direction": "higher_better"
+  },
+  {
+   "name": "leg_angles_rad[1]",
+   "value": 0.0,
+   "unit": "rad",
+   "threshold": 1.5708,
+   "direction": "higher_better"
+  },
+  {
+   "name": "leg_angles_rad[2]",
+   "value": 0.0,
+   "unit": "rad",
+   "threshold": 1.5708,
+   "direction": "higher_better"
+  },
+  {
+   "name": "leg_angles_rad[3]",
+   "value": 0.0,
+   "unit": "rad",
+   "threshold": 1.5708,
+   "direction": "higher_better"
+  },
+  {
+   "name": "tilt_deg",
+   "value": 180,
+   "unit": "deg",
+   "threshold": 10.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "rack_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "rack_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "legs_opened_1",
+   "t": 15.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：架面展开后（视频 10.6 s），视频 10-50 s 右手反复在架角处尝试，字幕 legs 始终 0°，没有任何一条腿到 90°。agent 自述多次抓腿杆滑脱（log step 175）。"
+  },
+  "unmet": {
+   "rack_unfolded": true,
+   "legs_opened_1": false,
+   "legs_opened_2": false,
+   "legs_opened_3": false,
+   "legs_opened_4": false,
+   "rack_standing": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 30.0,
+    "log_step": 175,
+    "evidence_zh": "观察：视频 10-50 s 手停在架角附近，支腿角度恒为 0°。推断（agent 自述，log step 58/103/113/131/158/162/166/175，其中含 reset 前的尝试，非仅本 episode）：手已夹住/勾住腿杆后滑脱，属已接触后丢失；视频无法区分没建立接触与没保持住。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述细杆在 27 mm 拇指-食指间隙中、指垫高度比 FK 估计高 10-19 mm、反复调整抓取仍滑脱（log step 60-76, 175）；视频中手确实多次落在架角但腿未动。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，手与腿的接触细节在 5 fps 视频中看不清；没保持住依 agent 自述（多次 reset 的尝试）推断，视频无法区分没建立接触与没保持住。"
+ },
+ "summary_zh": "观察：展开主架在视频约 10.6 s 达成（fold ≤18°），之后四条腿全程 0°，架子仍底面朝上（tilt 180°），节点 1/6。断点在第1条腿展开：右手反复抓腿杆都未抓住（agent 自述指垫高度/间隙不匹配，log step 175）。无状态日志，接触类型（没保持住）依 agent 自述推断。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点时间（rack_unfolded 约 10.6 s）与断点 legs_opened_1 基本成立；但 rack_unfolded 的 contact_actual 写成推/扫与视频不符（实为拇指-食指捏住半框边并抬起翻过，应为抓握），且 legs_opened_1 的接触与“没建立接触”主要依据 agent 自述的滑脱（session 内多次 reset 的尝试），与自述“滑脱=已接触后丢失”相矛盾，视频无法区分。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第一轮意见已采纳：rack_unfolded 约 10.6 s、腿全程 0°、断点 legs_opened_1 均与视频字幕一致，接触与现象已标为推断；未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:33:46Z",
+  "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/dexhand-drying-rack-unfold-i00-standard--zzhldne/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--zzhldne/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--zzhldne/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-drying-rack-unfold-i00-standard--zzhldne/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "6330bb22c055eacf1bcf0ff4f513c316f8e47e108e84b9c5c1f994081d00acab",
+   "video_sha256": "805c759814544fb077e817e6cf3f69f37c3c7c43dc1502a80da5301124c8625f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--5drypax.json

@@ -0,0 +1,214 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-envelope-letter-insert-i00-privileged--5drypax",
+ "taskKey": "dexhand/envelope_letter_insert",
+ "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 0,
+   "infra_error": 0,
+   "missing_trajectory": 1,
+   "n_actions": 0,
+   "sim_steps": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 4.225,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.244,
+   "peak_cpus": 2.04,
+   "peak_pids": 147,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "none",
+  "url": null,
+  "duration_s": null,
+  "fps": null,
+  "frames": null,
+  "sha256": null
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 1,
+  "base": null,
+  "peak": null,
+  "final": 0,
+  "nodes": {
+   "letter_in_envelope": {
+    "method": "log",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": null,
+      "log_step": 265,
+      "text_zh": "观察：评分器字段 success=0、missing_trajectory=1、n_actions=0、sim_steps=0，没有交付任何轨迹；log 最后一步 265（agent 时钟约 3408 s，wall 总计 3603 s，限时 3600 s）仍在做并行插入试验。无视频，节点按评分器结果判为未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "outside_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.00495,
+   "direction": "lower_better"
+  },
+  {
+   "name": "letter_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "letter_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "letter_in_envelope",
+   "t": null,
+   "log_step": 265,
+   "where": "首步前",
+   "evidence_zh": "观察：评分器字段 missing_trajectory=1、n_actions=0、sim_steps=0（run.json reward）；log 全程（step 2-265，wall 3603 s）都是读取检查器/场景、IK 与插入的会话内试验，最后一步 265 仍在试验，没有保存或提交回放文件。被评分的回合里机器人没有动作。"
+  },
+  "unmet": {
+   "letter_in_envelope": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无视频、无状态日志；没有交付轨迹，因此没有被评分的机器人动作可标现象。会话内试验只是会话证据，不作现象；未交付的原因无足够证据指向具体根因，故现象和根因均留空。"
+ },
+ "summary_zh": "观察：本次运行未交付任何轨迹（missing_trajectory=1，n_actions=0），无视频，唯一节点“信纸入信封”判为未达成（评分器 success=0）。agent 在约 3600 s 的 wall 时间内只做了读检查器、IK 与插入试验（log step 2-265），没有提交可回放的动作文件。证据缺口：无视频和状态日志，现象与根因留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "整体判断（无交付、节点未达成、现象与根因留空并写 gap_zh）正确；仅 log 最后一步编号与 agent 时间引用有误。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "无交付（missing_trajectory=1，n_actions=0），节点未达成，现象与根因留空并写 gap_zh，符合规则；log 步号与 agent 时钟已更正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--5drypax/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--5drypax/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--5drypax/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-privileged--5drypax/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4785db75b7dc77a315c7acf6dd6a5360d1f1a72771226554e20eeb6a88b2331e",
+   "video_sha256": null,
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; no local video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--icw824o.json

@@ -0,0 +1,278 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-envelope-letter-insert-i00-standard--icw824o",
+ "taskKey": "dexhand/envelope_letter_insert",
+ "dag_sha256": "abdfffef3130431c83137bcf37b304b96623a00fa3c230811aac4c55022c6987",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 633,
+   "control_steps_total": 6467,
+   "elapsed_s": 3601.3,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 434,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 5,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 434,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.428,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.364,
+   "peak_cpus": 3.1,
+   "peak_pids": 152,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-envelope-letter-insert-i00-standard--icw824o.mp4",
+  "duration_s": 10.8,
+  "fps": 5.0,
+  "frames": 54,
+  "sha256": "cd03c46f7842d261bf15757f0b9c3f25dc395951ffc2dc471a80f64932714ed9"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "letter_in_envelope": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.6,
+      "log_step": 157,
+      "text_zh": "观察：视频 10.6 s 末帧叠字为 stage 0/3、inside 0.0%、outside 44.4 mm、hand contacts L0/E0、released hold 0/50；信纸仍平放在桌面上、远离信封口，信封在左上方未动。节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "观察：视频 1.4–约 7.0 s 右手指尖多次按压并拖动信纸（叠字 L1–L4）：第一次 outside 增至 45.9 mm（4.0 s），随后降回 0（4.8–5.6 s），5.6–7.0 s 第二次拖动使 outside 增至 44.4 mm，7.2 s 起 L0。未抓握，未与信封接触（E0）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "outside_m",
+   "value": 0.0444,
+   "unit": "m",
+   "threshold": 0.00495,
+   "direction": "lower_better"
+  },
+  {
+   "name": "letter_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "letter_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "envelope_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "letter_in_envelope",
+   "t": 7.0,
+   "log_step": 157,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.4–7.0 s 右手两次拖动信纸，信纸最终停在离口 44.4 mm 处（叠字），7.2 s 起手离开（L0），stage 0/3，从未进入口部阶段。"
+  },
+  "unmet": {
+   "letter_in_envelope": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 10.6,
+    "log_step": 157,
+    "evidence_zh": "观察：视频末帧信纸平放桌面、略有偏转，未对准也未送到信封口，outside 44.4 mm，stage 0/3；信纸先被拖到离口 45.9 mm（4.0 s）、回到 0（4.8–5.6 s）、又被拖到 44.4 mm（7.2 s 起），反复作业后仍离口。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "无状态日志，视频只有 10.8 s 的 actuator replay，看不到信纸与信封口的毫米级关系；视频无法区分根因（接触设计 / 轨迹 / 反馈），agent 会话自述不作证据，故不给根因。"
+ },
+ "summary_zh": "观察：交付的控制器回放（视频 10.8 s）中右手指尖在视频约 1.4–7.0 s 两次拖动信纸（outside 0→45.9→0→44.4 mm）后离开，信纸始终在桌面上、离口部 44.4 mm、阶段 0/3，信纸插入信封未达成。断点在插入步骤的操作中，信纸未被送到口部。根因无法由视频或日志判定（agent 自述不作证据），留空。缺口：无状态日志。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成、final=false 正确；但手接触时段与断点时间有误：视频叠字显示右手接触（L1–L4）持续到约 7.0 s，并有两次拖动（outside 0→45.9 mm、回到 0、再到 44.4 mm），而非只有 1.4–3.4 s。根因仅靠 agent 自述，不应作为已证实的根因。",
+    "n_issues": 4,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点未达成、接触时段、断点与位姿不准现象均与视频叠字一致；唯一问题是根因完全依据 agent 自述（会话叙述不算证据），应清空并保留 gap_zh。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "I1 的接受已完整落实：root_causes 为空，gap_zh 写明无法区分根因，summary_zh 无根因推断，conf 为 5。",
+    "n_issues": 0,
+    "n_checks": 1
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "I1 的接受已完整落实：root_causes 为空，gap_zh 写明无法区分根因，summary_zh 无根因推断，conf 为 5。",
+   "checks_ok": "1/1",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:35:04Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--icw824o/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--icw824o/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--icw824o/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--icw824o/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--icw824o/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dexhand-envelope-letter-insert-i00-standard--icw824o/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "ee8a9c90090ff666d1ab3f6a629d3f97bd55951e122b4b3738ad7e2dc59c69d2",
+   "video_sha256": "cd03c46f7842d261bf15757f0b9c3f25dc395951ffc2dc471a80f64932714ed9",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--fhlwzkg.json

@@ -0,0 +1,293 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-privileged--fhlwzkg",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 405,
+   "sim_steps": 405,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.992,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.246,
+   "peak_cpus": 2.48,
+   "peak_pids": 85,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-cube-reorient-i00-privileged--fhlwzkg.mp4",
+  "duration_s": 8.16,
+  "fps": 25.0,
+  "frames": 204,
+  "sha256": "3ef2be6f5c3a42c8058f50759cbe98b281f543fd2677303f4eaae44557ed5b64"
+ },
+ "state": null,
+ "progress": {
+  "method": "log",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "log",
+    "intervals": [
+     [
+      6.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.5,
+      "log_step": 401,
+      "text_zh": "观察：评分器终态字段 stage_index=1、stage_count=3（log step 401），agent 报告首检查点完成（log step 402）；log step 396 中控制步 325 已处于 phase 1。推断：按 405 控制步≈8.16 s 视频（0.02 s/步）映射，首检查点不晚于视频约 6.5 s，具体时刻未在帧中核对（视频中球上标记过小无法辨认）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "Sharpa 手的拇指、食指、中指三个指尖垫持续接触并滚动蓝色球（评分器接触计数 3，log step 396）；终帧接触为 0。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "log",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.1,
+      "log_step": 401,
+      "text_zh": "观察：终行 404 评分器 cube_error_2=0.537 rad（阈值 0.16）、stage_index 仍为 1、failure=invariant:object_hand_contacts（log step 401）；视频 7-8.16 s 蓝球离开手指位置。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "Sharpa 手的拇指、食指、中指三个指尖垫持续接触并滚动蓝色球（评分器接触计数 3，log step 396）；终帧接触为 0。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "log",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 8.1,
+      "log_step": 401,
+      "text_zh": "观察：评分器 cube_error_3=1.94 rad，stage_index 未达 3，第二检查点都未完成（log step 401）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "value": 1.0636,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cube_error_2",
+   "value": 0.5373,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cube_error_3",
+   "value": 1.9407,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "contacts",
+   "value": 0.0,
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "speed_stage",
+   "value": 7.71,
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed_terminal",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better"
+  },
+  {
+   "name": "force",
+   "value": null,
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed_invariant",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "palm_drift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrist_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_height",
+   "value": null,
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_second_orientation",
+   "where": "操作中",
+   "t": 8.0,
+   "log_step": 401,
+   "evidence_zh": "观察：首检查点后 agent 脚本继续绕 X 轴转球，终行 404 球离手：接触数 0、速度 7.7、cube_error_2=0.537 rad，评分器 failure=invariant:object_hand_contacts（log step 401）；视频末段蓝球移出手指（约 7-8.16 s）。"
+  },
+  "phenomena": [
+   {
+    "t": 8.0,
+    "log_step": 401,
+    "evidence_zh": "观察：log step 396/398 显示第二段转动中三指接触数 3 保持到控制步约 400，之后终行接触数降为 0（log step 401）。推断：指尖接触在转动末段丢失，球脱手。",
+    "cat": "接触",
+    "item": "没保持住"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "观察：agent 数十次试验（log step 139-398）均在第二段 X 轴转动中因 object_hand_contacts / speed 失败；agent 自述 X 转时拇指滑脱、接触几何不足（log step 185、289）。推断：三指抓握几何无法支撑 X 轴转动。",
+    "source_zh": "agent 自述 / 评分器字段"
+   }
+  ],
+  "gap_zh": "视频中球上标记过小，首检查点时刻由控制步映射推断（≤ 约 6.5 s）；没有状态日志，视频终帧的接触细节无法逐指核对；phenomena 取自评分器字段与日志，视频仅作支持。",
+  "unmet": {
+   "sphere_first_orientation": true,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  }
+ },
+ "summary_zh": "观察：评分器 stages_completed=1/3：首检查点（Y 轴 90°）达成（不晚于视频约 6.5 s，由控制步映射推断），第二检查点（X 轴 90°）与回初始朝向未达。推断：agent 脚本三指抓握在 X 轴转动末段失去全部接触，球脱手（cube_error_2=0.537 rad），断点为 球达次轴朝向。无状态日志，时间依赖日志映射。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "未发现需改的错误：首检查点由评分器 stage_index=1 与 log 控制步 325 已处于 phase 1 限定（≤约 6.5 s，已声明为推断），第二检查点未达、断点与「没保持住」由终行接触数 0 和 failure=invariant:object_hand_contacts 支持。视频球太小，无法逐帧核对，标注诚实。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:22Z",
+  "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/dexhand-essential-cube-reorient-i00-privileged--fhlwzkg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-privileged--fhlwzkg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4cb9e7cdb2b3ee4ea9ffc9429bd9f02f2dded6613c0032c47455730a98f23aab",
+   "video_sha256": "3ef2be6f5c3a42c8058f50759cbe98b281f543fd2677303f4eaae44557ed5b64",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--u6wvjxp.json

@@ -0,0 +1,319 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-cube-reorient-i00-standard--u6wvjxp",
+ "taskKey": "dexhand/essential_cube_reorient",
+ "dag_sha256": "6bc87a1901a74bc490999f5e2ecd2556658f7943851231829bff51c64a7e8707",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 168,
+   "control_steps_total": 5428,
+   "elapsed_s": 2034.95,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 451,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 451,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.391,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.561,
+   "peak_cpus": 3.2,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-cube-reorient-i00-standard--u6wvjxp.mp4",
+  "duration_s": 9.08,
+  "fps": 25.0,
+  "frames": 227,
+  "sha256": "2e8cbb691a23f146e0035cbd7fb1eb554d566ae791105bea87432052cbe66046"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "sphere_first_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-9.08 s 蓝色球始终夹在拇指与食指/中指之间，位置和姿态几乎不变，未见方向标记转过90°；与oracle相比未见检查点布局。评分器 success=0，agent 自述无阶段通过（log step 109）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：右手拇指与食指/中指指垫持续托住蓝球，球基本不转动（视频 0-9.08 s）。"
+     }
+    ]
+   },
+   "sphere_second_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-9.08 s 蓝色球始终夹在拇指与食指/中指之间，位置和姿态几乎不变，未见方向标记转过90°；与oracle相比未见检查点布局。评分器 success=0，agent 自述无阶段通过（log step 109）。"
+     }
+    ]
+   },
+   "sphere_initial_orientation": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 9.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0-9.08 s 蓝色球始终夹在拇指与食指/中指之间，位置和姿态几乎不变，未见方向标记转过90°；与oracle相比未见检查点布局。评分器 success=0，agent 自述无阶段通过（log step 109）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "cube_error_1",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cube_error_2",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "cube_error_3",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "contacts",
+   "value": null,
+   "unit": "fingers",
+   "threshold": 2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "speed_stage",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed_terminal",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better"
+  },
+  {
+   "name": "force",
+   "value": null,
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed_invariant",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "palm_drift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrist_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_height",
+   "value": null,
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "sphere_first_orientation",
+   "where": "操作中",
+   "t": 4.0,
+   "evidence_zh": "观察：视频（9.08 s，最后一个会话回合）中球一直在指间、未发生朝向变化，第一检查点从未达到；该视频不是交付的 gen.py 的回放。",
+   "log_step": 96
+  },
+  "phenomena": [],
+  "root_causes": [
+   {
+    "cat": "交付",
+    "item": "交付操作出错",
+    "evidence_zh": "log step 103：重置用尽、最后一回合在探测中 task_failure，随后 step 105-109 写入 gen.py 并仅做语法/旋转约定检查，从未回放或端到端验证；raw replays=0。",
+    "source_zh": "日志观察",
+    "alt_feasible": "未知"
+   },
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "evidence_zh": "推断（待核实）：agent 自述（log step 85, 99, 101）预紧小、三指同动只平移球；这些均来自探测回合而非被评交付，故仅作推断。",
+    "source_zh": "agent 自述（推断）",
+    "alt_feasible": "未知"
+   }
+  ],
+  "gap_zh": "视频是最后一个探测会话回合（手和球几乎静止），不含交付的 gen.py 运动，故不描述运动现象（FAIL-23）；交付控制器从未端到端验证，其实际运动未知。无状态日志；cube_error 等原生指标未报告。",
+  "unmet": {
+   "sphere_first_orientation": false,
+   "sphere_second_orientation": false,
+   "sphere_initial_orientation": false
+  }
+ },
+ "summary_zh": "观察：视频 0-9.08 s 球基本未转动，三个节点均未达到。推断：卡在第一检查点（掌局部Y轴转90°），指垫打滑、只平移球（agent 自述 log step 99-101）；未端到端验证交付控制器。证据缺口：无状态日志，标记过小。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（三个均未达到）和断点 sphere_first_orientation 与视频一致；但视频（9.08 s，451 个动作步）是最后一个会话回合（episode 21，在探测中 task_failure），手和球全程几乎静止，而 gen.py 交付控制器从未运行或回放。现有现象“位姿不准”只靠 agent 自述的探测过程，不是视频中交付轨迹的内容（FAIL-23），且缺少“交付未验证”的根因。",
+    "n_issues": 2,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "三个节点均未达到、断点 sphere_first_orientation、空现象加 gap_zh、交付操作出错根因均与视频和日志一致；视频全程球与手几乎不动。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:33:50Z",
+  "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/dexhand-essential-cube-reorient-i00-standard--u6wvjxp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--u6wvjxp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--u6wvjxp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-cube-reorient-i00-standard--u6wvjxp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "405514a9fbe241ad8fb511af985e8509645218c6281422c472a53feb51725e34",
+   "video_sha256": "2e8cbb691a23f146e0035cbd7fb1eb554d566ae791105bea87432052cbe66046",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--dghnopr.json

