diff --git a/phaseK/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--i7pqwga.json b/phaseK/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-privileged--i7pqwga.json new file mode 100644 index 0000000000000000000000000000000000000000..9cd2c3e9eb4cf832f263dd7a33770a25857a6bbc --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--gyxstek.json b/phaseK/dexhand/assemble_hamburger/trajectories/dexhand-assemble-hamburger-i00-standard--gyxstek.json new file mode 100644 index 0000000000000000000000000000000000000000..372dc55658299072bcb07ff9e56af18e1c0333fc --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--39m9vvd.json b/phaseK/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-privileged--39m9vvd.json new file mode 100644 index 0000000000000000000000000000000000000000..0da7456c8ea48e128e9e0d12540159ebdcf657f8 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--ebwhemz.json b/phaseK/dexhand/batter_whisk/trajectories/dexhand-batter-whisk-i00-standard--ebwhemz.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b221c265b26241804b54526fe7bb68c7ff8c40 --- /dev/null +++ b/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，接触细节仅来自视频与 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." + } +} diff --git a/phaseK/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d.json b/phaseK/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-privileged--f3ivf2d.json new file mode 100644 index 0000000000000000000000000000000000000000..ce178065a496d9ee6ebc829874d366387d5ae0d0 --- /dev/null +++ b/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），手臂遮住把手，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。" + } + ] + } +} diff --git a/phaseK/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt.json b/phaseK/dexhand/bicycle_pump_stroke/trajectories/dexhand-bicycle-pump-stroke-i00-standard--xwpuypt.json new file mode 100644 index 0000000000000000000000000000000000000000..aea20fd9365028c5852de4d25be78efa8eb2e6c8 --- /dev/null +++ b/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": 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+ "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": [ + 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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，未被独立核实。 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." + } +} diff --git a/phaseK/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--wohxwks.json b/phaseK/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-privileged--wohxwks.json new file mode 100644 index 0000000000000000000000000000000000000000..c67a043029176a996d87e947267856bb8be60294 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--o3auual.json b/phaseK/dexhand/binder_page_load/trajectories/dexhand-binder-page-load-i00-standard--o3auual.json new file mode 100644 index 0000000000000000000000000000000000000000..3c0e69af52a4c6708a28cedec62d721e33e6c14a --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--zlpdupg.json b/phaseK/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-privileged--zlpdupg.json new file mode 100644 index 0000000000000000000000000000000000000000..e9366ad349d965be78107a11e638d40fc4c0b8aa --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--9wengky.json b/phaseK/dexhand/book_page_turn/trajectories/dexhand-book-page-turn-i00-standard--9wengky.json new file mode 100644 index 0000000000000000000000000000000000000000..425926d4b715922bdfe435ee663e5bb489390cb7 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--piunnle.json b/phaseK/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-privileged--piunnle.json new file mode 100644 index 0000000000000000000000000000000000000000..a65a591838ce633b1258b0048f3a466494aaae33 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--hcmsrmp.json b/phaseK/dexhand/boot_sole_brush/trajectories/dexhand-boot-sole-brush-i00-standard--hcmsrmp.json new file mode 100644 index 0000000000000000000000000000000000000000..f6a27a8b063af3d188f2b02116c26854a557fdfd --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--jodpbvj.json b/phaseK/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-privileged--jodpbvj.json new file mode 100644 index 0000000000000000000000000000000000000000..06707f449dae836af4f3bd2c8b9c12baca9bb60a --- /dev/null +++ b/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（由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." + } +} diff --git a/phaseK/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--zzhldne.json b/phaseK/dexhand/drying_rack_unfold/trajectories/dexhand-drying-rack-unfold-i00-standard--zzhldne.json new file mode 100644 index 0000000000000000000000000000000000000000..31b844091e4fb13037fbe3f2e906b8762c8587ce --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--5drypax.json b/phaseK/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-privileged--5drypax.json new file mode 100644 index 0000000000000000000000000000000000000000..2da4662770fb41f39f44c2b8894ac08ffbef4580 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--icw824o.json b/phaseK/dexhand/envelope_letter_insert/trajectories/dexhand-envelope-letter-insert-i00-standard--icw824o.json new file mode 100644 index 0000000000000000000000000000000000000000..a20d36f270d0a972a6d299de61395018c3b1aa5e --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--fhlwzkg.json b/phaseK/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-privileged--fhlwzkg.json new file mode 100644 index 0000000000000000000000000000000000000000..eb601cf6c3e370f6c9a27a54c1584b62550278b5 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--u6wvjxp.json b/phaseK/dexhand/essential_cube_reorient/trajectories/dexhand-essential-cube-reorient-i00-standard--u6wvjxp.json new file mode 100644 index 0000000000000000000000000000000000000000..3df4bed4892c3007ebbac723baaf8f65002460a9 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--dghnopr.json b/phaseK/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-privileged--dghnopr.json new file mode 100644 index 0000000000000000000000000000000000000000..422f7f5201f6b5fdfe1f85d2e69823dd3fbace0a --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--mnf43kh.json b/phaseK/dexhand/essential_pen_regrasp/trajectories/dexhand-essential-pen-regrasp-i00-standard--mnf43kh.json new file mode 100644 index 0000000000000000000000000000000000000000..50f78b8c667273868e332b680844490683ca6e6c --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--7f59dqy.json b/phaseK/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-privileged--7f59dqy.json new file mode 100644 index 0000000000000000000000000000000000000000..b77b171019a27031d1863b4b4863e087ac585d10 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--rlpqss2.json b/phaseK/dexhand/essential_rotary_gait/trajectories/dexhand-essential-rotary-gait-i00-standard--rlpqss2.json new file mode 100644 index 0000000000000000000000000000000000000000..c915869b7647682f6a7d8b49a7d17e8f51a3e6fe --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--iyyd7yx.json b/phaseK/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-privileged--iyyd7yx.json new file mode 100644 index 0000000000000000000000000000000000000000..5db2b82e2c090b7a443d8792754e62277490a7ae --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--eawkcgp.json b/phaseK/dexhand/essential_two_object/trajectories/dexhand-essential-two-object-i00-standard--eawkcgp.json new file mode 100644 index 0000000000000000000000000000000000000000..9f3076cc957f21f7800b228c049b7cb680a15d9c --- /dev/null +++ b/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": { + "success": 0, + "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, + "sim_startups": 1, + "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." + } +} diff --git a/phaseK/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--v7soayw.json b/phaseK/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-privileged--v7soayw.json new file mode 100644 index 0000000000000000000000000000000000000000..cea969ff12dab036da3d69b3113b4d861b7a2df2 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--n3zctkn.json b/phaseK/dexhand/fan_guard_install/trajectories/dexhand-fan-guard-install-i00-standard--n3zctkn.json new file mode 100644 index 0000000000000000000000000000000000000000..497ab2052c75a95d5ec302da06a26c5aaa8074e4 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--rwlvogr.json b/phaseK/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-privileged--rwlvogr.json new file mode 100644 index 0000000000000000000000000000000000000000..2985e356947228963be4a6621cf5d18db0b40f0f --- /dev/null +++ b/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）起左手接触丢失（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." + } +} diff --git a/phaseK/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--imadluq.json b/phaseK/dexhand/grinder_crank/trajectories/dexhand-grinder-crank-i00-standard--imadluq.json new file mode 100644 index 0000000000000000000000000000000000000000..669acf905129b2b21c8fcc954bda2f461d72db88 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--ux2kokk.json b/phaseK/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-privileged--ux2kokk.json new file mode 100644 index 0000000000000000000000000000000000000000..4df102aa040391084d8f0db2e628536fe632d6ae --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--yydreyg.json b/phaseK/dexhand/jar_lid_open/trajectories/dexhand-jar-lid-open-i00-standard--yydreyg.json new file mode 100644 index 0000000000000000000000000000000000000000..477940156e41a0b05be9bff5a169d809b873792e --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--s4lvl97.json b/phaseK/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-privileged--s4lvl97.json new file mode 100644 index 0000000000000000000000000000000000000000..37d13864394cb62c0beeb5abbd1ffc6bbcb43a53 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--qc6umjq.json b/phaseK/dexhand/pancake_serve/trajectories/dexhand-pancake-serve-i00-standard--qc6umjq.json new file mode 100644 index 0000000000000000000000000000000000000000..61d9a9744ff2c4bb3875c9b04e3357dc3df28d8e --- /dev/null +++ b/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：视频 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." + } +} diff --git a/phaseK/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--khxql9n.json b/phaseK/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-privileged--khxql9n.json new file mode 100644 index 0000000000000000000000000000000000000000..82ef7804b546e8b6c9527aa2e22d1f83cb3a748a --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--zmo24mj.json b/phaseK/dexhand/picture_hang/trajectories/dexhand-picture-hang-i00-standard--zmo24mj.json new file mode 100644 index 0000000000000000000000000000000000000000..e75df86b8fb7e46ddea643f3df28abf5b664418d --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--nr2ip9o.json b/phaseK/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-privileged--nr2ip9o.json new file mode 100644 index 0000000000000000000000000000000000000000..d83d366ffbdfb2a87da547c739f0180916a8a06e --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--dkjzqtp.json b/phaseK/dexhand/ram_module_install/trajectories/dexhand-ram-module-install-i00-standard--dkjzqtp.json new file mode 100644 index 0000000000000000000000000000000000000000..1c58be63a6adf67a2553100085de8b1bd1e3f760 --- /dev/null +++ b/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": "抓取和接触设计", + "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." + } +} diff --git a/phaseK/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--xgdrjjc.json b/phaseK/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-privileged--xgdrjjc.json new file mode 100644 index 0000000000000000000000000000000000000000..9c56aa9a95c9d0c0eb6af2465644fc7f30a7f093 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xxeac6t.json b/phaseK/dexhand/remote_battery_swap/trajectories/dexhand-remote-battery-swap-i00-standard--xxeac6t.json new file mode 100644 index 0000000000000000000000000000000000000000..6d6aa2f3403363db4863691959b5b01f522c3b70 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--eyzgsvf.json b/phaseK/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-privileged--eyzgsvf.json new file mode 100644 index 0000000000000000000000000000000000000000..182daa4c31e77d1448f3e268c3a4411f78807959 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--twt7wsx.json b/phaseK/dexhand/stool_brace_insert/trajectories/dexhand-stool-brace-insert-i00-standard--twt7wsx.json new file mode 100644 index 0000000000000000000000000000000000000000..ac8804c2bd8e62368cfa0b293aebacf09d5d2420 --- /dev/null +++ b/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 与根因方向与视频一致；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." + } +} diff --git a/phaseK/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--fycy37k.json b/phaseK/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-privileged--fycy37k.json new file mode 100644 index 0000000000000000000000000000000000000000..8421104c142d1243d78b0825d4a8e90ee20def4b --- /dev/null +++ b/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）保持 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." + } +} diff --git a/phaseK/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--kkbpxa4.json b/phaseK/dexhand/sweep_dustpan/trajectories/dexhand-sweep-dustpan-i00-standard--kkbpxa4.json new file mode 100644 index 0000000000000000000000000000000000000000..642b732b1becda658bf7c06ca382fb129b79b12c --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--5vjmcrr.json b/phaseK/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-privileged--5vjmcrr.json new file mode 100644 index 0000000000000000000000000000000000000000..46192352efe719005d9e156d470caf4805ddf01e --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--dpkehus.json b/phaseK/dexhand/usb_plug_insert/trajectories/dexhand-usb-plug-insert-i00-standard--dpkehus.json new file mode 100644 index 0000000000000000000000000000000000000000..c6a7b3a30612c25551472532c2699d6ae2f6163b --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--dlew94a.json b/phaseK/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-privileged--dlew94a.json new file mode 100644 index 0000000000000000000000000000000000000000..57a639de855cd91209a4ab98e21c001e2415dba1 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--2metxyn.json b/phaseK/dexhand/vacuum_bin_reseat/trajectories/dexhand-vacuum-bin-reseat-i00-standard--2metxyn.json new file mode 100644 index 0000000000000000000000000000000000000000..66cd55b8e68b481dffdf798a00d4fa3769e546bf --- /dev/null +++ b/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." + } +} diff --git a/phaseK/robopaint/acrylic_applesoranges/trajectories/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva.json