@@ -0,0 +1,290 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-privileged--dghnopr",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1075,
+   "sim_steps": 1075,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.784,
+   "peak_processes": 17,
+   "peak_disk_gb": 0.298,
+   "peak_cpus": 5.98,
+   "peak_pids": 90,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-pen-regrasp-i00-privileged--dghnopr.mp4",
+  "duration_s": 21.56,
+  "fps": 25.0,
+  "frames": 539,
+  "sha256": "9e73d6162734558515e44bd7549da88e7cdd99f45ab2e0ce74ba38f06dc1b018"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 420,
+      "text_zh": "观察：视频 0 s 笔在掌侧悬空，1-3 s 笔随手指协同沿轴向前滑动（蓝色笔帽相对掌位置前移），3 s 后笔仍近似保持原朝向。推断：评分器 stages_completed=1 且 agent 最终报告“Advance stage completed”（log step 420）说明推进段已通过；精确到达时刻约视频 3 s，不确定约 ±1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：右手拇指与中指保持夹住笔握带并协同平移，使笔沿轴前移（视频 0-3 s）"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 21.4,
+      "log_step": 420,
+      "text_zh": "观察：视频 9-16 s 笔在拇指与手指间被立起；18.5-21.4 s 笔斜横于掌侧，具体夹持与角度画面难辨。推断：终角 1.585563 rad（agent 对交付轨迹的新进程重放，log step 420）超出 0.65–0.92 rad，故转向夹持未满足，无连续保持窗口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "观察：手指继续在手内转动笔，视频 9-16 s 笔被立起；推断：agent 报告三指带接触都在（log step 420），但终角超限"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pen_axial",
+   "value": 0.035875,
+   "unit": "m",
+   "threshold": [
+    0.024,
+    0.036
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "pen_angle_advance",
+   "value": null,
+   "unit": "rad",
+   "threshold": [
+    0,
+    0.2
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "pen_angle_tripod",
+   "value": 1.585563,
+   "unit": "rad",
+   "threshold": [
+    0.65,
+    0.92
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "speed_terminal",
+   "value": 0.002939,
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better"
+  },
+  {
+   "name": "force",
+   "value": null,
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_displacement",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.07,
+   "direction": "lower_better"
+  },
+  {
+   "name": "object_height",
+   "value": null,
+   "unit": "m",
+   "threshold": [
+    0.18,
+    0.6
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "palm_drift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrist_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_tripod_grip",
+   "t": 12.0,
+   "log_step": 420,
+   "where": "操作中",
+   "evidence_zh": "观察：推进段完成后，视频 9-16 s 笔在指间被立起，18.5-21.4 s 笔斜横于掌侧，角度画面难辨。推断：终角 1.585563 rad（agent 报告，log step 420）超出要求 0.65–0.92 rad。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 21.0,
+    "log_step": 420,
+    "evidence_zh": "推断：转向过量约 0.67 rad 以上，推进量 0.0359 m 仍在窗口内但角度出界（log step 420 的 agent 报告）；视频 21.4 s 画面难辨角度。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：agent 用离线轨迹搜索，自述指尖目标开环、笔在接近时移动（log step 75），最终未能得到受控的 45° 转角；无足够证据细分子类。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，节点时间由视频帧估计，推进到达时刻约 ±1 s；phenomenon 的具体类别（位姿不准）按角度读数推断，agent 报告的角度是 session 内重放结果。",
+  "unmet": {
+   "pen_advanced": true,
+   "pen_tripod_grip": false
+  }
+ },
+ "summary_zh": "观察：推进段（视频约 3 s）完成，转向夹持段未完成：推断终角约 1.59 rad，超出 0.65–0.92 rad。断在 pen_tripod_grip，现象为转角位姿不准，根因归为控制（子类不明）。缺口：无状态日志，时间由视频估计。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值、断点（pen_tripod_grip）、现象（位姿不准）与 grader 的 stages_completed=1 及 agent 交付重放的 1.5856 rad 一致，主结论可接受；但 progress/breakpoint 证据里‘视频 12-21.4 s 笔近乎竖直约 90°’的观察与帧不符，应改为推断。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "第一轮意见已采纳；节点值（推进到达、转向夹持未达）、断点 pen_tripod_grip、现象位姿不准与 grader 的 stages_completed=1 及交付重放终角 1.5856 rad 一致，观察/推断区分合理，validator 通过。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--dghnopr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--dghnopr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--dghnopr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-privileged--dghnopr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "40a2adbc5fd5a3fb1abdce1f930b5953e631a1f0ebca35bc2668fb7da8641e1e",
+   "video_sha256": "9e73d6162734558515e44bd7549da88e7cdd99f45ab2e0ce74ba38f06dc1b018",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--mnf43kh.json

@@ -0,0 +1,226 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-pen-regrasp-i00-standard--mnf43kh",
+ "taskKey": "dexhand/essential_pen_regrasp",
+ "dag_sha256": "5d4eb54b0f602d691da20e76dd6190aca4275c6bc50b8abc6afeb7e5ecb805d2",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 139,
+   "control_steps_total": 9303,
+   "elapsed_s": 2980.304,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 295,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 295,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.405,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.421,
+   "peak_cpus": 3.64,
+   "peak_pids": 90,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-pen-regrasp-i00-standard--mnf43kh.mp4",
+  "duration_s": 5.96,
+  "fps": 25.0,
+  "frames": 149,
+  "sha256": "3c74407e02b7e18e7023813b1bce9125b5173227072ad6c5f244a72e6135491e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "pen_advanced": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 2.0,
+      "log_step": 135,
+      "text_zh": "观察：视频 1.2–3 s 手背侧有白色长杆（笔）被抬起、倾斜，约 3 s 后落回；视频分辨率太小，无法量化沿轴推进量。log step 135 服务返回 done=True、reason=task_failure（295 个控制步），评分 success=0。推断：final=false 来自评分失败 + 目标未达成，非直接测量。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手拇指、中指（及试图接入的食指）接触笔并尝试推进，视频小且局部被遮挡，具体指对未能确认"
+     }
+    ]
+   },
+   "pen_tripod_grip": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": 135,
+      "text_zh": "观察：视频 5.96 s 内笔先抬起倾斜后回落，末帧未见拇指、食指、中指夹持标记握带并稳定的 45° 姿态；推断：前一节点未达成，本节点也未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "最后一局尝试以三指夹持转向 45°，笔被抬起倾斜但未形成稳定三指握"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "pen_advanced",
+   "t": 2.0,
+   "log_step": 135,
+   "where": "操作中",
+   "evidence_zh": "观察：被评分的是第 21 局（295 控制步），log step 135 服务返回 task_failure；视频 1.2–3 s 笔被抬起倾斜后回落。agent 在前 20 局的诊断（log step 100、114 等，属更早各局，非图卡局）反复显示推进只到约 22 mm 或伴随俯仰。推断：图卡局同样没有完成 pen_advanced（第 21 局无推进量读数，视频分辨率太小无法量化）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 2.0,
+    "log_step": 135,
+    "evidence_zh": "观察：视频 1.2–3 s 笔杆被抬起并倾斜后回落。第 21 局没有直接的角度或推进量读数（log step 133 的 0.28–0.36 rad 属第 20 局，不采用）。推断：位姿不准，推进量/朝向没有落进验收区间。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "以下均为前 20 局的 agent 试验自述，不是图卡局读数：拇指到达运动学极限（log step 40、69、92），双指推进使笔俯仰/滑移（log step 57、68、102），三指推进会钉住笔（log step 91）。图卡局的接触细节无法测得，作为推断保留。",
+    "source_zh": "agent 自述 / 日志"
+   }
+  ],
+  "gap_zh": "无状态日志；视频中手和笔很小且被遮挡，接触指对和推进量不能直接测量；agent 日志读数多属前 20 局，仅作背景。视频只含最后一局（第 21 局）。",
+  "unmet": {
+   "pen_advanced": false,
+   "pen_tripod_grip": false
+  }
+ },
+ "summary_zh": "观察：视频 5.96 s 只含最后一个 episode，笔被抬起倾斜后回落，两个节点均未达成。断点在笔沿轴前移：前 20 局的 agent 试验显示难以同时得到 24–36 mm 推进且笔保持水平（拇指运动学极限、双指接触使笔俯仰）。主要证据缺口：无状态日志，接触细节被遮挡。 注：第 21 局无直接推进量/角度读数，断点为推断。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "视频 5.96 s 对应最后的第 21 局（295 控制步），两个节点未达成这一总体结论可接受；但断点和现象的证据用了前面局（log step 100、114、133 属于第 19/20 局或更早）的 agent 读数当作图卡局事实，且视频中手和笔太小，'推进未满足'无法直接看出。需改写证据并降低确定性。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频仅含最后一局（第21局），手和笔很小，两节点未达成、断点 pen_advanced 为基于评分失败的推断，文件已如实标注并只把前序局读数作为背景；第1轮问题已修正，未发现新的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:29Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--mnf43kh/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--mnf43kh/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--mnf43kh/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-pen-regrasp-i00-standard--mnf43kh/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "000f26abf215de44d7b3fc3be2de5348577c6b166f68d826c4c564b3fe6d1cd5",
+   "video_sha256": "3c74407e02b7e18e7023813b1bce9125b5173227072ad6c5f244a72e6135491e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--7f59dqy.json

@@ -0,0 +1,187 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-privileged--7f59dqy",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 14154,
+   "sim_steps": 14154,
+   "stages_completed": 2,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.652,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 2.0,
+   "peak_pids": 81,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-rotary-gait-i00-privileged--7f59dqy.mp4",
+  "duration_s": 56.72,
+  "fps": 25.0,
+  "frames": 1418,
+  "sha256": "e967d709f3effc8cc2b4dce5df03cc813dc4b7bbbca78d77dad588faf0fc0016"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [
+     [
+      37.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 37.0,
+      "log_step": 57,
+      "text_zh": "观察：视频 0-56 s 白色右手始终接触黑色旋钮，金色标记持续转动。推断：控制步数 n_actions=14154 对应视频 56.72 s（约 249.5 行/秒）；agent 工具输出的逐行 turn 读数（log step 55/57）显示 row 9390 处 turn 为 12.45 rad 并开始反转，+720°（12.566 rad）约在 row 9300，对应视频约 37 s（±1.5 s）。评分器 success=1 与之一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手多指在黑色旋钮表面交替接触并换指拨转（视频 0-56 s 手始终贴在旋钮上）。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [
+     [
+      56.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 56.0,
+      "log_step": 59,
+      "text_zh": "观察：视频 56.5 s 手仍接触旋钮、标记静止。推断：log step 58/59 读数显示视频约 52 s（row 12995）turn 仍为 7.26 rad，row 13585 为 6.456、row 14115 为 6.425，均未稳定进入 [6.163,6.403] rad；终值 6.362 rad、停稳保持 25 采样（agent 自述，与 success=1 一致）在 row 14154，即视频约 56 s（±1 s）成立，位于视频末尾。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手多指在黑色旋钮表面交替接触并换指拨转（视频 0-56 s 手始终贴在旋钮上）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "评分器判定成功（stages_completed=2），正转 +720° 与反转至 +360° 停稳两个节点均达成，右手全程接触旋钮。无状态日志，到达时刻由控制步数—视频时间映射（14154 行=56.72 s）与 agent 工具输出的逐行 turn 读数推断：正转约视频 37 s（±1.5 s），反转停稳约视频 56 s（±1 s，位于末尾）。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "成功与两个节点均达成无误，但两个到达时刻与 agent 生成日志中逐行 turn 记录换算的视频时间不符：正转 +720° 约 37 s（非 33 s），反转进入 [6.16,6.40] rad 并停稳约 56 s（非 52 s，52 s 时 turn 仍约 7.2 rad）。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "成功（stages_completed=2）与两个节点均达成无误；第1轮修正后的时间（正转约37 s、反转停稳约56 s，由控制步数映射推断并写明钟）与日志和视频一致，接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:02Z",
+  "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/dexhand-essential-rotary-gait-i00-privileged--7f59dqy/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--7f59dqy/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--7f59dqy/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-privileged--7f59dqy/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5cb2a8a0430776cb1518b97c5e467e69542836b359d95ddf03f54fe407193252",
+   "video_sha256": "e967d709f3effc8cc2b4dce5df03cc813dc4b7bbbca78d77dad588faf0fc0016",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--rlpqss2.json

@@ -0,0 +1,182 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-rotary-gait-i00-standard--rlpqss2",
+ "taskKey": "dexhand/essential_rotary_gait",
+ "dag_sha256": "dcf31bae70eb0330bb07ebf73158e14c1b5b7a89486e26ab83954530a3b6331d",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1404,
+   "control_steps_total": 56501,
+   "elapsed_s": 2905.048,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 1,
+   "missing_log": 0,
+   "n_actions": 55778,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 3,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 55778,
+   "success": 1,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.345,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.282,
+   "peak_cpus": 1.74,
+   "peak_pids": 60,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-rotary-gait-i00-standard--rlpqss2.mp4",
+  "duration_s": 58.8,
+  "fps": 25.0,
+  "frames": 1470,
+  "sha256": "129a39e463d7562ff4569c29d22402e66e09cfb618216c88fb4677380bb24aeb"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "knob_forward_720": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": 96,
+      "text_zh": "观察：全程 0-58.8 s 右手始终贴在黑色旋钮上，远景分辨不出金色标记，无法直接数圈。推断：评分器 live 判定 success（reward 1.0，log step 96 报告 +720°→+360° 均验收）；正转达成时间按 oracle 两阶段比例（约 26/50.7）粗估约视频 29 s，不确定性大。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手多指在黑色旋钮表面交替接触并换指拨转（视频 0-58.8 s 可见手始终贴着旋钮）；具体手指组合在远景中分辨不清。"
+     }
+    ]
+   },
+   "knob_reversed_360_held": {
+    "method": "visual",
+    "intervals": [
+     [
+      57.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 58.7,
+      "log_step": 96,
+      "text_zh": "观察：视频 58.7 s 末帧手仍接触旋钮、画面静止无异常。推断：评分器判成功，反转停稳在录像末尾前达成，起点粗估约视频 57.5 s，精度低。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手多指在黑色旋钮表面交替接触并换指拨转（视频 0-58.8 s 可见手始终贴着旋钮）；具体手指组合在远景中分辨不清。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：评分器 live 判定 success（reward 1.0），两个节点均 true。视频远景分辨率下看不清旋钮金色标记，节点到达时间（约视频 29 s 与 57.5 s）为按 oracle 比例和视频末尾的粗估；手指换位细节未能逐帧核实。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "评分器 live 判定成功（reward 1.0），两节点 final=true、peak=2 与成绩相符；时间为粗估且在证据中明确标为推断，右手全程贴旋钮的观察与帧一致，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--rlpqss2/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-rotary-gait-i00-standard--rlpqss2/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "2736db250b135c169e01275acd9ed65e31ad0eeb21d1bbf2d056700b3d226998",
+   "video_sha256": "129a39e463d7562ff4569c29d22402e66e09cfb618216c88fb4677380bb24aeb",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--iyyd7yx.json

@@ -0,0 +1,292 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-two-object-i00-privileged--iyyd7yx",
+ "taskKey": "dexhand/essential_two_object",
+ "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 465,
+   "sim_steps": 465,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.439,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 2.99,
+   "peak_pids": 157,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-two-object-i00-privileged--iyyd7yx.mp4",
+  "duration_s": 9.36,
+  "fps": 25.0,
+  "frames": 234,
+  "sha256": "14b59196a93b68c54848b6805608b36e750dfef08c9da07ff0e8389638664b67"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "a_quarter_turned": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.9,
+      "log_step": 106,
+      "text_zh": "观察：视频 0-5.9 s 总览画面中右手持两枚核桃，画面太小无法逐帧读出A的转角；推断：log step 106/136 记录第二阶段（回正）在 296 个动作样本（50 Hz ≈ 视频 5.9 s）前完成、最终 stage 3/3，故90°转动必早于此；具体时刻约 2.9 s 为估计，不确定。评分器 success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "右手若干手指在掌内滚转核桃A，其余手指握住B（视频 0-5.9 s，推断）"
+     }
+    ]
+   },
+   "a_returned": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.9,
+      "log_step": 106,
+      "text_zh": "观察：log step 106/107 的回放读数在第 296 个动作样本处 stage_index=2、a_orientation_error=0.133 rad、B 仍在手中；推断：按 50 Hz 映射到视频约 5.9 s（465 步=9.3 s 与视频 9.36 s 吻合）。评分器 stages_completed=3。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "手指把A在手内转回初始朝向，其余手指持续握B（推断）"
+     }
+    ]
+   },
+   "a_in_tray": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 6.2,
+      "log_step": 128,
+      "text_zh": "观察：视频 6.2-7.2 s 帧中核桃A已落在方形接盘中央附近静止，手上仍留有核桃B。log step 141 最终回放 terminal_hold=25、success=true；推断：25 样本保持在视频约 8.8 s 完成（释放约 6.1 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "释放A时手指快速张开撤离（视频约 5.9-6.1 s），B 继续由其余手指握持"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "a_quarter_turn_error",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "a_orientation_error",
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "a_position_error",
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "a_deposit_distance",
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "b_position_error",
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "b_orientation_error",
+   "unit": "rad",
+   "threshold": 0.2,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "force",
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "palm_drift",
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "wrist_rotation",
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "a_linear_speed",
+   "unit": "m/s",
+   "threshold": 2.5,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "a_angular_speed",
+   "unit": "rad/s",
+   "threshold": 80,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "a_height",
+   "unit": "m",
+   "threshold": [
+    0.135,
+    0.6
+   ],
+   "direction": "target",
+   "value": null
+  },
+  {
+   "name": "speed_rotate_return",
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better",
+   "value": null
+  },
+  {
+   "name": "speed_terminal",
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better",
+   "value": null
+  }
+ ],
+ "failure": null,
+ "summary_zh": "任务成功（评分器 success=1，stages 3/3）：A 转90°、回正、释放入盘并保持B。视频仅为小尺寸总览，90°转动的具体时刻（约视频 2.9 s）为依据 log 阶段记录与帧的估计；回正约 5.9 s，释放约 6.1 s，终态保持约 8.8 s。无状态日志，无失败。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，三个节点终态均为 true，与评分器 success=1、stages 3/3 一致。时间由 50 Hz 控制步映射（log step 68 阶段一在第154步≈3.1 s，step 107 第296步≈5.9 s，465步≈9.3 s 与视频吻合），与标注 2.9/5.9/8.8 s 基本相符；视频 6.0-7.0 s 帧见 A 落入方盘。无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:06Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-privileged--iyyd7yx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-privileged--iyyd7yx/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "fc0cb7860d3e8aa3dd246ea92bb3be472544307819665470a32cafe19ca35c16",
+   "video_sha256": "14b59196a93b68c54848b6805608b36e750dfef08c9da07ff0e8389638664b67",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--eawkcgp.json

@@ -0,0 +1,348 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-essential-two-object-i00-standard--eawkcgp",
+ "taskKey": "dexhand/essential_two_object",
+ "dag_sha256": "531229b39d851ab1d907e1264ab1da4b275b30aec7af561984af7640acd7c097",
+ "outcome": {
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+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 316,
+   "control_steps_total": 4886,
+   "elapsed_s": 3229.692,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 270,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
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+   "sim_steps": 270,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.679,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.402,
+   "peak_cpus": 3.7,
+   "peak_pids": 152,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-essential-two-object-i00-standard--eawkcgp.mp4",
+  "duration_s": 5.48,
+  "fps": 25.0,
+  "frames": 137,
+  "sha256": "a1bb5f5ae0e030aac1b9000d0fce93f481fe91a0498cdda52bc26c10f10bd42c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "a_quarter_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 140,
+      "text_zh": "观察：视频 0-5.48 s 总览/手部裁剪中，右手始终悬空托持两个核桃，核桃A外壳仅有小幅变化，看不到转过约四分之一圈，也没有落入接盘；被评分的最终回合（第21回合）由 log step 140 以 task_failure 结束（control_steps 270，约 5.4 s，与视频 5.48 s 吻合）。推断：该节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "手内调整",
+      "note_zh": "推断（来自 agent 自述，视频中A被遮挡、指位不可辨）：拇指、食指、中指在掌内调整核桃A，其余手指握住B。"
+     }
+    ]
+   },
+   "a_returned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 140,
+      "text_zh": "观察：视频 0-5.48 s 总览/手部裁剪中，右手始终悬空托持两个核桃，核桃A外壳仅有小幅变化，看不到转过约四分之一圈，也没有落入接盘；被评分的最终回合（第21回合）由 log step 140 以 task_failure 结束（control_steps 270，约 5.4 s，与视频 5.48 s 吻合）。推断：该节点未达成。"
+     }
+    ]
+   },
+   "a_in_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 140,
+      "text_zh": "观察：视频 0-5.48 s 总览/手部裁剪中，右手始终悬空托持两个核桃，核桃A外壳仅有小幅变化，看不到转过约四分之一圈，也没有落入接盘；被评分的最终回合（第21回合）由 log step 140 以 task_failure 结束（control_steps 270，约 5.4 s，与视频 5.48 s 吻合）。推断：该节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "a_quarter_turn_error",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "a_orientation_error",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.16,
+   "direction": "lower_better"
+  },
+  {
+   "name": "a_position_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.035,
+   "direction": "lower_better"
+  },
+  {
+   "name": "a_deposit_distance",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.04,
+   "direction": "lower_better"
+  },
+  {
+   "name": "b_position_error",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "b_orientation_error",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "force",
+   "value": null,
+   "unit": "N",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "palm_drift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "wrist_rotation",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "a_linear_speed",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 2.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "a_angular_speed",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 80,
+   "direction": "lower_better"
+  },
+  {
+   "name": "a_height",
+   "value": null,
+   "unit": "m",
+   "threshold": [
+    0.135,
+    0.6
+   ],
+   "direction": "target"
+  },
+  {
+   "name": "speed_rotate_return",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 0.25,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed_terminal",
+   "value": null,
+   "unit": "m/s or rad/s",
+   "threshold": 0.06,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "a_quarter_turned",
+   "where": "操作中",
+   "t": 5.0,
+   "log_step": 140,
+   "evidence_zh": "观察：视频 0-5.48 s 手指在掌内操纵核桃A，未见其转到约90°；最终回合（第21回合）以 task_failure 结束（log step 140，control_steps 270）。log step 141 agent 自述最终尝试测得的旋转未完成90°。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "无状态日志，A被手遮挡，无法判断最终回合（log step 140）触发 task_failure 的具体条件（掉落/B滑动/速度超限），故不给出现象与根因；native_metrics 在 run.json 中未报告。此前回合（log step 110-139）agent 自述的机制（关节极限、换指丢抓、接触方向）仅作背景，未在最终回合验证，不作根因。",
+  "unmet": {
+   "a_quarter_turned": false,
+   "a_returned": false,
+   "a_in_tray": false
+  }
+ },
+ "summary_zh": "观察：最终回合（第21回合，log step 140，control_steps 270）视频 5.48 s 内，右手悬空握持两核桃，A 未转到 90°，3 个节点均未达成（0/3）。断点在 A 转九十度（操作中）。失败触发条件被遮挡无法判断，现象留空；根因仅为此前回合的 agent 自述（关节极限、换指丢抓），最终回合未验证。",
+ "conf": 4,
+ "review": {
+  "status": "agreed",
+  "rounds": 3,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点均未达成、断点 a_quarter_turned 基本可信，但标注引用的 log step 135（control_steps 268）是第19回合的会话结果，被评分的最终回合是第21回合（log step 140，control_steps 270）；现象“位姿不准”与根因主要来自此前回合的 agent 自述，对被评分回合并无证据。",
+    "n_issues": 3,
+    "n_major": 2
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点全 false、断点 a_quarter_turned、log step 140/control_steps 270 与视频 5.48 s 吻合，均可信；但根因仅凭此前回合 agent 自述，contact_actual 的手指细节也不是视频观察，应改。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 3,
+    "kind": "confirm",
+    "verdict": "agree",
+    "summary_zh": "两个 accept 均已完整应用：root_causes 已清空且 gap_zh 说明原因；contact_actual 的 note_zh 已改为推断并注明来自 agent 自述。",
+    "n_issues": 0,
+    "n_checks": 2
+   }
+  ],
+  "open_zh": [],
+  "confirm": {
+   "verdict": "confirmed",
+   "summary_zh": "两个 accept 均已完整应用：root_causes 已清空且 gap_zh 说明原因；contact_actual 的 note_zh 已改为推断并注明来自 agent 自述。",
+   "checks_ok": "2/2",
+   "n_factual_errors": 0
+  }
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:35:11Z",
+  "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/dexhand-essential-two-object-i00-standard--eawkcgp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-standard--eawkcgp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-standard--eawkcgp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-standard--eawkcgp/04_review_r2"
+   },
+   {
+    "stage": "reconcile",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-standard--eawkcgp/05_reconcile_r2"
+   },
+   {
+    "stage": "confirm",
+    "round": 3,
+    "ok": true,
+    "space": "work/runs/dexhand-essential-two-object-i00-standard--eawkcgp/06_confirm_r3"
+   }
+  ],
+  "confirm_prompt": "prompts/06_confirm.md",
+  "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d5a1c0dbc090b73642bbce7322688b9ca13327ef9489d995821220eaf71d6a28",
+   "video_sha256": "a1bb5f5ae0e030aac1b9000d0fce93f481fe91a0498cdda52bc26c10f10bd42c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--v7soayw.json