b/phaseK/robopaint/acrylic_applesoranges/trajectories/robopaint-acrylic-applesoranges-i00-privileged--u8kmpva.json new file mode 100644 index 0000000000000000000000000000000000000000..03c7ab32a9bcbfe9d741c5ec4e9d8a77758b8920 --- /dev/null +++ b/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." + } +} diff --git a/phaseK/robopaint/acrylic_applesoranges/trajectories/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m.json b/phaseK/robopaint/acrylic_applesoranges/trajectories/robopaint-acrylic-applesoranges-i00-standard--qc5ky9m.json new file mode 100644 index 0000000000000000000000000000000000000000..b696fb8dc490263c610d9a015dfdd9f9937c089f --- /dev/null +++ b/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." + } +} diff --git a/phaseK/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--eqaz4uw.json b/phaseK/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-privileged--eqaz4uw.json new file mode 100644 index 0000000000000000000000000000000000000000..763180f3e72245320e400a22f52f3d518366983f --- /dev/null +++ b/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." + } +} diff --git a/phaseK/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--mfxi7am.json b/phaseK/robopaint/acrylic_bedroom/trajectories/robopaint-acrylic-bedroom-i00-standard--mfxi7am.json new file mode 100644 index 0000000000000000000000000000000000000000..c06358d39251ac1d19ef09c63672053740aaa9c9 --- /dev/null +++ b/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": 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--amyeuyk.json b/phaseK/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--amyeuyk.json new file mode 100644 index 0000000000000000000000000000000000000000..0f94e61958c3b2505888b62650fc5e5d8ec59e1f --- /dev/null +++ b/phaseK/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-privileged--amyeuyk.json @@ -0,0 +1,363 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-bluehorses-i00-privileged--amyeuyk", + "taskKey": "robopaint/acrylic_bluehorses", + "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec", + "outcome": { + "success": 0, + "reward": 0.858255, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.858255, + "deterministic": 1, + "grader_error": 0, + 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"path_budget_ok": 1.0, + "scribble_max": 2.0457, + "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": 0.858255, + "sim_steps": 48034.0, + "resets": 1.0, + "n_contacts": 387.0, + "samples": 240170.0, + "contact_samples": 55653.0, + "max_press_m": 0.013054, + "max_tilt_deg_in_contact": 0.210869, + "max_speed_in_contact_mps": 0.062186, + "handle_contact_samples": 0.0, + "n_dips": 241.0, + "dry_strokes": 0.0, + "n_frames": 595.0, + "replay_wall_s": 174.8, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 48034, + "video_rendered": 1, + "agent_sessions": 43, + "agent_resets": 2, + "agent_sim_steps": 798818, + "agent_records": 1, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-bluehorses-i00-privileged--amyeuyk.mp4", + "duration_s": 59.5, + "fps": 10.0, + "frames": 595, + "sha256": "04a8469051a00612cabd9e114882ca6acc072431621a62eb180091f9e35ea019" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.6, + "log_step": null, + "text_zh": "观察：视频 0.3 s 主画纸仍空白，0.6 s 起纸上出现浅蓝紫色笔触，说明机械臂末端画笔已在颜料井蘸色并开始落笔（颜料井区域在近景视角下被机械臂遮挡，时间约 0.5 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "画笔笔毛浸入颜料井加载颜色（候选：浸蘸），之后多次换色；由笔触着色推断。" + } + ] + }, + "bluehorses_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.4, + "log_step": 287, + "text_zh": "观察：视频 59.4 s 主纸已画满蓝紫马形、深紫轮廓、右侧浅带及上部绿红粉黄背景，整体与目标相近。评分器字段（deterministic=1）：de_mean 2.83>2.0、de_p90 6.43>6.0、ssim_L 0.899<0.92，三项严格阈值未达，故未完成；edge_corr 0.83、paint_iou 0.971、n_strokes 387、path、scribble 均通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "画笔笔毛在主画纸上压擦作画，共 387 次有色连续接触（评分器 n_strokes）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.8349, + "unit": "CIELAB DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 6.427, + "unit": "CIELAB DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.898552, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.832229, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.971125, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 387.0, + "unit": "count", + "threshold": 390, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 10151.26, + "unit": "mm", + "threshold": 35900.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.858255, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.7494, + "unit": "CIELAB DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.835196, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.507792, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.959229, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bluehorses_copied", + "where": "操作中", + "t": 59.4, + "log_step": 287, + "evidence_zh": "观察：视频 59.4 s 画面已完整铺满，但评分器字段显示 de_mean 2.83（≤2.0 未达）、de_p90 6.43（≤6.0 未达）、ssim_L 0.899（≥0.92 未达）；笔数、路径、涂鸦均合规。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 59.4, + "log_step": 287, + "evidence_zh": "观察：视频 59.4 s 主纸近景可见笔触之间残留白色缝隙/飞白，深色轮廓与色块边界和目标不完全吻合（笔触位置、边界偏离目标）；这是评分器 de_mean/de_p90/ssim 未达标的可见表现。", + "note_zh": "依据近景帧的可见缝隙与边界偏差；未重述指标。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：agent 最终报告只说明最佳检查点未达图像阈值（log step 287，自述），日志未证明具体参数或规划错误；视频为快进回放，看不出逐笔偏差；现象“位姿不准”仅依据末帧可见的缝隙与边界偏差。", + "unmet": { + "bluehorses_copied": false + } + }, + "summary_zh": "观察：画笔约视频 0.5 s 蘸色并开始作画，至 59.4 s 画满全幅蓝马图，387 笔（≤390）、路径与涂鸦约束均通过。但评分器 de_mean 2.83、de_p90 6.43、ssim_L 0.899 未达严格阈值，故临摹节点未完成（final false）。根因无法确定，仅凭视频与评分字段不能区分。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点 brush_loaded/bluehorses_copied 的值与评分器一致，无异议。但失败层有两处问题：phenomena[0] 只是复述 de_mean/de_p90/ssim 未达标（违反 N10），而末帧可见具体缺陷（笔触间白色缝隙/飞白、轮廓与色块边界不准）；breakpoint.where 用了“终态验收”，但该值要求所有关系已达成，而目标节点 bluehorses_copied 为 false。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值与评分器一致（bluehorses_copied 未达 de_mean/de_p90/ssim_L 阈值，final=false；brush_loaded 在开头已达成）。断点、位姿不准现象（59.4 s 帧可见缝隙与边界偏差）、根因留空并写 gap_zh 均可接受。", + "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": "2026-11-08T08:34:48Z", + "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-bluehorses-i00-privileged--amyeuyk/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--amyeuyk/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--amyeuyk/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-bluehorses-i00-privileged--amyeuyk/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "0cefe48379cecac737e58e2c61ea91eb5060b47cf3e8f8147353f907625a04ab", + "video_sha256": "04a8469051a00612cabd9e114882ca6acc072431621a62eb180091f9e35ea019", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--3xmptpg.json b/phaseK/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--3xmptpg.json new file mode 100644 index 0000000000000000000000000000000000000000..8b58d2419a5735cdb537f65781ddd3f5d58853f6 --- /dev/null +++ b/phaseK/robopaint/acrylic_bluehorses/trajectories/robopaint-acrylic-bluehorses-i00-standard--3xmptpg.json @@ -0,0 +1,352 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-bluehorses-i00-standard--3xmptpg", + "taskKey": "robopaint/acrylic_bluehorses", + "dag_sha256": "a1304f59ca0ab57a77ab8720878ed3e43b22148f4ceb66d440027565e51f1dec", + "outcome": { + "success": 0, + "reward": 0.825424, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.825424, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 3.4492, + "de_p90": 8.8031, + "de_bad_frac": 0.08323, + "de_mean_sheet": 3.4163, + "ssim_L": 0.830583, + "paint_iou": 0.952507, + "paint_area_mm2": 47617.4, + "target_paint_area_mm2": 49474.1, + "n_target_strokes": 300.0, + "de_mean_coarse": 2.6708, + "ssim_L_fine": 0.757789, + "edge_corr": 0.77211, + "region_cov_min": 0.583836, + "region_cov_mean": 0.919604, + "n_regions": 71.0, + "n_strokes": 391.0, + "n_practice_strokes": 6.0, + "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": 3.4492, + "de_p90_unregistered": 8.8031, + "ssim_L_unregistered": 0.830583, + "edge_corr_unregistered": 0.77211, + "paint_iou_unregistered": 0.952507, + "path_mm": 8244.39, + "longest_stroke_mm": 187.03, + "max_path_mm": 35900.0, + "path_budget_ok": 1.0, + "scribble_max": 1.7373, + "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": 0.825424, + "sim_steps": 42405, + "resets": 0.0, + "n_contacts": 397.0, + "samples": 212025.0, + "contact_samples": 43405.0, + "max_press_m": 0.014999, + "max_tilt_deg_in_contact": 0.254691, + "max_speed_in_contact_mps": 0.168003, + "handle_contact_samples": 729.0, + "n_dips": 340.