@@ -0,0 +1,259 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-fan-guard-install-i00-privileged--v7soayw",
+ "taskKey": "dexhand/fan_guard_install",
+ "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 3546,
+   "sim_steps": 3546,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.942,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.244,
+   "peak_cpus": 1.8,
+   "peak_pids": 90,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-fan-guard-install-i00-privileged--v7soayw.mp4",
+  "duration_s": 31.7,
+  "fps": 10.0,
+  "frames": 317,
+  "sha256": "e3db230a8e23ecf6a49cfb16418d2766108f1f23ebef464f5fe510cc48b451b2"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 5,
+  "final": 5,
+  "nodes": {
+   "guard_seated": {
+    "method": "visual",
+    "intervals": [
+     [
+      18.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 18.0,
+      "log_step": 87,
+      "text_zh": "观察：HUD 显示 Stage 1/3、同心 1.0 mm、平行 0.0°，视频 17.3 s 仍为 Stage 0/3、12 mm，18.2 s 起 Stage 1/3；视频 8-17 s 手捏护罩中央帽拿起、竖起并对合到后罩沿。评分器 stages_completed=3、success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右手拇指与其余手指捏住护罩中央帽，抬起、竖起并同心送入后罩沿"
+     }
+    ]
+   },
+   "clip_45_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      29.1,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29.1,
+      "log_step": 87,
+      "text_zh": "观察：HUD 视频 29.2 s 起 clips locked 4/4（29.0 s 仍 3/4），29.6 s 起 Stage 3/3，hands-off hands-off 50/50，视频 30 s 起显示 PASS。评分器 stages_completed=3、success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手指尖用柔顺接触推上方另一夹扣片"
+     }
+    ]
+   },
+   "clip_135_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      25.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 25.9,
+      "log_step": 87,
+      "text_zh": "观察：HUD 视频 26 s 起 clips locked 3/4（25.8 s 仍 2/4）（护罩就位后手从上方推上扣）；推断：哪个上扣先合据 log step 73 的 clip2 先于 clip3 命名，视频无法分辨，135/45 的先后为推断。评分器 stages_completed=3、success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手指尖用柔顺接触推上方夹扣片"
+     }
+    ]
+   },
+   "clip_225_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.5,
+      "log_step": 87,
+      "text_zh": "观察：HUD 视频 1.5 s 起 clips locked 1/4（先于护罩就位，下扣可提前合上）；右手指尖拨动下方夹扣片。评分器 stages_completed=3、success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手指尖绕到夹扣片后侧将其拨至闭合"
+     }
+    ]
+   },
+   "clip_315_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.5,
+      "log_step": 87,
+      "text_zh": "观察：HUD 视频 5.5 s 起 clips locked 2/4（下方第二个扣）。评分器 stages_completed=3、success=1。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "推/扫",
+      "note_zh": "右手指尖拨动下方另一夹扣片"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：评分器 success=1、stages_completed=3。视频 1.5 s 与 5.5 s 先合上两个下扣，视频约 18 s 护罩同心就位，26 s 与 29.2 s 合上两个上扣，随后 hands-off 50/50，视频 30 s 起 PASS。两个上扣谁是 135/45 视频不可分辨，先后为推断；时间读自画面 HUD，精度约 ±0.5 s。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "成功结论与节点全 true 正确，但三处 HUD 读数有误：guard_seated 证据称“视频 16.5 s 起 Stage 1/3”与画面不符（17.3 s 仍 Stage 0/3、12 mm，约 18 s 才 1/3）；clip_45 的 28 s 偏早约 1 s（29.0 s 仍 3/4，29.2 s 才 4/4）；clip_135 证据 25.5 s 称 3/4 与画面不符（25.8 s 仍 2/4，26 s 才 3/4）。",
+    "n_issues": 3,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功样本，五个节点全部 true，HUD 读数与第一轮修正后的时间吻合（1.5/5.5/18/26/29.1 s 误差在 1 s 内）；contact_actual 合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:26Z",
+  "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/dexhand-fan-guard-install-i00-privileged--v7soayw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-privileged--v7soayw/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-privileged--v7soayw/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-privileged--v7soayw/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "4cdff889858e998bedc930b9c05527ab481e903b973679939e658952cdbf227f",
+   "video_sha256": "e3db230a8e23ecf6a49cfb16418d2766108f1f23ebef464f5fe510cc48b451b2",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--n3zctkn.json

@@ -0,0 +1,335 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-fan-guard-install-i00-standard--n3zctkn",
+ "taskKey": "dexhand/fan_guard_install",
+ "dag_sha256": "780b495033f927e2f99d6c0c605a490e62e3855b405d828e8318daf24d90f374",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 406,
+   "control_steps_total": 13052,
+   "elapsed_s": 2899.167,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 199,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 199,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.406,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.425,
+   "peak_cpus": 1.93,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-fan-guard-install-i00-standard--n3zctkn.mp4",
+  "duration_s": 6.2,
+  "fps": 5.0,
+  "frames": 31,
+  "sha256": "18baa042be89f363bdc14c882766477e01f7e2d0d8a69be6a8c58a9bae07356d"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 5,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "guard_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 163,
+      "text_zh": "观察：视频 0-6.2 s 状态栏始终显示 Stage 0/3、clips locked 0/4；视频 4.2 s 起显示 FAIL: guard_dropped，护罩斜躺在桌面（距标称座位远，与风扇后罩不同心，同轴误差 506.8 mm），从未竖起贴合后罩。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频约 2.4 s 起右手（Sharpa Wave）移到桌面圆形护罩罩沿上方并逼近，约 3.6-4.2 s 贴在罩沿处接触，护罩被带得倾斜；未见手指合拢包住护罩。"
+     }
+    ]
+   },
+   "clip_45_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 163,
+      "text_zh": "观察：视频全程 clips locked 0/4，且前护罩未就位；风扇后罩上四个夹扣从未合上（未见手接触夹扣）。"
+     }
+    ]
+   },
+   "clip_135_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 163,
+      "text_zh": "观察：视频全程 clips locked 0/4，且前护罩未就位；风扇后罩上四个夹扣从未合上（未见手接触夹扣）。"
+     }
+    ]
+   },
+   "clip_225_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 163,
+      "text_zh": "观察：视频全程 clips locked 0/4，且前护罩未就位；风扇后罩上四个夹扣从未合上（未见手接触夹扣）。"
+     }
+    ]
+   },
+   "clip_315_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.0,
+      "log_step": 163,
+      "text_zh": "观察：视频全程 clips locked 0/4，且前护罩未就位；风扇后罩上四个夹扣从未合上（未见手接触夹扣）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "concentric_m",
+   "value": 0.5068,
+   "unit": "m",
+   "threshold": 0.005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_seat_axial_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0025,
+   "direction": "lower_better"
+  },
+  {
+   "name": "parallel_rad",
+   "value": 1.9984,
+   "unit": "rad",
+   "threshold": 0.0872664626,
+   "direction": "lower_better"
+  },
+  {
+   "name": "clip_45_angle_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "clip_135_angle_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "clip_225_angle_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "clip_315_angle_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.12,
+   "direction": "lower_better"
+  },
+  {
+   "name": "guard_linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "guard_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "fan_displacement_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "fan_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "guard_seated",
+   "t": 4.0,
+   "log_step": 159,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 2.4 s 起右手逼近桌面护罩罩沿、约 3.6 s 起贴在罩沿上，护罩平放不动，约 4.0-4.2 s 护罩被带倾斜后状态栏变为 FAIL: guard_dropped（同轴 506.8 mm、平行度 112.7°），之后手停在护罩旁直到视频 6.2 s，护罩未竖起。"
+  },
+  "unmet": {
+   "guard_seated": false,
+   "clip_45_closed": false,
+   "clip_135_closed": false,
+   "clip_225_closed": false,
+   "clip_315_closed": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没保持住",
+    "t": 4.2,
+    "log_step": 159,
+    "evidence_zh": "观察：视频 4.2 s 状态栏 FAIL: guard_dropped，护罩斜躺桌面；agent 自述（log step 159）罩沿握持使护罩绕远侧边缘转动，随后竖直提起时 episode 以 task_failure 结束。推断：右手对罩沿的握持未能保持住护罩。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：只靠罩沿单侧握持平放在桌面的薄圆盘，护罩绕桌面支点转动而非被抓起；agent 在 20 次 reset 中反复遇到打滑（log step 159-161）。",
+    "source_zh": "视频 / agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；视频中手与护罩接触的细节（手指是否合拢）因分辨率和视角有限，只能推断；agent 最后一次 episode 即为所录视频，但 4.0 s 左右的具体丢失瞬间只有 5 fps 帧。"
+ },
+ "summary_zh": "观察：graded 视频 6.2 s 内右手只到达桌面前护罩罩沿，护罩被带倾斜后在视频约 4.2 s 判 FAIL: guard_dropped，5 个节点均未达成（0/5）。断点在前护罩就位的操作中，现象为没保持住，推断根因是单侧罩沿握持设计不当；无状态日志，细节靠视频推断。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值（0/5）、断点（guard_seated，约4.0 s）和现象/根因大体与视频一致；唯一需要改的是右手到达罩沿的时间写错（视频约2.4 s 已贴罩沿，而非3.6 s）。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点 0/5、断点 guard_seated（视频约 4 s）、没保持住现象与视频一致：右手到罩沿，护罩约 4.2 s 起被带倾斜，状态栏 FAIL: guard_dropped；agent 日志也称 episode 在提起时以 task_failure 结束。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:20Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-standard--n3zctkn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-standard--n3zctkn/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-standard--n3zctkn/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-fan-guard-install-i00-standard--n3zctkn/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "95b26a6438dc7ab40163a6537f42ab1a3f621e1f127553d9dd9f88c88bc65344",
+   "video_sha256": "18baa042be89f363bdc14c882766477e01f7e2d0d8a69be6a8c58a9bae07356d",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--rwlvogr.json

@@ -0,0 +1,260 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-grinder-crank-i00-privileged--rwlvogr",
+ "taskKey": "dexhand/grinder_crank",
+ "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1247,
+   "sim_steps": 1247,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.124,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.278,
+   "peak_cpus": 3.1,
+   "peak_pids": 92,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-grinder-crank-i00-privileged--rwlvogr.mp4",
+  "duration_s": 27.1,
+  "fps": 10.0,
+  "frames": 271,
+  "sha256": "8821b9fec4f160eaed731ebab1a5072197e3c4f3762889a532c43694c291782e"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "crank_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏 Crank 读数全程最高约 +0.17/2.00 圈（视频 ≈23-24 s，step 1220），末帧（视频 26.5 s，step 1247）为 +0.16/2.00、released hold 0/50、右手 2 个接触，顶栏显示 FAIL: grinder_spun，body yaw −45.1°。曲柄远未转满两圈，节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：右手拇指+食指约从视频 ≈ 14 s（step 700，顶栏 R 2）起捏黑色旋钮；左手约从 ≈ 16 s（step 800）起断续贴住磨豆机身作反力扶持（L 3），约 24 s（step 1190）丢失接触（L 0）；之前 5.7-12 s 顶栏均为 R 0 L 0。没有稳定夹持，右手捏持在高负载下滑动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "net_clockwise_deg",
+   "value": 57.6,
+   "unit": "deg",
+   "threshold": 720,
+   "direction": "higher_better"
+  },
+  {
+   "name": "tilt_deg",
+   "value": 2.7,
+   "unit": "deg",
+   "threshold": 10,
+   "direction": "lower_better"
+  },
+  {
+   "name": "slide_m",
+   "value": 0.0094,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "base_z_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.695,
+   "direction": "higher_better"
+  },
+  {
+   "name": "abs_body_yaw_deg",
+   "value": 45.1,
+   "unit": "deg",
+   "threshold": 45,
+   "direction": "lower_better"
+  },
+  {
+   "name": "linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "crank_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "released_hold_steps",
+   "value": null,
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "crank_turned",
+   "t": 24.4,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：右手捏旋钮开始转曲柄后（视频 ≈ 22-24 s），顶栏 body yaw 由 −3.6° 到 −30.8°（视频 24 s，step 1220），末帧 −45.1° 并显示 FAIL: grinder_spun；曲柄仅 +0.16 圈。唯一节点，从未修复。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 24.4,
+    "log_step": null,
+    "evidence_zh": "观察：右手转旋钮时磨豆机身被一起带转，body yaw 由视频 ≈ 21 s 的 −3.6° 增至 24 s 的 −30.8° 与末帧 −45.1°（超过 45° 的 grinder_spun 限值），曲柄相对机身只转了约 0.16 圈。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述：左手反力扶持太弱（log step 143 拇指力仅约 0.1 N、食指离体 4.3 mm；step 223/238/293 多次试验仍在 40-59° 因偏航或右手滑脱失败）；视频顶栏：曲柄转到约 0.16 圈（视频 23.5 s，step 1175）时仍为 R2 L3，24.2 s（step 1190）起左��接触丢失（L 0），随后机身偏航增至 -45°，即左手接触在转动中途丢失。agent 自述仅作辅证。",
+    "source_zh": "视频 + agent 自述（辅证）"
+   }
+  ],
+  "gap_zh": "无状态日志；本视频未显示原始曲柄转角数值以外的接触力，转角值取自顶栏读数，native_metrics 中其余项未报告。",
+  "unmet": {
+   "crank_turned": false
+  }
+ },
+ "summary_zh": "观察：视频 27.1 s 中右手捏住旋钮、左手贴住机身，但曲柄最多只转到约 0.17/2.00 圈，视频 ≈ 24-26 s 机身偏航到 −45.1°，评分器终止为 grinder_spun；节点 0/1。断在“曲柄转满两圈”的操作中，推断主因是左手反力扶持设计太弱（agent 自述 log step 143、238），右手转旋钮时把机身带转。无状态日志，时间取自视频顶栏。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 crank_turned/操作中、带动本体现象均成立；但 contact_actual 的接触时间和根因证据中“转动阶段左手多为 L 0”与顶栏读数矛盾：左手在曲柄转动阶段（视频≈21-23.5 s）为 L 3，约 24 s 才丢失接触后机身偏航增大。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "节点未达成、断点 crank_turned/操作中、带动本体现象、抓取和接触设计根因与顶栏读数一致；上轮问题已按证据修正。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:01Z",
+  "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/dexhand-grinder-crank-i00-privileged--rwlvogr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-privileged--rwlvogr/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-privileged--rwlvogr/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-privileged--rwlvogr/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e6d18842af587c6ecacdef28c240f66487cc74f6e2ea0ad6b6cf09e4ebc82771",
+   "video_sha256": "8821b9fec4f160eaed731ebab1a5072197e3c4f3762889a532c43694c291782e",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--imadluq.json

@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-grinder-crank-i00-standard--imadluq",
+ "taskKey": "dexhand/grinder_crank",
+ "dag_sha256": "70aeb6508b690fe8f013c97c5b13c4633c4dfa3bf5e280aa5f5507c412b2a337",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 230,
+   "control_steps_total": 5549,
+   "elapsed_s": 3623.373,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1103,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 11,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1103,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.403,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.31,
+   "peak_cpus": 2.23,
+   "peak_pids": 89,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-grinder-crank-i00-standard--imadluq.mp4",
+  "duration_s": 24.4,
+  "fps": 5.0,
+  "frames": 122,
+  "sha256": "f1c2bc20c0e0465d19783e443e6d1d588cb48fcfce2ac554181f3af9572bd36f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 1,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "crank_turned": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.2,
+      "log_step": null,
+      "text_zh": "观察：视频顶栏末帧（视频 24.2 s，step 1103）显示 Crank +0.24/2.00 turns、released hold 0/50、FAIL: robot_collision、tilt 4.6°、slide 16.9 mm、body yaw -36.4°；曲柄只转了约 0.24 圈，未达 2 圈，未释放。"
+     },
+     {
+      "t": 8.0,
+      "log_step": null,
+      "text_zh": "观察：视频约 8-20 s 左手（机器人）扶住磨豆机身，右手靠近并接触黑色旋钮（hand contacts R 1-3 L 1-3），曲柄读数始终低于 0.3 圈，机身随之偏转。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：一只手扶住机身、另一只手触碰旋钮推动曲柄（顶栏 hand contacts 两手均有接触）；旋钮侧接触是否构成真正抓握在视频中不清楚，曲柄仅转 0.24 圈，机身被带偏 yaw -36°。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "crank_turned",
+   "t": 20.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 约 20-24.2 s 右手带动曲柄时机身被带得偏转（顶栏 body yaw -36.4°、slide 16.9 mm），末帧 FAIL: robot_collision，曲柄仅 0.24/2.00 圈。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 22.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 约 16-24 s 顶栏 body yaw 从约 -2° 变到 -36.4°、slide 增至 16.9 mm，而曲柄仅 0.24 圈：推旋钮把机身一起带转，扶持没能抵住转矩。推断：末帧 robot_collision 判负与此同时发生。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 49-77、112-121）：多次重设计左手扶持和手指/拇指姿态以避免手指先碰到机身，扶持后机身出现偏移和倾斜，手腕跟踪有毫米级偏差，旋钮抓取位置偏差约 14 mm（log step 121）。推断：抓持几何/接触方案不稳。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志，机身偏转与碰撞的具体接触部位只能从顶栏读数和视角有限的画面推断；会话中的多次 reset 和测试不是图中图证据。",
+  "unmet": {
+   "crank_turned": false
+  }
+ },
+ "summary_zh": "观察：被评分的 24.4 s 视频里曲柄只转了约 0.24/2.00 圈，未释放，末帧顶栏为 FAIL: robot_collision。断在转曲柄这一步（操作中），右手推旋钮时机身被带偏（yaw -36°），推断根因为抓持/接触设计不稳。无状态日志，细节来自顶栏读数和 agent 自述。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "标签与视频顶栏一致：曲柄仅 0.24/2.00 圈，末帧 FAIL: robot_collision，机身 yaw 从约 4° 被带到 -36°，断点 crank_turned 操作中、带动本体现象均有画面与顶栏支持；未发现需改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-standard--imadluq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-grinder-crank-i00-standard--imadluq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "e80f6e38c04a220684a02454050cecb8bed410eb0d1b5a58b5c3c61cf1076ac5",
+   "video_sha256": "f1c2bc20c0e0465d19783e443e6d1d588cb48fcfce2ac554181f3af9572bd36f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--ux2kokk.json

@@ -0,0 +1,168 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-privileged--ux2kokk",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 807,
+   "sim_steps": 806,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.529,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.242,
+   "peak_cpus": 2.17,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-privileged--ux2kokk.mp4",
+  "duration_s": 18.3,
+  "fps": 10.0,
+  "frames": 183,
+  "sha256": "0c40e5501303d98065112f7d29529b5129650cff13531826d0c7ed399dcee23c"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 102,
+      "text_zh": "观察：视频约 8.5 s 顶栏仍为 Stage 0/3，约 9 s 变为 1/3，此时红盖相对罐身已逆时针转过释放角（lid turn ≈1.2 rad > 1.05）；右手五指握在盖上拧转。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [
+     [
+      14.3,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 14.3,
+      "log_step": 102,
+      "text_zh": "观察：约 12 s 顶栏 Stage 2/3（盖已抬离罐口），约 12-14 s 右手把盖移到罐旁并放在台面；约 15.3 s hold 24/50，约 16 s 起 hold 50/50、Stage 3/3 PASS，末帧红盖直立在罐旁台面，手指已离盖。"
+     }
+    ]
+   }
+  },
+  "constraints": {},
+  "contact_actual": {
+   "lid_unscrewed": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右手拇指与小指在侧面夹住盖，其余手指压在盖顶，带动盖逆时针转动。"
+    }
+   ],
+   "lid_on_worktop": [
+    {
+     "who": "手指/夹爪",
+     "how": "抓握",
+     "note_zh": "右手五指抓住盖抬离罐口、横移约 9 cm 以上并放到台面后松开。"
+    }
+   ]
+  }
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：graded 视频 18.3 s 内右手拧开红盖（视频约 9 s 达 Stage 1/3）、抬离（约 12 s Stage 2/3）并放到罐旁，约 16 s 起 hold 50/50、PASS，两节点均达成。agent 在 session 中经多次试验（log step 6-100）后交付并两次重放验证（log step 102-108）。无状态日志，节点时间来自顶栏目视，精度约 0.5 s。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两节点均达成，与顶栏和帧一致：Stage 1/3 约 8.5-9 s，Stage 2/3 约 12 s，hold 约 15.1 s 起计数，末帧 PASS 且红盖立在罐旁。lid_on_worktop 起点 14.3 s 略早于 hold 开始（约 15.1 s），但在约 1 s 容差内。接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:48Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--ux2kokk/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-privileged--ux2kokk/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "13a8d3cf432e6a3f0eb17dcf9d323786ad3c988610714d28d9808933ebe317c0",
+   "video_sha256": "0c40e5501303d98065112f7d29529b5129650cff13531826d0c7ed399dcee23c",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--yydreyg.json

@@ -0,0 +1,267 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-jar-lid-open-i00-standard--yydreyg",
+ "taskKey": "dexhand/jar_lid_open",
+ "dag_sha256": "b2060ab237a25379dd35ea85a182cf91836d35380185b84c082a6e96311fd522",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 1430,
+   "control_steps_total": 6888,
+   "elapsed_s": 3590.257,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 2152,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 5,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2152,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.374,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.48,
+   "peak_cpus": 1.84,
+   "peak_pids": 89,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-jar-lid-open-i00-standard--yydreyg.mp4",
+  "duration_s": 45.4,
+  "fps": 5.0,
+  "frames": 227,
+  "sha256": "0c847a184b43a44a0d52a5a729835b1aed96e79f3998ca936cc01539581a4268"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "lid_unscrewed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 43.0,
+      "log_step": 79,
+      "text_zh": "观察：视频顶栏 Stage 始终为 0/3，盖转角读数最高 0.70 rad（视频 44 s 前后，终态帧），低于释放角 1.05 rad；无任何帧显示盖脱离螺纹。agent 自述曾在会话中达到 1.21 rad（log step 79），但那不是视频所示的受评回合，不采信。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：右手 Sharpa 手指（绿色指垫）压在红盖顶面/边缘做逆时针拧转，视频约 3-44 s 多次接近、按压；未见稳定的对置抓握。"
+     }
+    ]
+   },
+   "lid_on_worktop": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 44.5,
+      "log_step": 82,
+      "text_zh": "观察：视频全程红盖仍套在罐口，罐旁台面无盖；终态帧顶栏 FAIL: jar_tipped，hold 0/50。前置节点未达成，本节点未达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "未知",
+      "how": "未知",
+      "note_zh": "观察：视频中盖从未脱离罐口，未出现抬盖或放置动作。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "max_seated_turn_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 1.049342105263158,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_distance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.09,
+   "direction": "higher_better"
+  },
+  {
+   "name": "lid_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lid_spin_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "jar_slide_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "lid_unscrewed",
+   "t": 43.5,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 3-43 s 右手反复压住/扭转红盖，盖转角读数仅升至 0.66-0.70 rad，未到 1.05 rad；约 43-44 s 顶栏变为 FAIL: jar_tipped（final state），罐身被带歪，回合结束。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 43.5,
+    "log_step": null,
+    "evidence_zh": "观察：视频 43-44 s 手压在盖上拧转时罐身随之倾斜，顶栏出现 jar_tipped；盖相对罐身的转角停在 0.70 rad。agent 自述前几次尝试也因手腕偏心/固定高度扭转把罐带倒（log step 36、60、62）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述：指垫只压在盖顶、没有对置夹住盖裙（log step 43、48、54、55），拧转靠摩擦所以打滑、偏心而带倒罐身；视频中可见指垫在盖顶/边缘而非包住盖裙。",
+    "source_zh": "agent 自述 + 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，罐/盖的精确接触与时间只能靠视频和顶栏读数；native_metrics 的数值未在 run.json 的 reward 字段中报告，故为 null。",
+  "unmet": {
+   "lid_unscrewed": false,
+   "lid_on_worktop": false
+  }
+ },
+ "summary_zh": "观察：受评回合（视频 45.4 s）中右手反复压拧红盖，盖转角最高 0.70 rad（<1.05 rad），Stage 始终 0/3，视频约 43-44 s 罐身被带倾倒（jar_tipped）而终止；两个节点均未达成（0/2）。推断：指垫未能对置夹住盖裙，拧转时把罐一起带倒（依据主要为视频与 agent 自述）。无状态日志，时间为视频读数。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "视频顶栏全程 Stage 0/3，盖转角最高 0.70 rad，约 45 s 终态 FAIL: jar_tipped；两节点未达成、断点 lid_unscrewed、带动本体均与帧一致，会话中 1.21 rad 未被采信，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:29:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--yydreyg/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-jar-lid-open-i00-standard--yydreyg/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "345371d5cde3cc383eb2f45c237ba5bd00a1164dee909bf476a5e43c08166f40",
+   "video_sha256": "0c847a184b43a44a0d52a5a729835b1aed96e79f3998ca936cc01539581a4268",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--s4lvl97.json

@@ -0,0 +1,203 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-pancake-serve-i00-privileged--s4lvl97",
+ "taskKey": "dexhand/pancake_serve",
+ "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1125,
+   "sim_steps": 1125,
+   "stages_completed": 0,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 4.824,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 2.02,
+   "peak_pids": 82,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-pancake-serve-i00-privileged--s4lvl97.mp4",
+  "duration_s": 12.72,
+  "fps": 25.0,
+  "frames": 318,
+  "sha256": "6e8a9e35235a93cb71cca8debc9e869902e7bada954932b7c620c762d1c668b7"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "turner_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": 27,
+      "text_zh": "观察：视频 3.0 s 右手握在台面锅铲柄上，视频 4.0 s 起锅铲被手提离台面，并持续举在手中至结尾（视频 12.7 s 仍在手中）。agent 自述“centred grasp lifts the turner cleanly”（log step 27），与画面一致。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "右侧灵巧手手指合拢握住锅铲柄并提起（视频 3-4 s）。"
+     }
+    ]
+   },
+   "pancake_on_blade": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.7,
+      "log_step": 60,
+      "text_zh": "观察：全程画面顶部 on blade 始终未勾选；视频 7-12.7 s 铲片在锅沿/饼上方接触，煎饼始终留在锅里，未被托起。agent 最终自述“replay leaves the pancake in the pan at stage 0”（log step 60）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "右手持锅铲，铲片尝试插入煎饼下方，但接触在饼上沿/锅沿，未托起（视频 7-12.7 s）；log step 42-51 称铲片碰到饼顶面或压到锅底。"
+     }
+    ]
+   },
+   "pancake_on_plate": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 12.7,
+      "log_step": 60,
+      "text_zh": "观察：视频 12.7 s 煎饼仍在锅中，over plate / served 均未勾选，plate dist 26.2 cm。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "pancake_on_blade",
+   "t": 9.0,
+   "log_step": 51,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 7-12.7 s 右手持锅铲在锅边伸向煎饼，煎饼始终留在锅内，on blade 未勾选。agent 自述铲片高度偏差几毫米即碰饼顶或压锅底（log step 42-51）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 9.0,
+    "log_step": 42,
+    "evidence_zh": "观察：视频 7-12.7 s 铲片前缘未能插到煎饼下方，煎饼不动留在锅里。agent 自述铲片多停在饼顶面 z≈0.8652 m，35° 入射时又顶到锅底并推动锅（log step 47-48）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述插入高度窗口极窄，几毫米偏差即失败，反复调参未通过（log step 42-56）；握持下铲片姿态由手握状态决定，属末端高度/姿态控制精度问题，具体子类不明。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；铲片与饼的精确接触高度只能从视角有限的画面和 agent 自述推断，故根因子类保持“控制”。",
+  "unmet": {
+   "pancake_on_blade": false,
+   "pancake_on_plate": false
+  }
+ },
+ "summary_zh": "观察：机器人拿起锅铲（视频约 3.6 s 起），但此后在锅边多次尝试插铲，煎饼始终留在锅内（视频 12.7 s），煎饼托上铲与装盘均未达成，1/3。断点在煎饼托上铲的插入操作，铲片高度/姿态不准；无状态日志，根因仅据 agent 自述推断为控制。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "锅铲拿起（视频约 3.6–4.4 s 起举离台面）与煎饼始终留在锅内（on blade 全程未勾选，视频 12.7 s 煎饼仍在锅中）均与画面一致；断点、位姿不准现象与 1/3 进度合理。根因仅据 agent 自述，保持“控制”可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:30:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-pancake-serve-i00-privileged--s4lvl97/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-pancake-serve-i00-privileged--s4lvl97/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d8231a7543efc94bdc659f6acd644aa283ad549f072a18cf4312018b33cee736",
+   "video_sha256": "6e8a9e35235a93cb71cca8debc9e869902e7bada954932b7c620c762d1c668b7",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--qc6umjq.json

@@ -0,0 +1,285 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-pancake-serve-i00-standard--qc6umjq",
+ "taskKey": "dexhand/pancake_serve",
+ "dag_sha256": "88a62bb839c4f72417c49b00bde10e86ccf1f60461bb3d1dbe0d25557e9b5275",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 263,
+   "control_steps_total": 8145,
+   "elapsed_s": 3645.836,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 979,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 7,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 979,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.52,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.335,
+   "peak_cpus": 7.63,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-pancake-serve-i00-standard--qc6umjq.mp4",
+  "duration_s": 20.8,
+  "fps": 5.0,
+  "frames": 104,
+  "sha256": "bb43b9ad577e0010e0ba37e31bb8bacb6d41e0654d834e03553e743463b1c9bd"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": null,
+  "peak": null,
+  "final": 1,
+  "nodes": {
+   "turner_in_hand": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0 s 右手仍在台面上的锅铲旁，5.0 s 起锅铲随右手离开台面并被手握着移向煎锅，此后一直在手中（至 19.58 s）。时间约 ±0.5 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右侧灵巧手四指合拢握住锅铲柄并将其提离台面（视频 5.0 s 起）。"
+     }
+    ]
+   },
+   "pancake_on_blade": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 18.4,
+      "log_step": null,
+      "text_zh": "观察：视频 9-20.4 s 铲子多次伸进煎锅，但煎饼始终留在锅里；画面顶部 HUD 的 [ ] on blade 全程未勾选，plate dist 一直 26-27 cm（视频 20.4 s 仍为 26.4 cm），18.4-19.6 s 铲子带着手移到盘上方时锅里仍有煎饼、盘上没有饼。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：视频 9-18 s 手持锅铲的铲片多次压入/伸进煎锅边缘，但煎饼没有被托起离锅。"
+     }
+    ]
+   },
+   "pancake_on_plate": {
+    "method": "visual",
+    "intervals": null,
+    "final": false,
+    "evidence": [
+     {
+      "t": 19.58,
+      "log_step": null,
+      "text_zh": "观察：视频末帧 19.58 s 盘中无煎饼，HUD 的 over plate / served 均未勾选，煎饼仍在锅中。前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pancake_lift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.015,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pancake_tilt_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 30,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pancake_plate_dist_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.058,
+   "direction": "lower_better"
+  },
+  {
+   "name": "served_pancake_tilt_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pancake_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "pancake_ang_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "blade_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.08,
+   "direction": "higher_better"
+  },
+  {
+   "name": "pan_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "plate_shift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "pancake_on_blade",
+   "t": 12.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视��� 5 s 起右手握住锅铲，9-18 s 多次把铲片伸向煎锅，但煎饼始终没有离锅，HUD on blade 未勾选，直至视频结束（20.8 s 时长，末帧 19.58 s）。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 12.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 9-18 s 铲片多次入锅，没有从饼下方进入并托起；末帧饼仍在锅中。推断：铲片进入角度/位置不对，铲面未能插到饼下（锅沿遮挡细节，未见明确的受阻接触）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 106）：手柄在手中被锅接触力带得转动，导致设定的铲片角度没有保持，这是其推测；log step 102 称煎饼仍在锅里。视频只显示铲片没有托起煎饼，没有直接证实该机理。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "没有状态日志，锅沿与饼下方的接触被手和铲遮挡，看不清铲片是否被锅沿挡住；根因只来自 agent 的自述推测。原生指标值（pancake_lift_m 等）评分记录里没有给出，故为 null。",
+  "unmet": {
+   "pancake_on_blade": false,
+   "pancake_on_plate": false
+  }
+ },
+ "summary_zh": "观察：视频 5.0 s 起右手握住锅铲（拿起锅铲达成），之后 9-18 s 多次将铲片伸向煎锅，煎饼始终留在锅里，盘上无饼，on blade 未勾选，1/3 节点达成。断点在“煎饼托上铲”（操作中），现象为铲片没能插到饼下（位姿不准），根因只能到“控制”层（agent 自述手柄在手中转动，属推测）。没有状态日志，锅沿接触被遮挡。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "拿起锅铲约 5 s 达成、煎饼始终未上铲且盘上无饼，三个节点、断点（煎饼托上铲/操作中）和位姿不准现象与视频一致；根因“控制”只来自 agent 自述，已标为推测，gap_zh 已说明，没有发现需要修改的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:29:50Z",
+  "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/dexhand-pancake-serve-i00-standard--qc6umjq/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-pancake-serve-i00-standard--qc6umjq/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "518bc14c1740d3ac861ae79fe70c1667e67d02626f111a656dcb601ed917def4",
+   "video_sha256": "bb43b9ad577e0010e0ba37e31bb8bacb6d41e0654d834e03553e743463b1c9bd",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--khxql9n.json

@@ -0,0 +1,215 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-picture-hang-i00-privileged--khxql9n",
+ "taskKey": "dexhand/picture_hang",
+ "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1512,
+   "sim_steps": 1512,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 2.67,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.251,
+   "peak_cpus": 1.42,
+   "peak_pids": 80,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-picture-hang-i00-privileged--khxql9n.mp4",
+  "duration_s": 11.12,
+  "fps": 25.0,
+  "frames": 278,
+  "sha256": "cac1853f9eb622f510cae1f461f56e4987bc4a34c9398141f9785bbdae966fc1"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 3,
+  "final": 3,
+  "nodes": {
+   "picture_lifted": {
+    "method": "visual",
+    "intervals": [
+     [
+      2.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 2.8,
+      "log_step": 44,
+      "text_zh": "观察：视频 2.5 s 叠层 stage 0/3（仿真 7.56 s），视频 3 s 变为 stage 1/3（仿真 9 s），此时相框已被双手托离台面。时间为叠层读数间推得，精度约 0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "双手从相框两侧夹压边框承重（叠加叠层读数 hand contacts 12），未见手指环抱；候选名：双手对向夹压"
+     }
+    ]
+   },
+   "left_ring_on_hook": {
+    "method": "visual",
+    "intervals": [
+     [
+      7.9,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.0,
+      "log_step": 44,
+      "text_zh": "观察：视频 7 s 叠层 threaded L=0 R=0，视频 7.5 s 起 L=1 R=1 且 stage 2/3，视频 8 s 左钩载荷 0.26 W（≥0.20）；之后保持到结束（视频 10 s 为 0.54 W）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "双手从相框两侧夹压边框承重（叠加叠层读数 hand contacts 12），未见手指环抱；候选名：双手对向夹压"
+     }
+    ]
+   },
+   "right_ring_on_hook": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.3,
+      8.7
+     ],
+     [
+      9.55,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 44,
+      "text_zh": "观察：视频 8.5 s 右钩载荷 0.39 W（≥0.20）；视频 8.7 s 读数 0.17 W 起低于阈值，9.4 s 为 0.00 W，9.6 s 回升到 0.43 W（手接触 2）；视频 10 s 为 0.47 W，10.5 s 以后 stage 3/3、hold 50/50、PASS。回升的精确时刻在 9.4–9.6 s 之间，取 9.55 s 为估计。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "双手夹压相框两侧，将右环引导穿过右钩后松开撤离"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "观察：成功（stage 3/3，PASS，视频 11 s 前叠层 hold 50/50）。抬离台面约视频 2.8 s，两环穿钩约视频 7.4 s，左右钩载荷分别约视频 8.0 s、8.3 s 达到阈值，松手撤出后右钩载荷短暂归零再恢复。无状态日志，节点时间由视频叠层读数推得；叠层时钟约为视频时间的 3 倍（仿真 30.24 s 对应视频末尾）。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "成功判定、阶段与左环、抬离时间均与叠层读数一致；仅右环空档的区间边界与叠层读数不符（空档应约为视频 8.7–9.55 s，而非 9.3–9.8 s）。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功、三个节点的时间与叠层读数（stage、threaded、hook load）一致；上轮右环空档已按建议修正；未发现需改动的错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:18Z",
+  "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/dexhand-picture-hang-i00-privileged--khxql9n/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-privileged--khxql9n/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-privileged--khxql9n/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-privileged--khxql9n/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "91b3136e085303eb61fe44d9246c25749e05bbfa687edba852fe5faa5d2ceb95",
+   "video_sha256": "cac1853f9eb622f510cae1f461f56e4987bc4a34c9398141f9785bbdae966fc1",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--zmo24mj.json

@@ -0,0 +1,313 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-picture-hang-i00-standard--zmo24mj",
+ "taskKey": "dexhand/picture_hang",
+ "dag_sha256": "aa6a1b7c76b911e4015893803bb156ab69766ab91b47214535622219f48b7b8b",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 515,
+   "control_steps_total": 16841,
+   "elapsed_s": 3626.114,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1263,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 18,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1263,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.422,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.418,
+   "peak_cpus": 1.84,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-picture-hang-i00-standard--zmo24mj.mp4",
+  "duration_s": 26.4,
+  "fps": 5.0,
+  "frames": 132,
+  "sha256": "e86e1056f6af24983630c31dc2961ab5873fcd176710658292d7c6cc5e9f77c6"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 3,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "picture_lifted": {
+    "method": "visual",
+    "intervals": [
+     [
+      5.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 5.4,
+      "log_step": 26,
+      "text_zh": "观察：视频 5.4 s 顶栏阶段由 0/3 变为 1/3，相框已离开台面并由双手持住，之后一直保持离台。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "左右手指各自包住相框左右边框抬持"
+     }
+    ]
+   },
+   "left_ring_on_hook": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：视频全程顶栏 threaded L=0 R=0、hook load 0.00 W；相框在 17–24 s 停在墙钩附近但左环未穿挂，25.26 s 顶栏显示 FAIL: picture_unsupported (final)。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "双手抓框边把挂环送到钩位，环未穿过钩座；松手后相框失去支撑"
+     }
+    ]
+   },
+   "right_ring_on_hook": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 24.4,
+      "log_step": null,
+      "text_zh": "观察：视频全程顶栏 threaded L=0 R=0、hook load 0.00 W；相框在 17–24 s 停在墙钩附近但右环未穿挂，25.26 s 顶栏显示 FAIL: picture_unsupported (final)。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "双手抓框边把挂环送到钩位，环未穿过钩座；松手后相框失去支撑"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "lift_clearance_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "higher_better"
+  },
+  {
+   "name": "hook_load_share_l",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "hook_load_share_r",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.2,
+   "direction": "higher_better"
+  },
+  {
+   "name": "total_hook_load_share",
+   "value": null,
+   "unit": "ratio",
+   "threshold": 0.85,
+   "direction": "higher_better"
+  },
+  {
+   "name": "abs_roll_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 3,
+   "direction": "lower_better"
+  },
+  {
+   "name": "tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.15,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hold_steps",
+   "value": null,
+   "unit": "control_step",
+   "threshold": 50,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "left_ring_on_hook",
+   "t": 24.4,
+   "log_step": 158,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 17–24 s 相框举到墙钩处，顶栏 threaded L=0 R=0；25.26 s 手接触数降为 0，顶栏 FAIL: picture_unsupported，相框仍在钩处但钩承重 0 W。agent 自述（log step 158）挂环仍未真正套入两个钩座。"
+  },
+  "unmet": {
+   "left_ring_on_hook": false,
+   "right_ring_on_hook": false
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 24.4,
+    "log_step": 158,
+    "evidence_zh": "观察：视频 17–24 s 相框挂环与钩的对位始终未达到穿挂（threaded L=0 R=0, hook load 0）；推断：环停在钩唇上/房间侧，agent 近景检查（log step 130、135）也称环在钩唇上方或房间侧。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述（log step 84-155）多次在 mm 级对位下降，环总停在钩唇处，且帧在手中下滑（log step 118 自述下滑约13 cm）；未证明具体子类型。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；挂环被相框遮挡，仅凭顶栏 threaded 读数与近景判断；根因仅来自 agent 自述，子类型不明。"
+ },
+ "summary_zh": "观察：图框在视频约 5 s 离台（1/3），之后举到墙钩处但左右环均未穿挂（threaded L=0 R=0），25.26 s 松手后判 picture_unsupported 失败。断在挂环套钩的对位步骤；原因仅有 agent 自述的毫米级对位失败，无状态日志。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点值与断点基本可信（5 s 左右离台，threaded 始终 0，无状态日志）；但 evidence 里写“相框下落”的观察与视频不符，需改。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "离台约5 s（视频顶栏4.4 s为0/3、5.0 s为1/3）、左右环未穿挂（threaded始终0、钩承重0 W）、断点在左环挂钩均与视频一致；第1轮的修正已落实，未发现新错误。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:31Z",
+  "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/dexhand-picture-hang-i00-standard--zmo24mj/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-standard--zmo24mj/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-standard--zmo24mj/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-picture-hang-i00-standard--zmo24mj/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "068f52a0d8cac0df17cb1511b3f84c6f470d62d20cd4fbf43df546bcabf17b74",
+   "video_sha256": "e86e1056f6af24983630c31dc2961ab5873fcd176710658292d7c6cc5e9f77c6",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--nr2ip9o.json