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 42405, + "physics_steps": 212025, + "steps": 42251, + "calls": 762, + "elapsed_s": 1957.8, + "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": 0.445, + "peak_processes": 9, + "peak_disk_gb": 0.329, + "peak_cpus": 2.11, + "peak_pids": 252, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "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-bluehorses-i00-standard--3xmptpg.mp4", + "duration_s": 59.9, + "fps": 10.0, + "frames": 599, + "sha256": "0ad669ff231fe68f90d6c915993daf7674ff1c63a1dfdf87aed717b64220787c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": 15, + "text_zh": "观察：视频 2.0 s 练习纸上已出现紫色笔触，说明画笔已在颜料井蘸色并落纸；视频 3 s 起主画纸出现紫色笔触。时间约 ±0.5 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端画笔笔毛浸入颜料井（候选：浸蘸）；评分器 n_dips=340。" + } + ] + }, + "bluehorses_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.5, + "log_step": 82, + "text_zh": "观察：视频 59.5 s 主画纸已铺满蓝紫马匹、绿红黄背景，整体构图与成功录像相近，但仍有较多白色缝隙/漏涂。评分器字段：de_mean 3.45>2.0、de_p90 8.80>6.0、ssim_L 0.83<0.92、edge_corr 0.77<0.8、n_strokes 391>390，strict_ok 0，故严格验收未达成；paint_iou 0.9525、path_mm、scribble 通过。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂末端画笔笔毛压触并扫过主画纸，共 391 笔（评分器 n_strokes）。" + } + ] + } + }, + "constraints": {}, + "base": null, + "peak": null + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 3.4492, + "unit": "CIELAB DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 8.8031, + "unit": "CIELAB DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.830583, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.77211, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.952507, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 391.0, + "unit": "count", + "threshold": 390, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 8244.39, + "unit": "mm", + "threshold": 35900.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.825424, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 2.6708, + "unit": "CIELAB DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.757789, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.583836, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.919604, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "bluehorses_copied", + "where": "终态验收", + "t": 59.5, + "log_step": 82, + "evidence_zh": "观察：视频 59.5 s 画纸已基本画满但有白缝；评分器字段显示 ssim_L 0.83、edge_corr 0.77、de_mean 3.45、de_p90 8.80 未达标，且 n_strokes 391 超过上限 390（含 1 笔多出）。" + }, + "phenomena": [ + { + "t": 59.5, + "log_step": 82, + "evidence_zh": "观察：视频 59.5 s 成图与成功录像相比，色块间留有白色缝隙、边缘处覆盖不全（region_cov_min 0.58）；评分器 ssim_L/edge_corr/色差均低于阈值。推断：笔触位置/宽度与目标存在偏差，属成图形态偏差。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "误以为完成", + "evidence_zh": "agent 自述其离线估计 SSIM≈0.985、edge≈0.934、ΔE≈1.83（log step 56、69），而评分器实测 ssim_L 0.83、de_mean 3.45；最后只用相机图做粗略 IoU 检查（log step 77-80）就报告完成（log step 82），且离线估计与实测差距未被发现。推断：规划依赖未校验的离线渲染模型，并对笔数上限无余量（规划 390 笔，实测 391）。", + "source_zh": "agent 自述 / 评分器字段" + } + ], + "gap_zh": "视频为快放，且没有状态日志，无法逐笔核对哪一笔多出或哪里偏差；根因主要来自 agent 自述与评分器字段，较弱。", + "unmet": { + "bluehorses_copied": false + } + }, + "summary_zh": "观察：画笔蘸色（视频约 1.5 s）达成，主画纸在视频 59.9 s 内被画满，但严格验收未达成（nodes final 1/2）。评分器 de_mean 3.45、de_p90 8.80、ssim_L 0.83、edge_corr 0.77 均未达标，n_strokes 391 超过上限 390；断点在 蓝马图临摹完成（终态验收）。agent 的离线估计（log step 56、69）远好于实测，原因无法由视频细分，证据较弱。", + "conf": 5, + "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、评分器字段一致：笔刷蘸色约 1.5–2 s 达成，临摹未达成（ssim_L/edge_corr/de 未达标，n_strokes 391>390），断点在 bluehorses_copied；59.5 s 画面白缝多于成功录像。位姿不准与误以为完成有 log step 56/69/82 及评分器字段支撑，证据弱已在 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": "2026-11-08T08:30:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--3xmptpg/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-bluehorses-i00-standard--3xmptpg/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "6dd6f46df6c850f8c46176c5c8116c4eb3787b1f77f139d15421fb5b1ec98a73", + "video_sha256": "0ad669ff231fe68f90d6c915993daf7674ff1c63a1dfdf87aed717b64220787c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--ukbnauv.json b/phaseK/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--ukbnauv.json new file mode 100644 index 0000000000000000000000000000000000000000..d903c4d0adbe6f3ad187a5e778663da860a34e54 --- /dev/null +++ b/phaseK/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-privileged--ukbnauv.json @@ -0,0 +1,295 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-greatwave-i00-privileged--ukbnauv", + "taskKey": "robopaint/acrylic_greatwave", + "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa", + "outcome": { + "success": 1, + "reward": 0.900185, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.900185, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 1.9963, + "de_p90": 4.5405, + "de_bad_frac": 0.028547, + "de_mean_sheet": 1.9836, + "ssim_L": 0.926126, + "paint_iou": 0.979526, + "paint_area_mm2": 49211.4, + "target_paint_area_mm2": 49725.2, + "n_target_strokes": 289.0, + "de_mean_coarse": 1.1215, + "ssim_L_fine": 0.878826, + "edge_corr": 0.871371, + "region_cov_min": 0.518476, + "region_cov_mean": 0.975793, + "n_regions": 119.0, + "n_strokes": 376.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 376.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.2219, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.3138, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.1318, + "de_p90_unregistered": 4.9752, + "ssim_L_unregistered": 0.921026, + "edge_corr_unregistered": 0.859706, + "paint_iou_unregistered": 0.978571, + "path_mm": 11151.23, + "longest_stroke_mm": 311.01, + "max_path_mm": 37900.0, + "path_budget_ok": 1.0, + "scribble_max": 1.7063, + "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": 0.900185, + "sim_steps": 27019.0, + "resets": 1.0, + "n_contacts": 376.0, + "samples": 135095.0, + "contact_samples": 44348.0, + "max_press_m": 0.013871, + "max_tilt_deg_in_contact": 0.183845, + "max_speed_in_contact_mps": 0.063257, + "handle_contact_samples": 0.0, + "n_dips": 26.0, + "dry_strokes": 0.0, + "n_frames": 589.0, + "replay_wall_s": 302.3, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 27019, + "video_rendered": 1, + "agent_sessions": 22, + "agent_resets": 22, + "agent_sim_steps": 410727, + "agent_records": 13, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.103, + "peak_memory_gb": 1.667, + "peak_processes": 13, + "peak_disk_gb": 0.302, + "peak_cpus": 3.1, + "peak_pids": 578, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-greatwave-i00-privileged--ukbnauv.mp4", + "duration_s": 58.9, + "fps": 10.0, + "frames": 589, + "sha256": "726899d569867e53cd7c047c3182530abae06662d70e251418d9fb29c5704123" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.4, + "log_step": null, + "text_zh": "观察：视频 0.4 s 起右下画纸图已出现第一道米黄色载色笔触，说明机械臂笔刷此前已浸入颜料井载色（蘸色瞬间被遮挡，推断：由随后真实彩色笔触证明）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端圆头笔刷浸入颜料井（候选“浸蘸”），评分器 n_dips=26。" + } + ] + }, + "greatwave_copied": { + "method": "visual", + "intervals": [ + [ + 58.9, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 58.9, + "log_step": null, + "text_zh": "观察：视频 58.9 s 末帧画纸图出现中央深蓝卷浪、浅绿灰浪带、米黄泡沫与底部水波，整体与目标吻合；评分器字段：strict_ok=1, de_mean 1.9963, paint_iou 0.9795, n_strokes 376，success=1。