@@ -0,0 +1,165 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-ram-module-install-i00-privileged--nr2ip9o",
+ "taskKey": "dexhand/ram_module_install",
+ "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 955,
+   "sim_steps": 955,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.812,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.243,
+   "peak_cpus": 1.4,
+   "peak_pids": 90,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-ram-module-install-i00-privileged--nr2ip9o.mp4",
+  "duration_s": 21.2,
+  "fps": 10.0,
+  "frames": 212,
+  "sha256": "e78abc21618094e4470d31c557d5363249467e271269393227f59c05b760c297"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "module_seated": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 13.8–17.4 s 顶部读数两端深度 1.5/4.3 mm（一端未到 1.5–2.6 mm 窗口，未就位）；视频 17.8 s 读数变为 2.1/2.0 mm，内存条直立嵌入最外侧插槽，视频 20.9 s 横幅 PASS，installed and released 50/50。时间约 ±0.3 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频约 4–17 s 右手拇指与其他手指（绿色高亮接触）捏持内存条，从泡沫架取出、抬起并搬到主板最外侧插槽，向下送入。"
+     }
+    ]
+   },
+   "latch_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      17.6,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 17.8,
+      "log_step": null,
+      "text_zh": "观察：视频 17.4 s 锁扣读数 0.38 rad（尚未闭合，原 0.55 rad），视频 17.8 s 起 -0.00 rad ≤0.08，之后保持到视频结束；PASS 横幅。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：视频 17.4–17.8 s 手指仍捏持内存条下压入槽，由内存条推动被动锁扣闭合；手未直接抓锁扣；之后手松开并移开。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：两个节点均达成。视频约 17.6 s 内存条两端深度 2.1/2.0 mm 就位、锁扣闭合至 -0.00 rad，手松开后视频 20.4 s 起保持 50/50 步，20.9 s 横幅显示 PASS。无状态日志，时间来自视频顶部读数，精度约 0.3 s。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两节点在视频 17.4→17.8 s 读数由 1.5/4.3 mm、0.55 rad 变为 2.0/2.0 mm、-0.00 rad，PASS 横幅在 20.9 s 出现，与标注一致；接触标注合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:28:32Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-ram-module-install-i00-privileged--nr2ip9o/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-ram-module-install-i00-privileged--nr2ip9o/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "196465790f0f5bcc46b0da22ed320561f3a761c383268a4de40d15679da286d7",
+   "video_sha256": "e78abc21618094e4470d31c557d5363249467e271269393227f59c05b760c297",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--dkjzqtp.json

@@ -0,0 +1,283 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-ram-module-install-i00-standard--dkjzqtp",
+ "taskKey": "dexhand/ram_module_install",
+ "dag_sha256": "49c2ef7342ff96d98bcaa9c9bbf565c347b910e312bf0fe85bfe24ce2574b91f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 448,
+   "control_steps_total": 14581,
+   "elapsed_s": 3639.83,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 2000,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 8,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2000,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.409,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.632,
+   "peak_cpus": 2.49,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-ram-module-install-i00-standard--dkjzqtp.mp4",
+  "duration_s": 42.2,
+  "fps": 5.0,
+  "frames": 211,
+  "sha256": "c61ea21adac5be07929127abbef9028401bd37dca3785435b1acbc88d01d79ae"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "module_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "观察：视频 42.1 s 末帧叠加字幕“Stage 0/3 | end depths 104.4/44.3 mm | INCOMPLETE”，内存条被手持着斜悬在主板前方，远离最外侧插槽，未嵌入。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：约视频 39–40 s 右手手指从泡沫架上夹起内存条并抬离，条在手中倾斜；此前约 0–38 s 手在泡沫架附近多次接近、触碰内存条但未取出。"
+     }
+    ]
+   },
+   "latch_closed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 42.1,
+      "log_step": null,
+      "text_zh": "观察：视频全程字幕 latch 0.55 rad、Stage 0/3，锁扣未动；前置的插入未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "min_end_depths_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0015,
+   "direction": "higher_better"
+  },
+  {
+   "name": "max_end_depths_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0026,
+   "direction": "lower_better"
+  },
+  {
+   "name": "lateral_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_along_slot_offset_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.001,
+   "direction": "lower_better"
+  },
+  {
+   "name": "upright_err_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 3.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "keyed_err_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 3.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "latch_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.08,
+   "direction": "lower_better"
+  },
+  {
+   "name": "module_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "module_ang_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.2,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "module_seated",
+   "t": 38.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频约 0–38 s 手反复在泡沫架处尝试取条，条留在架上，约 39–40 s 才抽出并抬离，之后条在手中倾斜；视频结束（42.2 s）时字幕 Stage 0/3，终端深度 104.4/44.3 mm，未到插槽。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 20.0,
+    "log_step": 214,
+    "evidence_zh": "观察：视频约 0–38 s 手反复到泡沫架，条留在架上未被抽出，约 39–40 s 才抽出；agent 日志 step 214/218/224（第9回合）记录抓取偏在条一端、拇指未对到另一面、两指在同一面。条被抽出后的倾斜发生在断点之后。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "��取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "推断：斜向夹取使条在抽出时旋转（agent 自述 log step 235 “angled grasp… rotated during extraction”）；视频中多次取条失败后才抬起。",
+    "source_zh": "视频、agent 自述"
+   }
+  ],
+  "gap_zh": "无状态日志；根因的抓取设计只有视频和 agent 自述支持；类型细分不确定。",
+  "unmet": {
+   "module_seated": false,
+   "latch_closed": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 42.2 s 内手多次尝试，约 39 s 后才把内存条从泡沫架取出，结束时字幕 Stage 0/3，条倾斜悬在手中，插入和闭扣均未达成（0/2）。断点在插入内存的搬运操作中，推断为抓取姿态不佳使条在抽出时旋转。无状态日志，时间为视频估计。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（0/2）、断点 module_seated 与根因“抓取和接触设计”可成立；但现象标错：图像和 live 日志（第9回合，2000 控制步）显示约 0–39 s 一直在泡沫架取条失败，约 39–40 s 才抽出，随后搬运途中步数用尽；条倾斜只是断点之后的事，不是导致失败的现象。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "第1轮修改已落实：节点 0/2、断点 module_seated（取条步骤）、现象 接触·没建立接触（条在架上约 0–38 s，约 38.5–39.5 s 才离架）和根因 抓取和接触设计均有帧和日志支持，未发现需要修改的内容。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:11Z",
+  "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/dexhand-ram-module-install-i00-standard--dkjzqtp/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-ram-module-install-i00-standard--dkjzqtp/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-ram-module-install-i00-standard--dkjzqtp/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-ram-module-install-i00-standard--dkjzqtp/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8022c7b5afcd91bb8131fcab34d0e71b6b8fb2a2685369a1bc6cda3089256988",
+   "video_sha256": "c61ea21adac5be07929127abbef9028401bd37dca3785435b1acbc88d01d79ae",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--xgdrjjc.json

@@ -0,0 +1,222 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-remote-battery-swap-i00-privileged--xgdrjjc",
+ "taskKey": "dexhand/remote_battery_swap",
+ "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 1,
+   "infra_error": 0,
+   "n_actions": 579,
+   "sim_steps": 579,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 2.423,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.245,
+   "peak_cpus": 1.56,
+   "peak_pids": 92,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-remote-battery-swap-i00-privileged--xgdrjjc.mp4",
+  "duration_s": 13.6,
+  "fps": 10.0,
+  "frames": 136,
+  "sha256": "e43e4d33a7fb3871ee94d8f5c7051e745830a7b2246946b31dbcb2b64230bb72"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "battery_cover_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": 24,
+      "text_zh": "观察：右手食指压住锁片并沿尾端拖动滑盖，视频 8.1/8.2/8.3/8.4 s 画面叠字门开度 46/51/56/60 mm，8.4 s 起显示 Stages 1/4；之后 8.5-9.7 s 开度 73-77 mm，黑色滑盖伸出、灰色电池露出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手食指指尖压住滑盖锁片并拖动滑盖向尾端滑开"
+     }
+    ]
+   },
+   "old_cell_in_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.0,
+      "log_step": null,
+      "text_zh": "观察：视频 9-13.6 s 右手抬起退到遥控器后方上空，未接触灰色电池；灰色电池始终在仓内，托盘始终为空，叠字一直为 Stages 1/4。推断：交付的轨迹只含开盖阶段（log step 268/270 agent 自述仅完成开盖回退方案）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "不适用",
+      "how": "不适用",
+      "note_zh": "交付轨迹未对灰色电池做任何动作；画面中手未触及它。"
+     }
+    ]
+   },
+   "new_cell_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 13.5,
+      "log_step": null,
+      "text_zh": "观察：绿色新电池在整段视频里一直躺在桌面原处，未被触碰，仓内仍是灰色电池。"
+     }
+    ]
+   },
+   "battery_cover_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      6.8
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 6.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0-6.5 s 门开度显示 0/-1 mm（盖合上，开局即成立）；7.0 s 起开度升至 20 mm，盖打开，此后一直敞开到 73 mm，未关回。开始离开时刻约 6.8 s，为两帧之间的估计。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "old_cell_in_tray",
+   "t": 9.0,
+   "log_step": 268,
+   "where": "首步前",
+   "evidence_zh": "观察：视频 8.4 s 开盖完成（Stages 1/4）后，右手在 9-13.6 s 抬起退开，灰色旧电池仍在仓内、托盘为空、绿色电池未动。log step 268/270 agent 自述交付的是仅含开盖的回退方案（'completes only the door-opening stage'），取电池的抓取在 session 中始终没有成功。"
+  },
+  "phenomena": [
+   {
+    "cat": "没尝试",
+    "item": "没尝试",
+    "t": 9.0,
+    "log_step": 270,
+    "evidence_zh": "观察：交付轨迹（579 个动作）的视频里，开盖之后手没有对灰色电池做任何接触动作。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "session 证据：log step 113-253 中 agent 反复尝试拇指-食指捏取灰色电池，指垫打在电池顶、手指撞仓壁/正极块、捏起后打滑（step 237 自述只抬起 0.4 mm 即滑脱），直接搜索（step 249-253）也未找到持续抓握，最终放弃并交付仅开盖版本。这是 session 证据，不是已交付视频里的现象。",
+    "source_zh": "日志"
+   }
+  ],
+  "gap_zh": null,
+  "unmet": {
+   "battery_cover_opened": true,
+   "old_cell_in_tray": false,
+   "new_cell_seated": false,
+   "battery_cover_closed": false
+  }
+ },
+ "summary_zh": "观察：交付的轨迹只完成第 1 步开盖（视频 8.4 s，开度 60 mm 起，之后 73-77 mm），随后手退开，旧电池、新电池、托盘均未被动过，盖未关回（开局的关盖状态在约 6.8 s 失去）。断点在 旧电池入托盘，之前 session 内多次捏取灰电池都没形成稳定抓握（log step 113-253），agent 最终交付开盖回退方案。证据缺口：无状态日志，节点时间来自视频叠字，根因来自 session 日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "开盖 8.4 s（60 mm、Stages 1/4）、之后手退开、旧/新电池未动，与帧一致；断点、没尝试、根因均有日志与视频支持，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": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:29:55Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--xgdrjjc/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-remote-battery-swap-i00-privileged--xgdrjjc/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f067d33508e3e4ed4cb622987c5c2ebcd93e38b783f4249a1afabe43cb086766",
+   "video_sha256": "e43e4d33a7fb3871ee94d8f5c7051e745830a7b2246946b31dbcb2b64230bb72",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xxeac6t.json

@@ -0,0 +1,239 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-remote-battery-swap-i00-standard--xxeac6t",
+ "taskKey": "dexhand/remote_battery_swap",
+ "dag_sha256": "448d38d5df99705f24cec0642f2338ce7100127136b831930f8d1fee7f80f537",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 574,
+   "control_steps_total": 18218,
+   "elapsed_s": 3656.019,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 1333,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 9,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 1333,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.4,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.466,
+   "peak_cpus": 2.64,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-remote-battery-swap-i00-standard--xxeac6t.mp4",
+  "duration_s": 29.0,
+  "fps": 5.0,
+  "frames": 145,
+  "sha256": "9a6340a349e007f3791b654b8f28825ae3b08828ae67d6e59079af45fb50b07b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 4,
+  "base": 1,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "battery_cover_opened": {
+    "method": "visual",
+    "intervals": [
+     [
+      21.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 21.8,
+      "log_step": null,
+      "text_zh": "观察：画面 HUD 在视频 21–22 s 间滑盖开度由 55 mm 增至 61 mm，Stages 变为 1/4（开盖阈值 60 mm）；视频 24 s 帧可见黑色滑盖已向尾端伸出、灰色电池露出。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手手指（含拇指）压在滑盖上，靠摩擦将滑盖向尾端拖开（视频 11–24 s，开度 3→72 mm）"
+     }
+    ]
+   },
+   "old_cell_in_tray": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 26.0,
+      "log_step": null,
+      "text_zh": "观察：视频 24–29 s 灰色旧电池仍在遥控器仓内，托盘为空，HUD 始终 Stages 1/4；视频 27–29 s 右手手指立在仓上方压着遥控器，终态显示 FAIL: remote_displaced。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "右手手指在仓口上方压住遥控器，未夹住旧电池（视频 24–29 s）"
+     }
+    ]
+   },
+   "new_cell_seated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 28.9,
+      "log_step": null,
+      "text_zh": "观察：视频全程绿色新电池躺在桌面原位，未被触碰，HUD 显示新电池未入槽。"
+     }
+    ]
+   },
+   "battery_cover_closed": {
+    "method": "visual",
+    "intervals": [
+     [
+      0,
+      10.8
+     ]
+    ],
+    "final": false,
+    "evidence": [
+     {
+      "t": 10.8,
+      "log_step": null,
+      "text_zh": "观察：视频 0–10.5 s HUD 开度 -0 mm（盖关闭），约 11 s 起开度 3 mm 并持续增大；之后至视频结束（71 mm）盖未关回。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "关盖未尝试；此处仅记开盖时手对滑盖的接触（视频 11–24 s）"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "old_cell_in_tray",
+   "t": 25.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：开盖（视频约 21.8 s）后右手在视频 24–27 s 压在仓口上方，旧电池仍在仓内，视频 27 s 起 HUD 报 FAIL: remote_displaced，遥控器相对开局位置/朝向已移动（视频 24 s 帧遥控器已偏转）。推断：取出旧电池这一步未完成即因遥控器被移位终止。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "带动本体",
+    "t": 25.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 11–24 s 手压滑盖并拖开，遥控器在桌面上随之偏转/位移（对比视频 0 s 与 24 s 帧），视频 27 s 起 HUD 报 remote_displaced。推断：操作盖和手压仓口时把本应稳定的遥控器带动了。"
+   }
+  ],
+  "root_causes": [],
+  "unmet": {
+   "battery_cover_opened": true,
+   "old_cell_in_tray": false,
+   "new_cell_seated": false,
+   "battery_cover_closed": false
+  },
+  "gap_zh": "无状态日志，遥控器位移量与触发时刻只能从画面和 HUD 文字估计；视频仅 29 s 且为单次评分回放，agent 日志是整个会话（9 次 reset、多个自写脚本），不能当作该回放的证据，因此未给根因。"
+ },
+ "summary_zh": "观察：评分回放中右手先压滑盖，视频约 21.8 s 开度超过 60 mm，完成“打开电池盖”（1/4）；随后旧电池没被取出入托盘，视频约 27 s HUD 报 remote_displaced 而失败。断点在“旧电池入托盘”，现象为操作中带动遥控器移位（推断）；根因无直接证据故留空，缺状态日志。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧核对：开盖在约21.8–22 s（HUD开度55→60 mm，Stages 1/4）成立；旧电池未入托盘、新电池未动；视频约26.5–27 s HUD转为FAIL remote_displaced，期间遥控器被右手指压住并转动。断点、带动本体现象和空根因（有gap_zh）均有帧支持，未发现需改动之处。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:30:33Z",
+  "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/dexhand-remote-battery-swap-i00-standard--xxeac6t/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-remote-battery-swap-i00-standard--xxeac6t/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "8b98c3ec19294063f6be9918f0dc4e60a7ff61ac70a1ef6dc2fec5975671d5bd",
+   "video_sha256": "9a6340a349e007f3791b654b8f28825ae3b08828ae67d6e59079af45fb50b07b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--eyzgsvf.json

@@ -0,0 +1,188 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-stool-brace-insert-i00-privileged--eyzgsvf",
+ "taskKey": "dexhand/stool_brace_insert",
+ "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 5081,
+   "sim_steps": 5081,
+   "stages_completed": 4,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 1.278,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.255,
+   "peak_cpus": 2.91,
+   "peak_pids": 96,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-stool-brace-insert-i00-privileged--eyzgsvf.mp4",
+  "duration_s": 32.0,
+  "fps": 10.0,
+  "frames": 320,
+  "sha256": "1a46c61f218751e5ae4a6b4366fd11a0286906c83ecb0a1b36d4735910050eb0"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brace_in_lower_frame": {
+    "method": "visual",
+    "intervals": [
+     [
+      11.5,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 11.5,
+      "log_step": null,
+      "text_zh": "观察：视频 0-10 s 灵巧手捏住横撑，经 1/4 提起后立起；字幕在视频约 11.5 s 变为“Stage 2/4 brace dowel seated，interfaces 4/8”，之后保持至结束。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：灵巧手拇指与手指在横撑一端夹住并提起、插入下框空孔"
+     }
+    ]
+   },
+   "upper_frame_on_dowels": {
+    "method": "visual",
+    "intervals": [
+     [
+      29,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 29,
+      "log_step": null,
+      "text_zh": "观察：视频约 19 s 字幕 3/4 侧框已提起；手抓住对侧框架横杆，水平转运后下降，约 29 s 字幕变为 4/4 8/8 dowels seated，视频 30 s 起 PASS、released hold 50/50 并保持到结束（32 s）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：灵巧手（中指与拇指）捏住对侧框架中间横杆，提起、平移并套到四根上榫"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": null,
+ "summary_zh": "成功：视频约 11.5 s 横撑插入下框（2/4，4/8 接口），约 19 s 对侧框提起，约 29 s 8/8 接口插好，30 s 起 PASS（released hold 50/50）。两个节点均为视觉判定，无状态日志；时间取自视频字幕阶段，精度约 1 s。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 8,
+    "summary_zh": "成功运行，两节点均达成、final 正确、接触正确；仅节点一时间偏早约 1 s（字幕 2/4 实际在视频约 11.5 s 出现，非 10.5 s）。",
+    "n_issues": 1,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "两个节点时间与字幕阶段、帧一致（约11.5 s 横撑插入，约29 s 8/8 接口），成功无 failure，接触标签合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:26Z",
+  "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/dexhand-stool-brace-insert-i00-privileged--eyzgsvf/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--eyzgsvf/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--eyzgsvf/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-stool-brace-insert-i00-privileged--eyzgsvf/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "283d71d442ba6f78bc94fc9ad1f4d9aaea48d6aa143899959854da4d51345672",
+   "video_sha256": "1a46c61f218751e5ae4a6b4366fd11a0286906c83ecb0a1b36d4735910050eb0",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--twt7wsx.json

@@ -0,0 +1,218 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-stool-brace-insert-i00-standard--twt7wsx",
+ "taskKey": "dexhand/stool_brace_insert",
+ "dag_sha256": "de74f08a423d134ae656560a17c6b1fb178bebc88b5333b7e92ab23845028b3f",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 320,
+   "control_steps_total": 17736,
+   "elapsed_s": 3394.266,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 2243,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 20,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2243,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.462,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.644,
+   "peak_cpus": 1.8,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-stool-brace-insert-i00-standard--twt7wsx.mp4",
+  "duration_s": 47.2,
+  "fps": 5.0,
+  "frames": 236,
+  "sha256": "23245bb5c4d39924af43e4d78d42cc6cc3335573627a96f7b5f937bca32edb32"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "brace_in_lower_frame": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45.0,
+      "log_step": 195,
+      "text_zh": "观察：视频 0–47.2 s 字幕阶段始终为“Stage 0/4 | seated interfaces 3/8 | released hold 0/50”，未见横撑插入下框空孔。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "压/擦",
+      "note_zh": "观察：视频 15–44 s 手多次下压/拨动平放横撑，未见包握；45 s 起横撑呈倾斜状，终帧横幅 FAIL: brace_dropped（失败规则，不单列事件），帧不能确认是否短暂离桌；两个节点均未达成（字幕阶段始终 0/4）。agent 自述手指只碰到横撑顶部、把杆推走（log step 36/41）。"
+     }
+    ]
+   },
+   "upper_frame_on_dowels": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 45.0,
+      "log_step": null,
+      "text_zh": "观察：对侧框架全程未被触碰，字幕阶段始终 0/4、接口 3/8；前一步未完成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "brace_in_lower_frame",
+   "t": 20.0,
+   "log_step": 195,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 15–47 s 灵巧手多次接近并按压平放的横撑，横撑始终在桌面上，字幕阶段 0/4。"
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 20.0,
+    "log_step": 195,
+    "evidence_zh": "观察：视频约 15–45 s 手指落在横撑上方/侧面，横撑被推动，未见被夹住提起插入；终帧横幅 FAIL: brace_dropped。agent 最终总结（log step 195）自述未完成装配、在抓横撑阶段失败（自述）。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "抓取和接触设计",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述多种抓法（顶抓、捏、垂直包握、末端榫抓）均因手指只碰到杆顶或另一侧、杆滑脱而失败（log step 36、50、59、62、77）；视频与之相符，横撑只被推动。",
+    "source_zh": "agent 自述 / 视频"
+   }
+  ],
+  "gap_zh": "无状态日志，手指与横撑的精确接触只能从渲染帧判断；是否存在可行替代抓法未验证。",
+  "unmet": {
+   "brace_in_lower_frame": false,
+   "upper_frame_on_dowels": false
+  }
+ },
+ "summary_zh": "观察：视频 47.2 s 内字幕始终为阶段 0/4、接口 3/8，两个节点均未达成。断在横撑插入下框的抓取步：灵巧手多次按压/拨动平放的横撑却无法夹起，agent 自述各种抓法均滑脱（log step 36–195），推断根因为抓握接触几何设计不适配。缺口：无状态日志。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "节点值（两个目标节点均未达成）、断点 brace_in_lower_frame 与根因方向与���频一致；但证据里有两处引用/断言需要更正：log step 196 不存在、log step 194 并非“最后一次收拢”，且“横撑从未离桌”与终帧横幅 FAIL: brace_dropped 及 44–45 s 帧不符。",
+    "n_issues": 2,
+    "n_major": 0
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "两个节点均未达成、断点 brace_in_lower_frame（操作中）、没建立接触 + 抓取和接触设计与视频一致；第1轮的问题已按证据修正，无新问题。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:33Z",
+  "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/dexhand-stool-brace-insert-i00-standard--twt7wsx/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-stool-brace-insert-i00-standard--twt7wsx/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-stool-brace-insert-i00-standard--twt7wsx/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-stool-brace-insert-i00-standard--twt7wsx/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "9d21b2683617a1fa0fece818fc6fdba80ee5aa652a9fe81e52514efcfa500e0d",
+   "video_sha256": "23245bb5c4d39924af43e4d78d42cc6cc3335573627a96f7b5f937bca32edb32",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--fycy37k.json

@@ -0,0 +1,356 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-sweep-dustpan-i00-privileged--fycy37k",
+ "taskKey": "dexhand/sweep_dustpan",
+ "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 17800,
+   "sim_steps": 17800,
+   "stages_completed": 4,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 4.876,
+   "peak_processes": 11,
+   "peak_disk_gb": 0.396,
+   "peak_cpus": 2.99,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-sweep-dustpan-i00-privileged--fycy37k.mp4",
+  "duration_s": 4.3,
+  "fps": 10.0,
+  "frames": 43,
+  "sha256": "73d30f06ca0c81d67497148d1682fec2437daa229fc89749669e4a3a647fa073"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 4,
+  "final": 4,
+  "nodes": {
+   "orange_package_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.7-4.3 s 簸箕左缘（入口斜坡处）一直停着一小块蓝色和一小块橙色方块，HUD 始终为 4/6；橙包装未越过入口，未入簸箕。推断：留在缘上的两件即橙包装与蓝包装（按颜色/形状）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，刷毛把碎屑向簸箕推扫"
+     }
+    ]
+   },
+   "red_cap_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频画面左上 HUD 在视频 1.6 s 为“in pan 0/6”，1.7 s 跳为“in pan 4/6”（HUD 为基准自带的入箕计数，非 agent 自述）；此后到视频末（4.3 s）保持 4/6。起始时 红瓶盖在地上，之后不在地上。推断：入箕的四件是红瓶盖、木屑、纸球、黄瓶盖（剩余两件在簸箕左缘），具体身份按画面颜色推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，刷毛把碎屑向簸箕推扫"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕承接"
+     }
+    ]
+   },
+   "wood_chip_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频画面左上 HUD 在视频 1.6 s 为“in pan 0/6”，1.7 s 跳为“in pan 4/6”（HUD 为基准自带的入箕计数，非 agent 自述）；此后到视频末（4.3 s）保持 4/6。起始时 木屑在地上，之后不在地上。推断：入箕的四件是红瓶盖、木屑、纸球、黄瓶盖（剩余两件在簸箕左缘），具体身份按画面颜色推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，刷毛把碎屑向簸箕推扫"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕承接"
+     }
+    ]
+   },
+   "blue_package_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": null,
+      "text_zh": "观察：视频 1.7-4.3 s 簸箕左缘（入口斜坡处）一直停着一小块蓝色和一小块橙色方块，HUD 始终为 4/6；蓝包装未越过入口，未入簸箕。推断：留在缘上的两件即橙包装与蓝包装（按颜色/形状）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，刷毛把碎屑向簸箕推扫"
+     }
+    ]
+   },
+   "paper_ball_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频画面左上 HUD 在视频 1.6 s 为“in pan 0/6”，1.7 s 跳为“in pan 4/6”（HUD 为基准自带的入箕计数，非 agent 自述）；此后到视频末（4.3 s）保��� 4/6。起始时 纸球在地上，之后不在地上。推断：入箕的四件是红瓶盖、木屑、纸球、黄瓶盖（剩余两件在簸箕左缘），具体身份按画面颜色推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，刷毛把碎屑向簸箕推扫"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕承接"
+     }
+    ]
+   },
+   "yellow_cap_in_pan": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.7,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.7,
+      "log_step": null,
+      "text_zh": "观察：视频画面左上 HUD 在视频 1.6 s 为“in pan 0/6”，1.7 s 跳为“in pan 4/6”（HUD 为基准自带的入箕计数，非 agent 自述）；此后到视频末（4.3 s）保持 4/6。起始时 黄瓶盖在地上，之后不在地上。推断：入箕的四件是红瓶盖、木屑、纸球、黄瓶盖（剩余两件在簸箕左缘），具体身份按画面颜色推断。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "右手握扫帚，刷毛把碎屑向簸箕推扫"
+     },
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕承接"
+     }
+    ]
+   },
+   "pan_raised": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 4.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0-4.3 s 簸箕一直平放在地面，未见抬起；agent 最终自述未成功抬起装载的簸箕（log step 258）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "左手握簸箕柄；视频内无抬起动作"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pan_lift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_run",
+   "value": null,
+   "unit": "physics_steps",
+   "threshold": 2000,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "orange_package_in_pan",
+   "t": 1.7,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1.7 s 起四件入箕后，橙包装和蓝包装一直停在簸箕左缘入口处（视频 1.7-4.3 s），扫帚在簸箕内，没有再去扫这两件；最终抬簸箕也未做。"
+  },
+  "phenomena": [
+   {
+    "cat": "运动",
+    "item": "位姿不准",
+    "t": 4.2,
+    "log_step": null,
+    "evidence_zh": "观察：视频 4.2 s 两件碎屑仍搭在簸箕左缘入口，未越过斜坡进入簸箕，扫帚末端停在簸箕中部而不在这两件之后。推断：刷扫轨迹没把最后两件推过入口。"
+   }
+  ],
+  "root_causes": [
+   {
+    "cat": "控制",
+    "item": "控制",
+    "alt_feasible": "未知",
+    "evidence_zh": "agent 自述两件留在簸箕唇口，摩擦系数 0.7，需倾斜约 35°才能滑入（log step 182），最终自述四件入箕、两件仍在外、载物簸箕未成功抬起（log step 258）。具体控制子类证据不足。",
+    "source_zh": "agent 自述"
+   }
+  ],
+  "unmet": {
+   "orange_package_in_pan": false,
+   "red_cap_in_pan": true,
+   "wood_chip_in_pan": true,
+   "blue_package_in_pan": false,
+   "paper_ball_in_pan": true,
+   "yellow_cap_in_pan": true,
+   "pan_raised": false
+  },
+  "gap_zh": "无状态日志，碎屑身份由颜色推断；视频只有 4.3 s（HUD 仿真钟 8.9 s 后停止），而 agent 的 17800 步轨迹更长，视频后段是否被截断未知；根因子类证据不足。"
+ },
+ "summary_zh": "观察：graded 视频（4.3 s）里右手扫帚把碎屑扫向簸箕，视频 1.7 s 起 HUD 显示 4/6 入箕，之后到视频结束不再增加；橙包装和蓝包装留在簸箕左缘，簸箕未被抬起。断点在橙包装入箕（操作中），现象为位姿不准，根因仅到“控制”。无状态日志，碎屑身份由颜色推断。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频帧与标签一致：视频 1.7 s 起 HUD 4/6，橙、蓝两件停在簸箕左缘，簸箕未抬起；断点、现象、保守的“控制”根因和 gap_zh 都有证据支持。视频 HUD 约 8.9 s 后不再前进，标签已在 gap_zh 说明。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:30:37Z",
+  "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/dexhand-sweep-dustpan-i00-privileged--fycy37k/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-privileged--fycy37k/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "3605e28d1f55f0f94881bd5982554820338bf8170e72f0c141bccb94ba64b240",
+   "video_sha256": "73d30f06ca0c81d67497148d1682fec2437daa229fc89749669e4a3a647fa073",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--kkbpxa4.json

@@ -0,0 +1,316 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-sweep-dustpan-i00-standard--kkbpxa4",
+ "taskKey": "dexhand/sweep_dustpan",
+ "dag_sha256": "4d82017ee30ab51b0c47be7c7dca8760f7e8fdbb7e1109052499805be552add8",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 258,
+   "control_steps_total": 234791,
+   "elapsed_s": 3641.563,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 26900,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 8,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 26900,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.402,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.397,
+   "peak_cpus": 1.76,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-sweep-dustpan-i00-standard--kkbpxa4.mp4",
+  "duration_s": 5.4,
+  "fps": 10.0,
+  "frames": 54,
+  "sha256": "8c7b60169bdb695977ec7d7b67a72242fa381e800bb718dd9eddeeda113d68cc"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 7,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "orange_package_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：右手持扫帚，刷毛在视频约 2-5 s 把碎屑推向簸箕入口斜坡，但未越过。"
+     }
+    ]
+   },
+   "red_cap_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：右手持扫帚，刷毛在视频约 2-5 s 把碎屑推向簸箕入口斜坡，但未越过。"
+     }
+    ]
+   },
+   "wood_chip_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：右手持扫帚，刷毛在视频约 2-5 s 把碎屑推向簸箕入口斜坡，但未越过。"
+     }
+    ]
+   },
+   "blue_package_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：右手持扫帚，刷毛在视频约 2-5 s 把碎屑推向簸箕入口斜坡，但未越过。"
+     }
+    ]
+   },
+   "paper_ball_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：右手持扫帚，刷毛在视频约 2-5 s 把碎屑推向簸箕入口斜坡，但未越过。"
+     }
+    ]
+   },
+   "yellow_cap_in_pan": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "推/扫",
+      "note_zh": "观察：右手持扫帚，刷毛在视频约 2-5 s 把碎屑推向簸箕入口斜坡，但未越过。"
+     }
+    ]
+   },
+   "pan_raised": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 5.0,
+      "log_step": null,
+      "text_zh": "观察：视频 5.0 s 帧顶栏显示 in pan 0/6，簸箕内无碎屑、也未抬离地面；视频 0-5.4 s 的抽帧中碎屑始终在簸箕外。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "托/舀",
+      "note_zh": "左手握簸箕柄，簸箕停在地面，未装料也未抬起。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "pan_lift_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "higher_better"
+  },
+  {
+   "name": "linear_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.03,
+   "direction": "lower_better"
+  },
+  {
+   "name": "angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.8,
+   "direction": "lower_better"
+  },
+  {
+   "name": "terminal_run",
+   "value": null,
+   "unit": "physics_steps",
+   "threshold": 2000,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "orange_package_in_pan",
+   "t": 5.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 0-5.4 s 右手扫帚把碎屑推向簸箕入口，视频 5.0 s 顶栏 in pan 0/6，碎屑仍在簸箕外；六件碎屑无一入箕。"
+  },
+  "unmet": {
+   "orange_package_in_pan": false,
+   "red_cap_in_pan": false,
+   "wood_chip_in_pan": false,
+   "blue_package_in_pan": false,
+   "paper_ball_in_pan": false,
+   "yellow_cap_in_pan": false,
+   "pan_raised": false
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "视频仅 5.4 s（约 4 倍回放），无状态日志；碎屑与簸箕接触细节看不清，未找到足够证据给出失败现象和根因（agent 自述握持滑移属会话证据，不作为现象）。"
+ },
+ "summary_zh": "观察：视频 0-5.4 s 内右手扫帚推扫碎屑到簸箕入口附近，HUD 始终显示 in pan 0/6，簸箕未抬起，七个节点均未达成。断点在第一件入箕步骤（操作中）；无状态日志，现象和根因证据不足。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "视频 0-5.4 s（HUD 仿真 t=0.8-13.45 s，末尾 2 s 画面静止）显示碎屑被扫帚推向簸箕入口、HUD 始终 in pan 0/6，簸箕未抬起；七个节点 false、断点在首件入箕、现象/根因留空并附 gap_zh，均与帧和日志一致。无状态日志，不强行给现象合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:29:01Z",
+  "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/dexhand-sweep-dustpan-i00-standard--kkbpxa4/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-sweep-dustpan-i00-standard--kkbpxa4/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "d78f4a82541927e368676a130d1ff9211e2405b89e9e23dc418743aef5970b28",
+   "video_sha256": "8c7b60169bdb695977ec7d7b67a72242fa381e800bb718dd9eddeeda113d68cc",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--5vjmcrr.json

@@ -0,0 +1,268 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-usb-plug-insert-i00-privileged--5vjmcrr",
+ "taskKey": "dexhand/usb_plug_insert",
+ "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 485,
+   "sim_steps": 485,
+   "stages_completed": 1,
+   "success": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 3.819,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.247,
+   "peak_cpus": 3.0,
+   "peak_pids": 91,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-usb-plug-insert-i00-privileged--5vjmcrr.mp4",
+  "duration_s": 11.8,
+  "fps": 10.0,
+  "frames": 118,
+  "sha256": "d0c964b0879e5afbbfab53d014507d9923ce02780f35278ae17da9a553db269b"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "plug_lifted": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.8,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.8,
+      "log_step": 118,
+      "text_zh": "观察：视频 8.7 s 叠字仍为 Stage 0/3，8.8 s 变为 Stage 1/3（右手拇指+食指夹持插头抬离桌面）；推断：拇指与食指夹住插头离桌，阶段计数器佐证。agent 末条自述“reaches stage 1 at control 438”（log step 118）。"
+     },
+     {
+      "t": 9.8,
+      "log_step": 118,
+      "text_zh": "观察：视频 9.8 s 起叠字 FAIL: plug_dropped，插头从手中滑落到桌面（手指仍在桌上方）；latch 事件节点保持已达成。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手拇指与食指在视频约 8.8 s 夹住插头壳体抬起，随后约 1 s 内滑脱（视频 9.8 s 掉落）。"
+     }
+    ]
+   },
+   "plug_seated_port4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.7,
+      "log_step": 118,
+      "text_zh": "观察：视频全程插头距集线器很远（叠字 port-4 depth 57 mm/12 mm，axis error 123.7°），末帧插头落在桌面右上区，released hold 0/50，FAIL plug_dropped；未插入第4口。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "抓握",
+      "note_zh": "观察：右手仍只在夹持阶段，未能把插头带向集线器。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "plug_tip_z_at_lift",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.73,
+   "direction": "higher_better"
+  },
+  {
+   "name": "target_depth_fraction",
+   "value": 0.0,
+   "unit": "",
+   "threshold": 0.9,
+   "direction": "higher_better"
+  },
+  {
+   "name": "abs_target_lateral_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0006,
+   "direction": "lower_better"
+  },
+  {
+   "name": "abs_target_vertical_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0005,
+   "direction": "lower_better"
+  },
+  {
+   "name": "axis_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 5,
+   "direction": "lower_better"
+  },
+  {
+   "name": "polarity_error_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  },
+  {
+   "name": "plug_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "released_hold_controls",
+   "value": null,
+   "unit": "control",
+   "threshold": 50,
+   "direction": "higher_better"
+  },
+  {
+   "name": "hub_displacement_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.02,
+   "direction": "lower_better"
+  },
+  {
+   "name": "hub_tilt_deg",
+   "value": null,
+   "unit": "deg",
+   "threshold": 20,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "plug_seated_port4",
+   "where": "操作中",
+   "t": 9.8,
+   "log_step": 118,
+   "evidence_zh": "观察：视频 8.8 s 抬起插头后，插头在手中翻转（叠字 axis error 由 95° 增至 123.7°），9.8 s 起叠字 FAIL: plug_dropped，插头落回桌面，从未靠近集线器。"
+  },
+  "phenomena": [
+   {
+    "t": 9.5,
+    "log_step": 118,
+    "evidence_zh": "观察：视频 8.8–9.8 s 插头被拇指/食指夹住抬起后在手中转动并滑脱落回桌面（叠字 plug_dropped）。",
+    "cat": "接触",
+    "item": "没保持住"
+   }
+  ],
+  "root_causes": [
+   {
+    "evidence_zh": "推断：agent 在 log step 47 自述手指只夹到壳体上缘，抬起时插头滚出；log step 118 自述“plug subsequently slips”；夹持几何/夹力不足，未验证有替代方案。",
+    "source_zh": "agent 自述 + 视频",
+    "alt_feasible": "未知",
+    "cat": "控制",
+    "item": "抓取和接触设计"
+   }
+  ],
+  "gap_zh": "无状态日志，夹持细节只能从远景视频判断；根因主要来自 agent 自述与叠字。",
+  "unmet": {
+   "plug_lifted": true,
+   "plug_seated_port4": false
+  }
+ },
+ "summary_zh": "Sharpa 右手在视频 8.8 s 夹起插头（拿起插头达成，Stage 1/3），随后插头在手中翻转并滑脱，视频 9.8 s 起叠字 FAIL: plug_dropped，插入第四口未达成。断点在插入第四口的搬运阶段，现象为没保持住，根因为夹持几何/夹力不足（agent 自述）。无状态日志，细节来自远景视频与叠字。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "标注与视频叠字一致：8.8 s 叠字 Stage 0→1（插头抬起），9.8 s 起 FAIL: plug_dropped，插头未靠近集线器，第4口未达成；断点、没保持住、抓取和接触设计均有视频与 log 支持。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:31:16Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--5vjmcrr/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-usb-plug-insert-i00-privileged--5vjmcrr/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "0b1c4bda323ddaedd70792cb8932a126ff449b414c243402bbde5b1ae66b49ac",
+   "video_sha256": "d0c964b0879e5afbbfab53d014507d9923ce02780f35278ae17da9a553db269b",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--dpkehus.json