推断：达成时刻取画面最终完成处，精确时刻无法从视频定位。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端笔刷以载色刷毛压扫主画纸，共 376 笔（n_contacts=376）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.9963, + "unit": "DeltaE_ab", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.5405, + "unit": "DeltaE_ab", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.926126, + "unit": "1", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.871371, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.979526, + "unit": "1", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 376.0, + "unit": "strokes", + "threshold": 376, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 11151.23, + "unit": "mm", + "threshold": 37900, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.900185, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：视频 0-58.9 s 机械臂用圆头笔刷逐步画出完整巨浪图，评分器判成功（所有指标达标，笔数恰为上限 376）。两节点均达成；载色时刻因蘸色被遮挡取首道笔触出现处，临摹完成时刻取视频末帧（精确时刻无法定位）。未发现失败，无任务设计问题。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功运行，两节点均达成；0.4 s 起已有米黄笔触，末帧画面完整，与评分器 success=1 一致。时间、接触和证据标注未见错误。", + "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": "2026-11-08T08:31:17Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--ukbnauv/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-greatwave-i00-privileged--ukbnauv/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "736957ca4440eb7ecbdae499f462557c89f4673c2e68386c9696c5f5ae5e158b", + "video_sha256": "726899d569867e53cd7c047c3182530abae06662d70e251418d9fb29c5704123", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--y5ykedh.json b/phaseK/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--y5ykedh.json new file mode 100644 index 0000000000000000000000000000000000000000..bfea3409b2706244e674038814e9ee337a0c643b --- /dev/null +++ b/phaseK/robopaint/acrylic_greatwave/trajectories/robopaint-acrylic-greatwave-i00-standard--y5ykedh.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-greatwave-i00-standard--y5ykedh", + "taskKey": "robopaint/acrylic_greatwave", + "dag_sha256": "65b5daa863d96f6bbe8dadf6af0f71ea11ec6f4ae56a00c1a2c4cc81351f56aa", + "outcome": { + "success": 0, + "reward": 0.83739, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.83739, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 3.2522, + "de_p90": 8.3921, + "de_bad_frac": 0.075151, + "de_mean_sheet": 3.2303, + "ssim_L": 0.840251, + "paint_iou": 0.926165, + "paint_area_mm2": 46425.4, + "target_paint_area_mm2": 49806.7, + "n_target_strokes": 289.0, + "de_mean_coarse": 2.7983, + "ssim_L_fine": 0.752365, + "edge_corr": 0.79409, + "region_cov_min": 0.469091, + "region_cov_mean": 0.929037, + "n_regions": 119.0, + "n_strokes": 376.0, + "n_practice_strokes": 12.0, + "n_dry_strokes": 0.0, + "max_strokes": 376.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.0, + "register_shift_mm": 0.0, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 3.2522, + "de_p90_unregistered": 8.3921, + "ssim_L_unregistered": 0.840251, + "edge_corr_unregistered": 0.79409, + "paint_iou_unregistered": 0.926165, + "path_mm": 8859.88, + "longest_stroke_mm": 312.26, + "max_path_mm": 37900.0, + "path_budget_ok": 1.0, + "scribble_max": 1.7477, + "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": 0.83739, + "sim_steps": 59505, + "resets": 0.0, + "n_contacts": 388.0, + "samples": 297525.0, + "contact_samples": 97703.0, + "max_press_m": 0.014532, + "max_tilt_deg_in_contact": 0.20555, + "max_speed_in_contact_mps": 0.042394, + "handle_contact_samples": 63.0, + "n_dips": 380.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 59505, + "physics_steps": 297525, + "steps": 59503, + "calls": 433, + "elapsed_s": 1581.0, + "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": 0.31, + "peak_processes": 9, + "peak_disk_gb": 0.346, + "peak_cpus": 1.03, + "peak_pids": 41, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-greatwave-i00-standard--y5ykedh.mp4", + "duration_s": 59.7, + "fps": 10.0, + "frames": 597, + "sha256": "3f8a8733a12d1836d1779eb201ead98981681a99d8c54792638cadfeb37f830b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.2, + "log_step": null, + "text_zh": "观察：视频 1.2 s 起机械臂笔刷在颜料井附近蘸色并在纸旁色板留下彩色试色条，之后主纸出现真实彩色笔触（视频 3 s）；推断：载色发生在约视频 1.2 s（±1 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：笔刷刷尖浸入颜料井载色（候选“浸蘸”）。" + } + ] + }, + "greatwave_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.0, + "log_step": null, + "text_zh": "观察：视频末帧主纸已画出深蓝卷浪、浅绿灰浪带、米黄泡沫，整体轮廓与目标相近；评分器字段 de_mean 3.25（阈值≤2）、de_p90 8.39（≤6）、ssim_L 0.840（≥0.92）、edge_corr 0.794（≥0.8）、paint_iou 0.926（≥0.95）未达标，n_strokes 376 刚好满足上限，故判未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：臂端笔刷以载色刷毛压住主画纸并扫出共376笔（评分器 n_strokes=376，n_dips=380）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 3.2522, + "unit": "DeltaE_ab", + "threshold": 2, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 8.3921, + "unit": "DeltaE_ab", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.840251, + "unit": "1", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.79409, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.926165, + "unit": "1", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 376.0, + "unit": "strokes", + "threshold": 376, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 8859.88, + "unit": "mm", + "threshold": 37900, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.83739, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "greatwave_copied", + "where": "操作中", + "t": 59.0, + "log_step": null, + "evidence_zh": "观察：全部376笔画完后（视频约 59 s 末帧），画面整体近似目标但五项相似度指标均未达阈值（评分器字段 de_mean 3.25、ssim_L 0.84、paint_iou 0.926）；笔画数已用满，无法再补笔。" + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 59.0, + "log_step": null, + "evidence_zh": "观察：成画整体结构正确但与目标逐像素有差距（色差偏大、浅色泡沫/细节区域覆盖不足，region_cov_min 0.47）；视频末帧可见细节偏粗。", + "note_zh": "现有现象值均不贴合：无单一物理失误，仅为成画整体相似度不足（候选“成图偏差”）。" + } + ], + "root_causes": [], + "gap_zh": "未逐笔对照目标图，无法确定具体是笔画规划（笔数预算内细节取舍）还是颜色选择造成差距，故不给根因；agent 自述最终 IoU≈0.95 为自估非官方（log 末步），与评分器 0.926 不符。现象类别沿用‘其他’，因差距为整体相似度不足而非单一物理现象。", + "unmet": { + "greatwave_copied": false + } + }, + "summary_zh": "观察：视频约 59.7 s，机械臂蘸色（约视频 1.2 s）后画完376笔，达到 brush_loaded，但 greatwave_copied 未达标（de_mean 3.25、ssim 0.84、paint_iou 0.926 均未过阈值，final_reward 0.837）。断点在临摹步骤的操作中；根因证据不足，留空。笔路、笔数、涂鸦约束均满足。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "brush_loaded 约视频 1.2 s 达成（2 s 起色板出现试色条），greatwave_copied 在评分器多项指标未达阈值，final=1/2、断点在该步操作中均成立；其他现象有末帧可见的笔触间白缝与细节偏粗支撑，根因留空并附 gap_zh，处理合理。