@@ -0,0 +1,211 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-usb-plug-insert-i00-standard--dpkehus",
+ "taskKey": "dexhand/usb_plug_insert",
+ "dag_sha256": "d32765c73fc52a9bb5b04aeb88d832c51d085f5f2812dfc0a2c4c200487979bf",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 302,
+   "control_steps_total": 5322,
+   "elapsed_s": 3623.97,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 945,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 7,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 945,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.375,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.246,
+   "peak_cpus": 2.6,
+   "peak_pids": 113,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-usb-plug-insert-i00-standard--dpkehus.mp4",
+  "duration_s": 21.0,
+  "fps": 5.0,
+  "frames": 105,
+  "sha256": "db4a311fbb5a18b3404e78463237231f0f43544449863c066b9069a81e70ef42"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "plug_lifted": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 11.0,
+      "log_step": null,
+      "text_zh": "观察：视频 1–21 s 叠字始终为 Stage 0/3，插头始终躺在桌面（视频 1、5、11、17、20.8 s 帧），右手从未把它夹起；视频 1 s 指尖在插头旁。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手指/夹爪",
+      "how": "未知",
+      "note_zh": "观察：视频 1 s 右手指尖在插头附近，之后手抬起转动，插头始终留在桌面；无法确认是否形成过夹持。"
+     }
+    ]
+   },
+   "plug_seated_port4": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 20.8,
+      "log_step": null,
+      "text_zh": "观察：视频 20.8 s 终态叠字 port-4 depth 85.00/12.00 mm、released hold 0/50，插头仍在桌面，未插入集线器。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "plug_lifted",
+   "t": 1.0,
+   "log_step": null,
+   "where": "操作中",
+   "evidence_zh": "观察：视频 1–21 s 右手在插头附近动作并抬起转动，插头始终在桌面，Stage 0/3，第一步拿起从未完成。"
+  },
+  "unmet": {
+   "plug_lifted": false,
+   "plug_seated_port4": false
+  },
+  "phenomena": [
+   {
+    "cat": "接触",
+    "item": "没建立接触",
+    "t": 1.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频 1 s 起右手指尖靠近插头，但插头位置不变、从未离开桌面（5 s、11 s、17 s 帧同），叠字 Stage 0/3。推断：未形成有效夹持；日志 log step 69/74 自述的是会话中其他回合在旋转时插头滑脱，不属于本视频。"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "视频只有总览视角，指尖与插头接触被手遮挡；无状态日志。不一致：会话日志 step 83 自述 ep8 抓住并旋转插头到第4口上方、step 87 以 finish 续跑，但被评分视频 21 s 内手只接近后抬起、插头始终在桌面，且 replays=0、resets=7，会话动作从未被重放验证（符合 N10 的交付与会话不一致，但 N10 的字段读法已被 S15 撤回，故不据此立根因）。根因留空。"
+ },
+ "summary_zh": "观察：视频 21 s 中右手在插头附近动作后抬起转动，叠字始终 Stage 0/3，插头始终留在桌面，两节点均未达成（0/2）。断点为拿起插头（操作中），现象推断为没建立接触；根因因无状态日志、仅有会话自述而留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 5,
+    "summary_zh": "WHERE 标签（两节点均未达成、断点 plug_lifted、Stage 0/3）与视频一致，无异议。但根因被留空：日志显示 agent 在 7 次 reset 后的会话里（log 83 自述）抓住并旋转插头至第4口上方，而被评分的视频里手从未夹起插头、也没有该动作，且 replays=0，符合 N10 的‘交付与会话不一致’，应补根因或至少在 gap 中点明。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "两节点未达成、断点 plug_lifted、Stage 0/3 与视频一致；根因留空并在 gap_zh 说明会话与评分视频不一致，处理合理，无需修改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:21Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-usb-plug-insert-i00-standard--dpkehus/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-usb-plug-insert-i00-standard--dpkehus/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-usb-plug-insert-i00-standard--dpkehus/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/dexhand-usb-plug-insert-i00-standard--dpkehus/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "831f8aed4d627b22e366ffdf4d788034c83caf37891ca253c7f8ee771f6a400c",
+   "video_sha256": "db4a311fbb5a18b3404e78463237231f0f43544449863c066b9069a81e70ef42",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--dlew94a.json

@@ -0,0 +1,236 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-vacuum-bin-reseat-i00-privileged--dlew94a",
+ "taskKey": "dexhand/vacuum_bin_reseat",
+ "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df",
+ "outcome": {
+  "success": 1,
+  "reward": 1.0,
+  "source": "catalog",
+  "raw": {
+   "deterministic": 1,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "n_actions": 1567,
+   "sim_steps": 1567,
+   "stages_completed": 3,
+   "success": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.952,
+   "peak_processes": 7,
+   "peak_disk_gb": 0.243,
+   "peak_cpus": 1.57,
+   "peak_pids": 93,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-vacuum-bin-reseat-i00-privileged--dlew94a.mp4",
+  "duration_s": 11.48,
+  "fps": 25.0,
+  "frames": 287,
+  "sha256": "44c42656bf4292fb0d694b55cb2f435da50a3fe96a83d17dac73c1dd9fd76bfa"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "bin_removed": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.15,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.15,
+      "log_step": null,
+      "text_zh": "观察：视频 3.6-4.1 s 叠字为 latched，按钮行程 5.9 mm（≥5.8）、座位误差由 0.5 mm 增至 28.7 mm；视频约 4.15 s 叠字变为 bin removed，座位误差 30.1 mm（>30 mm）。一只手握嘴并拆离，另一手压红色按钮。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：一只灵巧手包握黑色吸嘴将尘盒向外拆离，另一手按压红色按钮（视频 3.6-4.2 s）。"
+     }
+    ]
+   },
+   "bin_reseated": {
+    "method": "visual",
+    "intervals": [
+     [
+      8.4,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 8.4,
+      "log_step": null,
+      "text_zh": "观察：视频 8.3 s（control 1248）叠字仍为 bin removed，约 8.4 s 起变为 bin reseated，按钮 0.5→0.1 mm、座位误差 2.6 mm / 0.001 rad；视频末段叠字 released + held、PASS、hold 50/50（control 1567），两手离开。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "抓握",
+      "note_zh": "观察：一手握吸嘴把尘盒送回机身，另一手压按钮后松开使卡扣合入，随后撤手（视频 8-10 s）。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "seat_distance_m",
+   "value": 0.0025,
+   "unit": "m",
+   "threshold": 0.003,
+   "direction": "lower_better"
+  },
+  {
+   "name": "seat_angle_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "button_travel_m_relatched",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.0015,
+   "direction": "lower_better"
+  },
+  {
+   "name": "catch_behind_tooth_m",
+   "value": null,
+   "unit": "m",
+   "threshold": -0.0005,
+   "direction": "higher_better"
+  },
+  {
+   "name": "bin_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bin_angular_speed_rad_s",
+   "value": null,
+   "unit": "rad/s",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "body_speed_m_s",
+   "value": null,
+   "unit": "m/s",
+   "threshold": 0.01,
+   "direction": "lower_better"
+  },
+  {
+   "name": "body_displacement_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.05,
+   "direction": "lower_better"
+  },
+  {
+   "name": "body_tilt_rad",
+   "value": null,
+   "unit": "rad",
+   "threshold": 0.35,
+   "direction": "lower_better"
+  },
+  {
+   "name": "bin_vacuum_penetration_m",
+   "value": null,
+   "unit": "m",
+   "threshold": 0.004,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：视频 4.15 s 按钮压下 ≥5.8 mm 后尘盒被拆离（座位误差>30 mm），约 8.4 s 重新装回（误差 2.5 mm、按钮回弹），视频末叠字 released + held、PASS（hold 50/50）。无状态日志，节点时间来自视频叠字；本次为 privileged 模式。",
+ "conf": 8,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 8,
+    "summary_zh": "成功运行，两个节点时间与叠字（control 648 已为 bin removed��control 1290 为 bin reseated，末帧 released + held / PASS / hold 50/50）一致，接触标签合理，无失败层。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:31:22Z",
+  "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/dexhand-vacuum-bin-reseat-i00-privileged--dlew94a/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-vacuum-bin-reseat-i00-privileged--dlew94a/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "bcef6d06fad6564bc347257de76f46f0d459f32ce2e8d55a018d37ef34572501",
+   "video_sha256": "44c42656bf4292fb0d694b55cb2f435da50a3fe96a83d17dac73c1dd9fd76bfa",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--2metxyn.json

@@ -0,0 +1,189 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "dexhand-vacuum-bin-reseat-i00-standard--2metxyn",
+ "taskKey": "dexhand/vacuum_bin_reseat",
+ "dag_sha256": "15c4955d218cbde3435640ca56411c046502a6b10e591ca10f0fb095fc0f90df",
+ "outcome": {
+  "success": 0,
+  "reward": 0.0,
+  "source": "catalog",
+  "raw": {
+   "calls": 608,
+   "control_steps_total": 19610,
+   "elapsed_s": 3619.862,
+   "finalized": 1,
+   "gave_up": 0,
+   "graded_by_live": 1,
+   "grader_error": 0,
+   "hand_wuji": 0,
+   "infra_error": 0,
+   "instance_mismatch": 0,
+   "live_success": 0,
+   "missing_log": 0,
+   "n_actions": 2020,
+   "no_verdict": 0,
+   "replays": 0,
+   "reset_budget": 20,
+   "resets": 17,
+   "resume_state_mismatch": 0,
+   "resumes": 0,
+   "sim_error": 0,
+   "sim_startups": 1,
+   "sim_steps": 2020,
+   "success": 0,
+   "video_rendered": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 1,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.41,
+   "peak_processes": 8,
+   "peak_disk_gb": 0.316,
+   "peak_cpus": 3.08,
+   "peak_pids": 88,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0,
+   "over_cpus": 1
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:dexhand-vacuum-bin-reseat-i00-standard--2metxyn.mp4",
+  "duration_s": 29.9,
+  "fps": 10.0,
+  "frames": 299,
+  "sha256": "2f02104b5646188856640eccc8c902261eeb0a1fa3b7a0a62e725398155f091a"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 0,
+  "final": 0,
+  "nodes": {
+   "bin_removed": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：视频全程（每秒抽帧）叠字 stage 始终为 latched，seat error 最大约 19.5 mm（视频约 5 s），从未超过 30 mm；尘盒仅外倾，未与机身分离，也从未出现 bin removed。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "双臂协作",
+      "how": "其他",
+      "note_zh": "观察：一只灵巧手压红色按钮（叠字 button 约 5.7 mm），另一只手在吸嘴处捏/推尘盒使其外倾（视频约 2-18 s），未将其拆离。"
+     }
+    ]
+   },
+   "bin_reseated": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 29.0,
+      "log_step": null,
+      "text_zh": "观察：尘盒从未先被拆下，末帧视频 29.9 s 附近 seat error 15.1 mm、hold 0/50，叠字未出现 bin reseated；前置节点未达成。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [],
+ "failure": {
+  "breakpoint": {
+   "ref": "bin_removed",
+   "where": "操作中",
+   "t": 5.0,
+   "log_step": null,
+   "evidence_zh": "观察：视频 2-18 s 及之后多次重试，一手按下红色按钮，另一手作用于吸嘴，尘盒仅外倾（seat error 约 9-19.5 mm），叠字 stage 始终 latched，从未超过 30 mm 的拆离阈值，节点从未修复。"
+  },
+  "phenomena": [
+   {
+    "t": 5.0,
+    "log_step": null,
+    "evidence_zh": "观察：视频约 5 s 起尘盒被拉至外倾 seat error 约 13-19 mm，未达 30 mm 分离距离，随后回落并反复重试。",
+    "cat": "运动",
+    "item": "位姿不准"
+   }
+  ],
+  "root_causes": [],
+  "gap_zh": "根因缺乏证据（agent 日志只报告 qerr 偏大，未证明抓取设计问题），故留空。",
+  "unmet": {
+   "bin_removed": false,
+   "bin_reseated": false
+  }
+ },
+ "summary_zh": "观察：graded 视频 29.9 s 内叠字 stage 始终 latched，尘盒仅外倾（seat error 最大约 19.5 mm），未超过 30 mm，取下尘盒与装回尘盒均未达成（0/2）。断点为取下尘盒的操作，现象为位姿不准；根因证据不足。agent 自述未获成功（log step 245）。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "抽帧核对：全程叠字 stage 始终 latched，seat error 最大约 16-19 mm，未超 30 mm，两节点均未达成，0/2，断点 bin_removed 与现象位姿不准与视频一致；根因留空并有 gap_zh，可接受。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:30:57Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--2metxyn/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/dexhand-vacuum-bin-reseat-i00-standard--2metxyn/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "5c8997aa02d9dc862a58ee36faef7a808e1befff9f6d95747fc3b541c7324891",
+   "video_sha256": "2f02104b5646188856640eccc8c902261eeb0a1fa3b7a0a62e725398155f091a",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/robopaint/acrylic_applesoranges/trajectories/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva.json

@@ -0,0 +1,319 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-applesoranges-i00-privileged--u8kmpva",
+ "taskKey": "robopaint/acrylic_applesoranges",
+ "dag_sha256": "3f75a5554afd14d6e3a9ae81a33d1e0d39a4989a7970b6f88dd4af9d7f773b15",
+ "outcome": {
+  "success": 0,
+  "reward": 0.798295,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "final_reward": 0.798295,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 4.0341,
+   "de_p90": 10.3567,
+   "de_bad_frac": 0.105803,
+   "de_mean_sheet": 3.961,
+   "ssim_L": 0.786311,
+   "paint_iou": 0.971124,
+   "paint_area_mm2": 49758.6,
+   "target_paint_area_mm2": 49083.4,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 2.4861,
+   "ssim_L_fine": 0.716713,
+   "edge_corr": 0.618599,
+   "region_cov_min": 0.0,
+   "region_cov_mean": 0.910297,
+   "n_regions": 123.0,
+   "n_strokes": 390.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.0341,
+   "de_p90_unregistered": 10.3567,
+   "ssim_L_unregistered": 0.786311,
+   "edge_corr_unregistered": 0.618599,
+   "paint_iou_unregistered": 0.971124,
+   "path_mm": 7478.92,
+   "longest_stroke_mm": 116.05,
+   "max_path_mm": 33900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.0883,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.798295,
+   "sim_steps": 36851.0,
+   "resets": 1.0,
+   "n_contacts": 390.0,
+   "samples": 184255.0,
+   "contact_samples": 41516.0,
+   "max_press_m": 0.015,
+   "max_tilt_deg_in_contact": 0.20036,
+   "max_speed_in_contact_mps": 0.051477,
+   "handle_contact_samples": 1973.0,
+   "n_dips": 222.0,
+   "dry_strokes": 0.0,
+   "n_frames": 596.0,
+   "replay_wall_s": 293.3,
+   "all_success": 0,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 36851,
+   "video_rendered": 1,
+   "agent_sessions": 11,
+   "agent_resets": 3,
+   "agent_sim_steps": 283105,
+   "agent_records": 8,
+   "agent_replays": 3,
+   "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": 1.186,
+   "peak_processes": 13,
+   "peak_disk_gb": 0.444,
+   "peak_cpus": 4.12,
+   "peak_pids": 158,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robopaint-acrylic-applesoranges-i00-privileged--u8kmpva.mp4",
+  "duration_s": 59.6,
+  "fps": 10.0,
+  "frames": 596,
+  "sha256": "65516e56adb385b7cdfb27c4096787b03d436e94c3edd92d87012eb9993fad3f"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      1.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 1.0,
+      "log_step": null,
+      "text_zh": "观察：视频 0 s 时主纸俯视图为空白，视频 1.0 s 起主纸左上出现棕色笔迹，之后持续增多（视频 2.5 s、15 s、30 s 帧）；有色笔迹证明刷已蘸料。推断：蘸料在视频 0-1 s 之间完成，精确时刻未见（刷尖入井的视角被机械臂遮挡）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "Panda 末端圆刷刷毛浸入颜料井（候选“浸蘸”）；视频 1.0 s 起主纸出现有色笔迹为证，浸入瞬间未直接看到。"
+     }
+    ]
+   },
+   "still_life_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": 211,
+      "text_zh": "观察：视频 59 s 主纸俯视图已铺满色块；评分器字段 de_mean 4.03(>2)、de_p90 10.36(>6)、ssim_L 0.786(<0.92)、edge_corr 0.619(<0.8) 均未达标，仅 paint_iou 0.971 与笔数 390、路径 7479 mm、scribble 0 达标，image_success 0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "Panda 末端圆刷刷毛压在主纸上扫出笔触，共 390 笔（评分器 n_strokes），视频 1 s 至 59.6 s 持续落笔。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "value": 4.0341,
+   "unit": "deltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "de_p90",
+   "value": 10.3567,
+   "unit": "deltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ssim_L",
+   "value": 0.786311,
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better"
+  },
+  {
+   "name": "edge_corr",
+   "value": 0.618599,
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "paint_iou",
+   "value": 0.971124,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 390.0,
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 7478.92,
+   "unit": "mm",
+   "threshold": 33900,
+   "direction": "lower_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "still_life_copied",
+   "where": "操作中",
+   "t": 59.0,
+   "log_step": 211,
+   "evidence_zh": "观察：全部 390 笔用完后主纸颜色、结构、边缘指标仍未达阈值（de_mean 4.03、ssim_L 0.786、edge_corr 0.619，评分器字段）。"
+  },
+  "phenomena": [],
+  "gap_zh": "现有证据（视频 59 s 与 oracle 外观相近、评分字段、agent 自述）无法指认具体可见缺陷，也无法判定图像不达标的根因：agent 自述的宽度模型偏差已在 log id 59 被其自己否定（“宽度模型基本正确，剩余误差是覆盖不足”），故现象与根因层留空；视频为四视角拼接，刷尖入井瞬间被遮挡，蘸料时间为推断。",
+  "root_causes": [],
+  "unmet": {
+   "still_life_copied": false
+  }
+ },
+ "summary_zh": "观察：蘸料节点达成（视频约 1.0 s 起主纸出现有色笔迹），临摹静物画未达成：390 笔用尽，paint_iou、笔数、路径与扫笔占比达标，但 de_mean 4.03、de_p90 10.36、ssim 0.786、edge_corr 0.619 均未过阈值。断点在画/写步骤；可见缺陷与根因均无足够证据，留空。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（蘸料达成约 1 s、goal 未达成、断点 still_life_copied、contact_actual）与视频及评分字段一致，无异议。问题在 root_causes：所引 agent 自述（id 39/44）说的是早期离线规划的宽度/间距 bug，已在 id 44 修复，id 59 又明确“宽度模型基本正确，剩余误差是覆盖不足”，不能支撑“笔触宽度模型偏差”；且 item 写成 “控制”，不是分类表里的有效子项。现象“成画精度不足”也偏向复述指标。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "WHERE 标签（蘸料约视频 1 s 达成、临摹未达成、断点 still_life_copied）与视频 59 s 帧及评分字段一致；第一轮已修正根因，现象与根因留空并有 gap_zh，合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:28Z",
+  "review_prompt": "prompts/04_trajectory_review.md",
+  "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba",
+  "reconcile_prompt": "prompts/05_reconcile.md",
+  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
+  "calls": [
+   {
+    "stage": "traj",
+    "round": 0,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "f16c97eff83a4010a4a3640cb3a18e65f69a10cfabdc0e850e9f17ed3259b38e",
+   "video_sha256": "65516e56adb385b7cdfb27c4096787b03d436e94c3edd92d87012eb9993fad3f",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/robopaint/acrylic_applesoranges/trajectories/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m.json

@@ -0,0 +1,324 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-applesoranges-i00-standard--qc5ky9m",
+ "taskKey": "robopaint/acrylic_applesoranges",
+ "dag_sha256": "3f75a5554afd14d6e3a9ae81a33d1e0d39a4989a7970b6f88dd4af9d7f773b15",
+ "outcome": {
+  "success": 0,
+  "reward": 0.766053,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.766053,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 4.5218,
+   "de_p90": 12.7628,
+   "de_bad_frac": 0.138819,
+   "de_mean_sheet": 4.4249,
+   "ssim_L": 0.745554,
+   "paint_iou": 0.918673,
+   "paint_area_mm2": 45362.7,
+   "target_paint_area_mm2": 49083.4,
+   "n_target_strokes": 300.0,
+   "de_mean_coarse": 3.7127,
+   "ssim_L_fine": 0.656575,
+   "edge_corr": 0.687859,
+   "region_cov_min": 0.038997,
+   "region_cov_mean": 0.87347,
+   "n_regions": 123.0,
+   "n_strokes": 394.0,
+   "n_practice_strokes": 9.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 390.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.5218,
+   "de_p90_unregistered": 12.7628,
+   "ssim_L_unregistered": 0.745554,
+   "edge_corr_unregistered": 0.687859,
+   "paint_iou_unregistered": 0.918673,
+   "path_mm": 16513.23,
+   "longest_stroke_mm": 414.04,
+   "max_path_mm": 33900.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.37,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.766053,
+   "sim_steps": 41714,
+   "resets": 0.0,
+   "n_contacts": 403.0,
+   "samples": 208570.0,
+   "contact_samples": 106868.0,
+   "max_press_m": 0.013844,
+   "max_tilt_deg_in_contact": 0.110687,
+   "max_speed_in_contact_mps": 0.037309,
+   "handle_contact_samples": 0.0,
+   "n_dips": 21.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 41714,
+   "physics_steps": 208570,
+   "steps": 41684,
+   "calls": 262,
+   "elapsed_s": 2627.6,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 0.444,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.343,
+   "peak_cpus": 8.06,
+   "peak_pids": 174,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robopaint-acrylic-applesoranges-i00-standard--qc5ky9m.mp4",
+  "duration_s": 59.7,
+  "fps": 10.0,
+  "frames": 597,
+  "sha256": "4a7fea3a0c7b2175671381bfb1237b005a1416bdafd01327d7df74d828cf81e4"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      3.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 3.0,
+      "log_step": null,
+      "text_zh": "观察：视频右下主纸俯视图在约 3 s 前仍为空白，约 3-4 s 起出现灰色笔迹（连续帧对比），说明刷尖已在颜料井蘸料并落笔；视频约 5 s 时左下视角可见刷尖在纸面上。推断：载料时刻不晚于视频 3-4 s，精度约 1 s。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "观察：Panda 末端圆刷刷尖浸入左侧颜料井（候选接触方式：浸蘸），之后主纸出现有色笔迹；评分字段 n_dips=21。"
+     }
+    ]
+   },
+   "still_life_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.7,
+      "log_step": null,
+      "text_zh": "观察：视频末帧（59.7 s）主纸俯视图布满重叠的灰、棕、红褐笔触，大片灰色覆盖，整体呈杂乱色块，看不出碗盘与水果的清晰轮廓，与目标画结构不符；评分器字段 de_mean 4.52>2、de_p90 12.76>6、ssim_L 0.746<0.92、edge_corr 0.688<0.8、paint_iou 0.919<0.95、n_strokes 394>390，success=0。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "观察：Panda 末端圆刷刷毛压在主纸上扫出笔触，全程约 394 笔、路径 16513 mm（评分字段），视频主纸图中笔触逐渐累积。底座未动。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "value": 4.5218,
+   "unit": "deltaE_ab",
+   "threshold": 2,
+   "direction": "lower_better"
+  },
+  {
+   "name": "de_p90",
+   "value": 12.7628,
+   "unit": "deltaE_ab",
+   "threshold": 6,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ssim_L",
+   "value": 0.745554,
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better"
+  },
+  {
+   "name": "edge_corr",
+   "value": 0.687859,
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "paint_iou",
+   "value": 0.918673,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 394.0,
+   "unit": "count",
+   "threshold": 390,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 16513.23,
+   "unit": "mm",
+   "threshold": 33900,
+   "direction": "lower_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "still_life_copied",
+   "where": "操作中",
+   "t": 59.7,
+   "evidence_zh": "观察：视频末帧（59.7 s）主纸图被大量重叠灰/棕笔触覆盖，碗盘与水果结构不清；评分字段 ΔE、SSIM、边缘相关、IoU 均未达阈值且笔数 394 超过 390 上限。推断：断点在“临摹静物画”这一步的落笔执行阶段，从未被修复（agent 末次汇报自述“10 笔修正”后仍低于阈值，log 末步）。",
+   "log_step": 132
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "可见缺陷是颜色/覆盖杂乱（大片灰色盖住棕/红褐区域），评分配准平移为 0、paint_iou 0.919，看不出笔触落位偏移，无法归入运动现象；评分指标未达标不单列为现象。未给根因：没有目标画对照的逐笔证据，也无记录可区分是规划（笔触分解/颜色选择）还是执行问题；agent 自述其相机估计仍低于阈值（log 末步），不足以定因。录像约 60 s 压缩了约 2600 s 的会话，笔触与动作无法逐笔核对。评分字段 n_strokes=394 超过 390，与 n_practice_strokes=9 的关系未核实。",
+  "unmet": {
+   "still_life_copied": false
+  }
+ },
+ "summary_zh": "观察：图像评分未达标（ΔE 4.52、SSIM 0.746、边缘相关 0.688、IoU 0.919，笔数 394>390），success=0。节点：笔刷蘸颜料约视频 3 s 达成，临摹静物画未达成（final false）。断点为临摹静物画的落笔执行，现象为笔触位置/颜色与目标不符（位姿不准）；根因证据不足，留空。",
+ "conf": 5,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "节点（蘸料约 3 s 达成、临摹未达成）、断点与 where 均与录像一致；唯一问题是现象“位姿不准”没有证据支撑：末帧可见的缺陷是颜色/覆盖（大片灰色盖住棕/红褐区域），不是笔触落位偏差，且评分的配准平移为 0。",
+    "n_issues": 1,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "蘸料约3 s达成、临摹未达成、断点与where均与录像和评分字段一致；现象与根因留空并附gap_zh，符合上轮修改，无需再改。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:11Z",
+  "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/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "35bd31798c1c4e4761aab5359a7ec2b683235a151b586d0abf85246df67d5434",
+   "video_sha256": "4a7fea3a0c7b2175671381bfb1237b005a1416bdafd01327d7df74d828cf81e4",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--eqaz4uw.json