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:30:37Z", + "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/robopaint-acrylic-greatwave-i00-standard--y5ykedh/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-greatwave-i00-standard--y5ykedh/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "118d71b8d20716ef13b05e574eb4bdae90fc6c21a06af600a2fff672b8fd9dfc", + "video_sha256": "3f8a8733a12d1836d1779eb201ead98981681a99d8c54792638cadfeb37f830b", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--i3wtriz.json b/phaseK/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--i3wtriz.json new file mode 100644 index 0000000000000000000000000000000000000000..816f9d2e64bfe761d8071947aea8bad6add9ce55 --- /dev/null +++ b/phaseK/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-privileged--i3wtriz.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-kajikazawa-i00-privileged--i3wtriz", + "taskKey": "robopaint/acrylic_kajikazawa", + "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038", + "outcome": { + "success": 0, + "reward": 0.87669, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.87669, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 2.4662, + "de_p90": 6.5326, + "de_bad_frac": 0.044905, + "de_mean_sheet": 2.452, + "ssim_L": 0.928026, + "paint_iou": 0.980413, + "paint_area_mm2": 49051.9, + "target_paint_area_mm2": 49526.3, + "n_target_strokes": 290.0, + "de_mean_coarse": 1.574, + "ssim_L_fine": 0.883167, + "edge_corr": 0.879578, + "region_cov_min": 0.4494, + "region_cov_mean": 0.962044, + "n_regions": 82.0, + "n_strokes": 377.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 377.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.0, + "register_shift_mm": 0.0, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.4662, + "de_p90_unregistered": 6.5326, + "ssim_L_unregistered": 0.928026, + "edge_corr_unregistered": 0.879578, + "paint_iou_unregistered": 0.980413, + "path_mm": 11308.02, + "longest_stroke_mm": 211.85, + "max_path_mm": 44300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2495, + "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": 0.87669, + "sim_steps": 40215.0, + "resets": 1.0, + "n_contacts": 377.0, + "samples": 201075.0, + "contact_samples": 59227.0, + "max_press_m": 0.013067, + "max_tilt_deg_in_contact": 0.092037, + "max_speed_in_contact_mps": 0.043493, + "handle_contact_samples": 0.0, + "n_dips": 10.0, + "dry_strokes": 0.0, + "n_frames": 593.0, + "replay_wall_s": 213.1, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 40215, + "video_rendered": 1, + "agent_sessions": 18, + "agent_resets": 18, + "agent_sim_steps": 678989, + "agent_records": 13, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-kajikazawa-i00-privileged--i3wtriz.mp4", + "duration_s": 59.3, + "fps": 10.0, + "frames": 593, + "sha256": "a75e34dcad0250152949d1f6b5699e07de907448b9799486b26f9d94a6a46a5c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.4, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.2 s 俯视画布仍空白；0.5 s 起纸面出现浅黄色笔触，说明画笔已在左侧调色盘蘸上颜料。推断：刷尖入孔约在视频 0.4 s（视频第一帧附近，精度约 0.3 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 末端圆画笔刷毛浸入调色盘颜料孔（候选名“蘸取”），随后纸上出现有色笔触（视频 0.5 s）。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.1, + "log_step": 231, + "text_zh": "观察：视频 59.1 s 末帧俯视画布已有完整构图（上方灰绿带与浅黄天空、中部深绿岩石和红褐色人物、下方深蓝河水），但仍有横向条纹状白缝和色块边缘偏差。评分器字段：de_mean 2.4662>2、de_p90 6.5326>6，success=0；其余指标（SSIM 0.928、edge 0.880、IoU 0.980、377 笔、路径 11308 mm、scribble 0）均达标。推断：精确验收未达，节点 final false。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：Panda 末端圆画笔刷毛下压主纸并扫动，全程共 377 笔，视频 0.5-59.3 s 逐步画满整幅。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better", + "value": 2.4662 + }, + { + "name": "de_p90", + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better", + "value": 6.5326 + }, + { + "name": "ssim_L", + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better", + "value": 0.928026 + }, + { + "name": "edge_corr", + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better", + "value": 0.879578 + }, + { + "name": "paint_iou", + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better", + "value": 0.980413 + }, + { + "name": "n_strokes", + "unit": "strokes", + "threshold": 377, + "direction": "lower_better", + "value": 377.0 + }, + { + "name": "path_mm", + "unit": "mm", + "threshold": 44300, + "direction": "lower_better", + "value": 11308.02 + }, + { + "name": "scribble_share", + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better", + "value": 0.0 + }, + { + "name": "final_reward", + "unit": "score", + "threshold": null, + "direction": "higher_better", + "value": 0.87669 + }, + { + "name": "de_mean_coarse", + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better", + "value": 1.574 + }, + { + "name": "ssim_L_fine", + "unit": "ratio", + "threshold": null, + "direction": "higher_better", + "value": 0.883167 + }, + { + "name": "region_cov_min", + "unit": "ratio", + "threshold": null, + "direction": "higher_better", + "value": 0.4494 + }, + { + "name": "region_cov_mean", + "unit": "ratio", + "threshold": null, + "direction": "higher_better", + "value": 0.962044 + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "t": 59.1, + "log_step": 231, + "where": "终态验收", + "evidence_zh": "观察：视频 59.1 s 末帧整幅构图已画满，但评分器字段 de_mean 2.4662（阈值 ≤2）、de_p90 6.5326（≤6）未达标，success=0；agent 末条自述（log step 231）也报告这两项未达标，并仍交付该轨迹。" + }, + "phenomena": [ + { + "cat": "其他", + "item": "临摹图像不达标", + "t": 59.1, + "log_step": 231, + "evidence_zh": "观察：末帧画面可见横向条纹状白缝、边缘与色块边界毛糙，色彩与目标有细小偏差；评分器 de_mean 2.4662、de_p90 6.5326 略超阈值（CASES FAIL-15 暂行写法，N10）。", + "note_zh": "词表无“图像质量不达标”的现象条目；候选名“临摹图像不达标”，按 CASES FAIL-15 暂行写法。" + } + ], + "root_causes": [], + "gap_zh": "根因层为空：日志只显示 agent 在 377 笔上限内调出 ΔE 仍略高的轨迹，无证据说明是规划、控制还是颜料混色上限所致；未逐步核对 agent 的 18 次会话调参过程。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔蘸色在视频约 0.4 s 达成；视频 0.5-59.3 s 用 377 笔画满整幅，仅 1/2 节点达成（整幅临摹未达标）。断在 painting_copied 的终态验收：de_mean 2.4662>2、p90 6.5326>6，其余指标达标。根因证据不足，已留空并说明。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 7, + "summary_zh": "标注与视频和评分器读数一致：brush_loaded 达成，painting_copied 未达成（de_mean 2.4662>2、p90 6.5326>6），断点与现象（可见条纹白缝）符合 FAIL-15，根因层留空并有 gap_zh。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:30:48Z", + "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-kajikazawa-i00-privileged--i3wtriz/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-kajikazawa-i00-privileged--i3wtriz/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7153ad7be959adeae6572e1b9ddd03b072673c74c909b5c15a3b7eb625142f11", + "video_sha256": "a75e34dcad0250152949d1f6b5699e07de907448b9799486b26f9d94a6a46a5c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--wm5bnva.json b/phaseK/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--wm5bnva.json new file mode 100644 index 0000000000000000000000000000000000000000..758c334544dccdddd6e0039d1ead3c546410f821 --- /dev/null +++ b/phaseK/robopaint/acrylic_kajikazawa/trajectories/robopaint-acrylic-kajikazawa-i00-standard--wm5bnva.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-kajikazawa-i00-standard--wm5bnva", + "taskKey": "robopaint/acrylic_kajikazawa", + "dag_sha256": "d05390efa57b39c494172804370f5614613ae935bd2c6055e5fb262b121a4038", + "outcome": { + "success": 0, + "reward": 0.8537, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.8537, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 2.926, + "de_p90": 7.0889, + "de_bad_frac": 0.067307, + "de_mean_sheet": 2.9082, + "ssim_L": 0.895045, + "paint_iou": 0.978021, + "paint_area_mm2": 48681.0, + "target_paint_area_mm2": 49444.3, + "n_target_strokes": 290.0, + "de_mean_coarse": 1.8082, + "ssim_L_fine": 0.853608, + "edge_corr": 0.801241, + "region_cov_min": 0.0, + "region_cov_mean": 0.940577, + "n_regions": 82.0, + "n_strokes": 374.0, + "n_practice_strokes": 7.0, + "n_dry_strokes": 0.0, + "max_strokes": 377.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.4437, + "register_dy_mm": 0.0, + "register_shift_mm": 0.4437, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.9608, + "de_p90_unregistered": 7.2, + "ssim_L_unregistered": 0.893326, + "edge_corr_unregistered": 0.797578, + "paint_iou_unregistered": 0.977873, + "path_mm": 14120.14, + "longest_stroke_mm": 229.09, + "max_path_mm": 44300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2979, + "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": 0.8537, + "sim_steps": 24741, + "resets": 0.0, + "n_contacts": 381.0, + "samples": 123705.0, + "contact_samples": 38186.0, + "max_press_m": 0.014557, + "max_tilt_deg_in_contact": 3.23219, + "max_speed_in_contact_mps": 0.095075, + "handle_contact_samples": 24.0, + "n_dips": 12.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 24741, + "physics_steps": 123705, + "steps": 24691, + "calls": 224, + "elapsed_s": 1410.7, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-kajikazawa-i00-standard--wm5bnva.mp4", + "duration_s": 59.1, + "fps": 10.0, + "frames": 591, + "sha256": "8dfaa126decb928d64e31229496f8d7cd0fd86e581ab956c72aaf0715cf57464" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": 65, + "text_zh": "观察：视频 1.0 s 练习纸上已有深蓝试笔，视频 3.0 s 主纸出现黄色笔触（顶视图），说明笔刷已在颜料孔蘸料并上色；首次蘸料时刻约 2 s（不确定，±1 s）。评分器 n_dips=12，dry_strokes=0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 末端圆画笔刷毛浸入调色盘颜料孔（候选接触名“蘸取”）。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 58.5, + "log_step": 96, + "text_zh": "观察：视频 58.5 s 顶视图主纸已基本画满，构图（灰绿横带、黄天空、中部深绿岩石与人物、深蓝河水）与目标同向。观察：评分器字段 de_mean=2.926(>2)、ssim_L=0.895(<0.92)，其余 de_p90 7.09(>6)，paint_iou 0.978、edge_corr 0.801、n_strokes 374≤377、path_mm 14120、scribble_share 0 达标；success=0，故精确验收未达成，节点判未达成（final false）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "Panda 末端圆画笔刷毛下压主纸并横扫，共 374 笔有色笔触（评分器 n_strokes）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.926, + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 7.0889, + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.895045, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.801241, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.978021, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 374.0, + "unit": "strokes", + "threshold": 377, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 14120.14, + "unit": "mm", + "threshold": 44300, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.8537, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.8082, + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.853608, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.0, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.940577, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "where": "终态验收", + "t": 58.5, + "evidence_zh": "观察：视频 58.5 s 画面基本完整；评分器 de_mean 2.926>2、de_p90 7.09>6、ssim_L 0.895<0.92 未达标，而笔数、路径、涂抹、IoU、边缘相关均达标。", + "log_step": 98 + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无法从视频与日志中确定画面中具体哪些区域偏差造成颜色误差/SSIM 不足；agent 只做了离线预览，未用实机逐步纠错（log step 96 自述未重画以免超笔数），但这不足以指定现象或根因。属整体相似度指标未过，不标现象/根因。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔蘸料（视频约 2 s）达成；整幅临摹在 377 笔内画满，外观与目标相近，但评分器颜色误差 de_mean 2.93（要求≤2）、p90 7.09（≤6）、SSIM 0.895（≤0.92 未达）未过，故 painting_copied 未达成，final 1/2。未标现象与根因，因录像看不出具体偏差来源。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "brush_loaded 约 2 s 达成（练习纸深蓝笔触在视频约 1.5–2 s 已出现，主纸黄笔在约 3–4 s），painting_copied 终局未达成（评分器 de_mean 2.93>2、ssim 0.895<0.92），断点与空现象层符合 CASES FAIL-15 / N10（画面无可见缺陷则留 gap_zh）。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": "2026-11-08T08:30:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--wm5bnva/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-kajikazawa-i00-standard--wm5bnva/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "92c244275aaef888d92088a116af100d97fe80aa24ecebafa7a11e126ce34284", + "video_sha256": "8dfaa126decb928d64e31229496f8d7cd0fd86e581ab956c72aaf0715cf57464", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-privileged--3orfhvm.json b/phaseK/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-privileged--3orfhvm.json new file mode 100644 index 0000000000000000000000000000000000000000..f73bf5aa281edbb42e9b660e908ecb25975c5e60 --- /dev/null +++ b/phaseK/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-privileged--3orfhvm.json @@ -0,0 +1,323 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-plumpark-i00-privileged--3orfhvm", + "taskKey": "robopaint/acrylic_plumpark", + "dag_sha256": "6a6374541186f4a77d09481fdba57f6dbd21ef23b42f8d1151cf431128ff7b86", + "outcome": { + "success": 1, + "reward": 0.907445, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.907445, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 1.8511, + "de_p90": 4.0779, + "de_bad_frac": 0.015503, + "de_mean_sheet": 1.8466, + "ssim_L": 0.927609, + "paint_iou": 0.982344, + "paint_area_mm2": 50147.1, + "target_paint_area_mm2": 50317.4, + "n_target_strokes": 295.0, + "de_mean_coarse": 1.09, + "ssim_L_fine": 0.879179, + "edge_corr": 0.868979, + "region_cov_min": 0.689962, + "region_cov_mean": 0.988111, + "n_regions": 68.0, + "n_strokes": 384.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 384.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.2219, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 1.8694, + "de_p90_unregistered": 4.0586, + "ssim_L_unregistered": 0.927346, + "edge_corr_unregistered": 0.866842, + "paint_iou_unregistered": 0.981959, + "path_mm": 8701.07, + "longest_stroke_mm": 150.89, + "max_path_mm": 42300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.813, + "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": 0.907445, + "sim_steps": 48442.0, + "resets": 1.0, + "n_contacts": 384.0, + "samples": 242210.0, + "contact_samples": 100094.0, + "max_press_m": 0.013034, + "max_tilt_deg_in_contact": 0.135984, + "max_speed_in_contact_mps": 0.021761, + "handle_contact_samples": 0.0, + "n_dips": 384.0, + "dry_strokes": 0.0, + "n_frames": 600.0, + "replay_wall_s": 197.3, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 48442, + "video_rendered": 1, + "agent_sessions": 12, + "agent_resets": 2, + "agent_sim_steps": 382736, + "agent_records": 8, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-plumpark-i00-privileged--3orfhvm.mp4", + "duration_s": 60.0, + "fps": 10.0, + "frames": 600, + "sha256": "91d541615d89e101b464ce01ea86fc355dc6860dcb4e8372ad2cff6da3dae0ce" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 主纸图上已有赭红色画迹，说明笔刷在此之前已在颜料井蘸料；视频是压缩的 600 帧回放，蘸料动作本身未逐帧看到。推断：蘸料事件在视频 0.5 s 前达成。评分器字段 n_dips=384、n_dry_strokes=0 支持。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂端固定圆笔刷笔毛浸入颜料井蘸料（候选：蘸取）；由 n_dips=384 与画迹颜色推断。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [ + [ + 59.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.8, + "log_step": null, + "text_zh": "观察：视频 59.8 s 右下主纸图呈现上部赭红色色带、中部米灰色弯曲色块、下部深灰绿色斜向枝干，覆盖完整，与成功示例相符。评分器 success=1（de_mean 1.85、p90 4.08、SSIM 0.928、边缘相关 0.869、IoU 0.982、笔数 384）。推断：达成时刻只能定在画面最后一笔之后，约视频 59.8 s（末段画面变化很小，精确时间不确定）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：圆笔刷带色笔毛压在主纸上扫出画迹，视频中画面逐步累积，共 384 笔。