@@ -0,0 +1,323 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-privileged--eqaz4uw",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 1,
+  "reward": 0.902315,
+  "source": "catalog",
+  "raw": {
+   "success": 1,
+   "final_reward": 0.902315,
+   "deterministic": 1,
+   "grader_error": 0,
+   "infra_error": 0,
+   "missing_trajectory": 0,
+   "bad_trajectory": 0,
+   "de_mean": 1.9537,
+   "de_p90": 4.3337,
+   "de_bad_frac": 0.021099,
+   "de_mean_sheet": 1.9533,
+   "ssim_L": 0.927875,
+   "paint_iou": 0.984514,
+   "paint_area_mm2": 50328.5,
+   "target_paint_area_mm2": 50382.4,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 1.1602,
+   "ssim_L_fine": 0.887324,
+   "edge_corr": 0.854304,
+   "region_cov_min": 0.63037,
+   "region_cov_mean": 0.983543,
+   "n_regions": 92.0,
+   "n_strokes": 386.0,
+   "n_practice_strokes": 0.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 1.0,
+   "register_dx_mm": 0.0,
+   "register_dy_mm": 0.0,
+   "register_shift_mm": 0.0,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 1.9537,
+   "de_p90_unregistered": 4.3337,
+   "ssim_L_unregistered": 0.927875,
+   "edge_corr_unregistered": 0.854304,
+   "paint_iou_unregistered": 0.984514,
+   "path_mm": 21327.82,
+   "longest_stroke_mm": 353.87,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 1.6621,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 1.0,
+   "image_final_reward": 0.902315,
+   "sim_steps": 45691.0,
+   "resets": 1.0,
+   "n_contacts": 386.0,
+   "samples": 228455.0,
+   "contact_samples": 148067.0,
+   "max_press_m": 0.011336,
+   "max_tilt_deg_in_contact": 0.132878,
+   "max_speed_in_contact_mps": 0.044531,
+   "handle_contact_samples": 0.0,
+   "n_dips": 10.0,
+   "dry_strokes": 0.0,
+   "n_frames": 595.0,
+   "replay_wall_s": 251.0,
+   "all_success": 1,
+   "instance_ok": 1,
+   "instance_exact": 1,
+   "n_actions": 45691,
+   "video_rendered": 1,
+   "agent_sessions": 22,
+   "agent_resets": 17,
+   "agent_sim_steps": 497120,
+   "agent_records": 10,
+   "agent_replays": 5,
+   "agent_cost_self_reported": 1,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 1,
+   "peak_gpu_memory_gb": 0.0,
+   "peak_memory_gb": 0.0,
+   "peak_processes": 0.0,
+   "peak_disk_gb": 0.0,
+   "peak_cpus": 0.0,
+   "peak_pids": 0.0,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robopaint-acrylic-bedroom-i00-privileged--eqaz4uw.mp4",
+  "duration_s": 59.5,
+  "fps": 10.0,
+  "frames": 595,
+  "sha256": "f526c8b6a64a48cb68c3579913b9392ca28d41e2763af3df6472eeecd2b17a87"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 2,
+  "final": 2,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      0.2,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 0.2,
+      "log_step": null,
+      "text_zh": "观察：视频 0.0 s 主纸为空白；0.2 s 起主纸画面出现第一笔棕色笔迹，说明机械臂笔刷已蘸料（智能体脚本在图像下方的笔尖已先蘸色）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端圆头笔刷浸入颜料井（候选接触名“浸蘸”），视频中随后纸面出现有色笔迹；共 10 次蘸料（评分器 n_dips=10）。"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [
+     [
+      59.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 59.3,
+      "log_step": null,
+      "text_zh": "观察：视频 59.3 s 主纸俯视图已画满：右侧黄褐床铺、深绿门窗、蓝灰墙面、左下棕色地板均与目标布局一致，仅有少量白点。推断：评分器 success=1（ΔE均值1.9537≤2.0，p90 4.3337≤6，SSIM 0.9279≥0.92，边缘相关0.854≥0.8，IoU 0.9845≥0.95，386笔≤388，路径21328 mm≤40300，涂抹占比0）；达标时间视频中无法精确定位，取视频末段约 59 s（不确定）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂末端圆头笔刷刷毛压住主画纸并扫绘，共 386 笔（评分器 n_strokes=386），笔刷与纸面接触。"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "value": 1.9537,
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "de_p90",
+   "value": 4.3337,
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ssim_L",
+   "value": 0.927875,
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better"
+  },
+  {
+   "name": "edge_corr",
+   "value": 0.854304,
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "paint_iou",
+   "value": 0.984514,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 386.0,
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 21327.82,
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "de_mean_coarse",
+   "value": 1.1602,
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ssim_L_fine",
+   "value": 0.887324,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "region_cov_min",
+   "value": 0.63037,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "region_cov_mean",
+   "value": 0.983543,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.902315,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": null,
+ "summary_zh": "成功：笔刷在视频 0.2 s 蘸料并开始作画，约 59 s 时主纸已满足全部验收阈值（评分器 success=1，386笔，路径21328 mm）。达标的确切时间在视频中无法精确定位，bedroom_copied 取视频末段，不确定。2/2 节点达成。",
+ "conf": 7,
+ "review": {
+  "status": "agreed",
+  "rounds": 1,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "agree",
+    "conf": 7,
+    "summary_zh": "成功运行，两节点（brush_loaded 视频 0.2 s、bedroom_copied 约 59 s）与视频和评分器一致；bedroom_copied 的时间已标注不确定，接触（其他/压擦）符合实际，failure 为 null 合理。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:30:48Z",
+  "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/robopaint-acrylic-bedroom-i00-privileged--eqaz4uw/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-privileged--eqaz4uw/04_review_r1"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "cfd4480d12a9799e8a119074dab101372eda264096ae2375288fca5ca613b9b6",
+   "video_sha256": "f526c8b6a64a48cb68c3579913b9392ca28d41e2763af3df6472eeecd2b17a87",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}

phaseK/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--mfxi7am.json

@@ -0,0 +1,359 @@
+{
+ "schema": "efe-trajectory-labels/1",
+ "taxonomy": "v2",
+ "runId": "robopaint-acrylic-bedroom-i00-standard--mfxi7am",
+ "taskKey": "robopaint/acrylic_bedroom",
+ "dag_sha256": "5da62dacf86562ce2a78df8b35e809c28df1c38fa44dc80ecab2b1a99ebdd533",
+ "outcome": {
+  "success": 0,
+  "reward": 0.759775,
+  "source": "catalog",
+  "raw": {
+   "success": 0,
+   "live_success": 0,
+   "graded_by_live": 1,
+   "replays": 0,
+   "final_reward": 0.759775,
+   "infra_error": 0,
+   "sim_error": 0,
+   "grader_error": 0,
+   "missing_log": 0,
+   "de_mean": 4.687,
+   "de_p90": 12.5,
+   "de_bad_frac": 0.145476,
+   "de_mean_sheet": 4.6852,
+   "ssim_L": 0.699056,
+   "paint_iou": 0.920992,
+   "paint_area_mm2": 46544.3,
+   "target_paint_area_mm2": 50291.4,
+   "n_target_strokes": 298.0,
+   "de_mean_coarse": 4.3695,
+   "ssim_L_fine": 0.586877,
+   "edge_corr": 0.667359,
+   "region_cov_min": 0.335664,
+   "region_cov_mean": 0.8603,
+   "n_regions": 92.0,
+   "n_strokes": 391.0,
+   "n_practice_strokes": 8.0,
+   "n_dry_strokes": 0.0,
+   "max_strokes": 388.0,
+   "stroke_count_ok": 0.0,
+   "register_dx_mm": 0.2219,
+   "register_dy_mm": 0.2219,
+   "register_shift_mm": 0.3138,
+   "register_at_edge": 0.0,
+   "register_window_mm": 4.8809,
+   "de_mean_unregistered": 4.7135,
+   "de_p90_unregistered": 12.5708,
+   "ssim_L_unregistered": 0.697572,
+   "edge_corr_unregistered": 0.666806,
+   "paint_iou_unregistered": 0.920662,
+   "path_mm": 10089.64,
+   "longest_stroke_mm": 233.88,
+   "max_path_mm": 40300.0,
+   "path_budget_ok": 1.0,
+   "scribble_max": 2.1116,
+   "scribble_share": 0.0,
+   "max_scribble": 2.5,
+   "max_scribble_share": 0.1,
+   "scribble_ok": 1.0,
+   "strict_ok": 1.0,
+   "image_success": 0.0,
+   "image_final_reward": 0.759775,
+   "sim_steps": 36677,
+   "resets": 0.0,
+   "n_contacts": 399.0,
+   "samples": 183385.0,
+   "contact_samples": 119200.0,
+   "max_press_m": 0.014052,
+   "max_tilt_deg_in_contact": 0.10116,
+   "max_speed_in_contact_mps": 0.044566,
+   "handle_contact_samples": 0.0,
+   "n_dips": 12.0,
+   "dry_strokes": 0.0,
+   "instance_exact": 1,
+   "finalized": 1,
+   "no_verdict": 0,
+   "n_actions": 36677,
+   "physics_steps": 183385,
+   "steps": 36669,
+   "calls": 272,
+   "elapsed_s": 2777.5,
+   "video_rendered": 1,
+   "sim_startups": 1.0,
+   "resumes": 0.0,
+   "resume_state_mismatch": 0.0,
+   "resume_max_tcp_dev_m": 0.0,
+   "resume_max_joint_dev": 0.0,
+   "gave_up": 0,
+   "instance_mismatch": 0,
+   "resource_enforced": 0,
+   "limits_violation_observed": 0,
+   "resource_monitor_missing": 0,
+   "peak_gpu_memory_gb": 0,
+   "peak_memory_gb": 1.072,
+   "peak_processes": 9,
+   "peak_disk_gb": 0.35,
+   "peak_cpus": 3.59,
+   "peak_pids": 483,
+   "resource_memory_kills": 0,
+   "resource_pids_kills": 0,
+   "resource_disk_kills": 0,
+   "resource_gpu_memory_kills": 0,
+   "resource_monitor_kills": 0,
+   "resource_emergency_kills": 0,
+   "resource_limit_exceeded": 0,
+   "resource_cpu_throttles": 0,
+   "resource_cpu_throttled_sec": 0.0,
+   "resource_oom_kills": 0,
+   "resource_host_oom_kills": 0,
+   "resource_service_oom_kills": 0
+  }
+ },
+ "video": {
+  "kind": "media",
+  "url": "media:robopaint-acrylic-bedroom-i00-standard--mfxi7am.mp4",
+  "duration_s": 59.3,
+  "fps": 10.0,
+  "frames": 593,
+  "sha256": "75b2d135154f5d85b6a2751cb6fa74ba30584745b1dacb84cb97cb6e4f0d9f20"
+ },
+ "state": null,
+ "progress": {
+  "method": "visual",
+  "denominator": 2,
+  "base": 0,
+  "peak": 1,
+  "final": 1,
+  "nodes": {
+   "brush_loaded": {
+    "method": "visual",
+    "intervals": [
+     [
+      4.0,
+      null
+     ]
+    ],
+    "final": true,
+    "evidence": [
+     {
+      "t": 4.0,
+      "log_step": null,
+      "text_zh": "观察：视频 4.0 s 起练习纸（底部相机视图）出现深色笔迹，说明笔刷已蘸料；视频 6 s 起主纸出现棕色笔触。agent 脚本此前在练习纸上蘸料试刷（n_dips=12，评分器字段）。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "其他",
+      "note_zh": "机械臂末端圆头笔刷刷毛浸入颜料井（候选“浸蘸”），评分器 n_dips=12"
+     }
+    ]
+   },
+   "bedroom_copied": {
+    "method": "visual",
+    "intervals": [],
+    "final": false,
+    "evidence": [
+     {
+      "t": 59.0,
+      "log_step": 193,
+      "text_zh": "观察：视频 59 s（末帧附近）主纸已基本涂满，但色块与细节与目标图仍有差异；评分器字段 de_mean=4.687(>2.0)、de_p90=12.5(>6.0)、ssim_L=0.699(<0.92)、edge_corr=0.667(<0.8)、paint_iou=0.921(<0.95)、n_strokes=391(>388)，image_success=0，故未达标。"
+     }
+    ],
+    "contact_actual": [
+     {
+      "who": "手持工具",
+      "how": "压/擦",
+      "note_zh": "机械臂笔刷刷毛压住主纸扫绘，逐色换蘸共388计划笔，评分器 n_contacts=399"
+     }
+    ]
+   }
+  },
+  "constraints": {}
+ },
+ "native_metrics": [
+  {
+   "name": "de_mean",
+   "value": 4.687,
+   "unit": "DeltaE_ab",
+   "threshold": 2.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "de_p90",
+   "value": 12.5,
+   "unit": "DeltaE_ab",
+   "threshold": 6.0,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ssim_L",
+   "value": 0.699056,
+   "unit": "ratio",
+   "threshold": 0.92,
+   "direction": "higher_better"
+  },
+  {
+   "name": "edge_corr",
+   "value": 0.667359,
+   "unit": "correlation",
+   "threshold": 0.8,
+   "direction": "higher_better"
+  },
+  {
+   "name": "paint_iou",
+   "value": 0.920992,
+   "unit": "ratio",
+   "threshold": 0.95,
+   "direction": "higher_better"
+  },
+  {
+   "name": "n_strokes",
+   "value": 391.0,
+   "unit": "count",
+   "threshold": 388,
+   "direction": "lower_better"
+  },
+  {
+   "name": "path_mm",
+   "value": 10089.64,
+   "unit": "mm",
+   "threshold": 40300,
+   "direction": "lower_better"
+  },
+  {
+   "name": "scribble_share",
+   "value": 0.0,
+   "unit": "ratio",
+   "threshold": 0.1,
+   "direction": "lower_better"
+  },
+  {
+   "name": "de_mean_coarse",
+   "value": 4.3695,
+   "unit": "DeltaE_ab",
+   "threshold": null,
+   "direction": "lower_better"
+  },
+  {
+   "name": "ssim_L_fine",
+   "value": 0.586877,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "region_cov_min",
+   "value": 0.335664,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "region_cov_mean",
+   "value": 0.8603,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  },
+  {
+   "name": "final_reward",
+   "value": 0.759775,
+   "unit": "ratio",
+   "threshold": null,
+   "direction": "higher_better"
+  }
+ ],
+ "failure": {
+  "breakpoint": {
+   "ref": "bedroom_copied",
+   "where": "终态验收",
+   "t": 59.0,
+   "log_step": 193,
+   "evidence_zh": "观察：视频 59 s 主纸涂满，但评分器字段显示色差、SSIM、边缘相关、IoU 均未达阈值且笔数 391>388；所有笔触完成后验收失败。"
+  },
+  "phenomena": [],
+  "root_causes": [],
+  "gap_zh": "现象留空：评分器各项色差/结构指标（de_mean 4.687、ssim_L 0.699、edge_corr 0.667、region_cov_min 0.336）未达标，但视频 59 s 主纸视图布局与 oracle 末帧大体一致（register_shift_mm=0.31），帧上无可定位的单一执行失误，不复述指标缺口为现象（N10）。根因亦不标：待查线索两点——(1) agent 自建栅格模型估算 de≈1.84、SSIM 0.937（run.json step 100/128/141，agent 叙述），评分器实测 de 4.69、SSIM 0.70，落差未经整幅对照核实；(2) 评分器 n_strokes=391（含 8 笔练习）>max 388（stroke_count_ok=0），而 agent 报告执行 388 笔，多出笔数来源未查证。两者均非帧观察，不能当作已证实的感知/规划根因。视频仅 59.3 s，为压缩回放，时间为视频时钟。",
+  "unmet": {
+   "bedroom_copied": false
+  }
+ },
+ "summary_zh": "观察：笔刷在视频约 4 s 蘸料（brush_loaded 达成），随后整幅卧室画涂满主纸，但评分器 de_mean 4.69、SSIM 0.70、IoU 0.92、笔数 391>388，bedroom_copied 未达成（1/2）。断点在终态验收；根因证据不足，留空。",
+ "conf": 6,
+ "review": {
+  "status": "agreed",
+  "rounds": 2,
+  "reviewers": [
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 1,
+    "verdict": "fix",
+    "conf": 6,
+    "summary_zh": "brush_loaded 与 bedroom_copied 的节点值、终态验收断点均可接受；问题在于唯一现象“位姿不准”只复述评分器未达标的指标（N10），没有帧或 log 证据证明笔触位置有偏，且 agent 自估 de 1.84 与实测 4.69 的落差（规划所用栅格模型与真实笔刷渲染不符）这一可查的线索没有进入现象或根因。",
+    "n_issues": 2,
+    "n_major": 1
+   },
+   {
+    "engine": "claude",
+    "model": "claude-sonnet-5-5",
+    "round": 2,
+    "verdict": "agree",
+    "conf": 6,
+    "summary_zh": "节点值（brush_loaded 达成、bedroom_copied 未达成）、终态验收断点和空现象/空根因加 gap_zh 均可接受；末帧与 oracle 布局相近，仅颜色混杂，帧上无可定位的单一执行失误，评分器指标缺口不复述为现象。",
+    "n_issues": 0,
+    "n_major": 0
+   }
+  ],
+  "open_zh": []
+ },
+ "provenance": {
+  "prompt": "prompts/03_trajectory.md",
+  "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e",
+  "engine": "claude",
+  "model": "claude-sonnet-5-5",
+  "effort": "high",
+  "created": "2026-11-08T08:34:40Z",
+  "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/robopaint-acrylic-bedroom-i00-standard--mfxi7am/03_label"
+   },
+   {
+    "stage": "traj_review",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--mfxi7am/04_review_r1"
+   },
+   {
+    "stage": "reconcile",
+    "round": 1,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--mfxi7am/05_reconcile_r1"
+   },
+   {
+    "stage": "traj_review",
+    "round": 2,
+    "ok": true,
+    "space": "work/runs/robopaint-acrylic-bedroom-i00-standard--mfxi7am/04_review_r2"
+   }
+  ],
+  "review_engine": "claude",
+  "review_model": "claude-sonnet-5-5",
+  "inputs": {
+   "run_json_sha256": "c772a6fbe05bdc92f590cf1242a764ae03ae6ae5bd74a65fd22817c2da30fa79",
+   "video_sha256": "75b2d135154f5d85b6a2751cb6fa74ba30584745b1dacb84cb97cb6e4f0d9f20",
+   "states_sha256": null,
+   "video_choice": "HF replay.mp4 status 404; local graded video"
+  },
+  "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation."
+ }
+}