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.8511, + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.0779, + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.927609, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.868979, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.982344, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 384.0, + "unit": "count", + "threshold": 384, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 8701.07, + "unit": "mm", + "threshold": 42300.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "de_mean_coarse", + "value": 1.09, + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.879179, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.689962, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.988111, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "final_reward", + "value": 0.907445, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "成功：视频（60 s 压缩回放）显示笔刷先蘸料，随后在主纸上逐步画出赭红色带、米灰色块和深灰绿枝干，评分器判 success=1，两个节点均达成。蘸料瞬间与画完的精确时刻在压缩回放中无法精确定位（视频 0.5 s 与 59.8 s 为保守锚点）。", + "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，两个节点均达成且与视频、评分器一致；蘸料在 0.1 s 空白纸之后、0.5 s 已有画迹，锚点合理；画面在 36–59.8 s 仍有细微累积，59.8 s 作保守锚点可接受；接触标签合理，failure 为空正确。", + "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": "2026-11-08T08:31:43Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-plumpark-i00-privileged--3orfhvm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-plumpark-i00-privileged--3orfhvm/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "e46d7b80a798018ffdf713e92da071f112a8cfdeaeaa6428e2a65841a4c2ad14", + "video_sha256": "91d541615d89e101b464ce01ea86fc355dc6860dcb4e8372ad2cff6da3dae0ce", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-standard--m4gbxzw.json b/phaseK/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-standard--m4gbxzw.json new file mode 100644 index 0000000000000000000000000000000000000000..6557d7f4ed7fcf0f94a0776699e3df49d198873f --- /dev/null +++ b/phaseK/robopaint/acrylic_plumpark/trajectories/robopaint-acrylic-plumpark-i00-standard--m4gbxzw.json @@ -0,0 +1,275 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-plumpark-i00-standard--m4gbxzw", + "taskKey": "robopaint/acrylic_plumpark", + "dag_sha256": "6a6374541186f4a77d09481fdba57f6dbd21ef23b42f8d1151cf431128ff7b86", + "outcome": { + "success": 0, + "reward": 0.813762, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.813762, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 3.1314, + "de_p90": 6.9191, + "de_bad_frac": 0.05843, + "de_mean_sheet": 3.1258, + "ssim_L": 0.822814, + "paint_iou": 0.957297, + "paint_area_mm2": 49168.8, + "target_paint_area_mm2": 50363.4, + "n_target_strokes": 295.0, + "de_mean_coarse": 2.425, + "ssim_L_fine": 0.736968, + "edge_corr": 0.70471, + "region_cov_min": 0.317323, + "region_cov_mean": 0.945401, + "n_regions": 68.0, + "n_strokes": 398.0, + "n_practice_strokes": 24.0, + "n_dry_strokes": 0.0, + "max_strokes": 384.0, + "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": 3.1314, + "de_p90_unregistered": 6.9191, + "ssim_L_unregistered": 0.822814, + "edge_corr_unregistered": 0.70471, + "paint_iou_unregistered": 0.957297, + "path_mm": 10495.64, + "longest_stroke_mm": 261.93, + "max_path_mm": 42300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.8203, + "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": 0.813762, + "sim_steps": 63161, + "resets": 0.0, + "n_contacts": 422.0, + "samples": 315805.0, + "contact_samples": 56809.0, + "max_press_m": 0.014074, + "max_tilt_deg_in_contact": 0.136998, + "max_speed_in_contact_mps": 0.128456, + "handle_contact_samples": 0.0, + "n_dips": 297.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 63161, + "physics_steps": 315805, + "steps": 63161, + "calls": 546, + "elapsed_s": 2956.5, + "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": 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-plumpark-i00-standard--m4gbxzw.mp4", + "duration_s": 59.7, + "fps": 10.0, + "frames": 597, + "sha256": "f539e5dc8f08786c8886961d4933f373f65ad9d4c733cfc546da1de7ebb3b47e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": 14, + "text_zh": "观察：视频 0.5 s 侧视图练习纸已出现深色笔迹，故首次蘸料不晚于 0.5 s（0.0 s 练习纸空白）；之后主纸出现赭红、米灰、深灰绿色画迹（视频 12 s 前后）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "圆笔刷笔毛浸入颜料井蘸料（候选：蘸取），共 297 次蘸料（评分器字段 n_dips）。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.5, + "log_step": 131, + "text_zh": "观察：视频 59.5 s 主纸右下图三大色区（赭红带、米灰块、深灰绿枝干）大体到位，但笔触粗糙、细节与目标有差距。状态日志：无。评分器字段：de_mean 3.13>2.0、de_p90 6.92>6.0、ssim_L 0.823<0.92、edge_corr 0.705<0.8、n_strokes 398>384（stroke_count_ok 0），paint_iou 0.957 达标，故未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "圆笔刷带色笔毛压在主纸上扫出笔触，评分器 n_strokes=398（是否含 24 笔练习的口径未明），agent 自述主纸共 384 笔。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "where": "操作中", + "t": 59.0, + "log_step": 131, + "evidence_zh": "观察：视频 59.5 s 主纸整图颜色与轮廓粗略吻合但多项相似度未达标；评分器字段 de_mean 3.13、ssim 0.823、edge_corr 0.705、n_strokes 398 均不达标。agent 自述已用满 384 笔并承认估计指标未达标（log step 131）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 59.0, + "log_step": 131, + "evidence_zh": "观察：视频 59.5 s 主纸笔触位置与形状同目标有偏差（枝干、米灰块边缘粗糙，有留白缝隙），评分器 edge_corr 0.705<0.8、ssim 0.823<0.92。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：agent 在 log step 127-131 的自述只说明估计指标未达标，不能说明是规划还是控制问题；任务无状态日志。评分器 n_strokes=398（n_practice_strokes=24，是否含练习笔口径未明），按 398>384 判超限，可能属任务设计问题（练习笔是否计数）但无直接证据。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔蘸料在视频约 0.5 s 前达成；主纸临摹在视频 59.5 s 结束时颜色布局大致对但 de_mean 3.13、p90 6.92、SSIM 0.823、边缘相关 0.705 均未达标，且笔数 398>384，故未完成。断点为临摹操作中，现象为笔触位置/形状不准；根因证据不足。无状态日志，节点时间为目测。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "brush_loaded 起点标 2.0 s 偏晚约 1.5 s（视频 0.5 s 侧视图已有练习纸深色笔迹）；painting_copied 的 contact_actual 笔数算术（384+24）与评分器 n_strokes=398 不符。断点、现象与空根因基本可接受。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第2轮：brush_loaded 0.5 s、painting_copied 未达成、断点（painting_copied，操作中）与评分器数值一致；根因留空并写 gap_zh 可接受（agent 自述估计指标均不达标，评分器 398>384 口径未明），未发现须改的错误。", + "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": "2026-11-08T08:34:52Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": 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graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-privileged--zemfywp.json b/phaseK/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-privileged--zemfywp.json new file mode 100644 index 0000000000000000000000000000000000000000..d66b29a38268f10bb1eb7133b5568c4873c17eaf --- /dev/null +++ b/phaseK/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-privileged--zemfywp.json @@ -0,0 +1,323 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-redfuji-i00-privileged--zemfywp", + "taskKey": "robopaint/acrylic_redfuji", + "dag_sha256": "ec5faa4688a06d67b7fa022eeec684f89b81475ed44e09c944257e109bfcf638", + "outcome": { + "success": 1, + "reward": 0.9123, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.9123, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + 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"peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-redfuji-i00-privileged--zemfywp.mp4", + "duration_s": 59.1, + "fps": 10.0, + "frames": 591, + "sha256": "d0beb85ad742f3b61e4de652e641371872a5f979ddf34c999585425466dce8ee" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": 94, + "text_zh": "观察：视频 0 s 主纸空白；0.5 s 起主纸上出现蓝色笔画，说明画笔已在颜料井蘸取颜料（视频 0.5 s、1.0 s 帧）。此后全程持续出现各色笔画。评分器 n_dips=28。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：固定在 Panda 末端的画笔笔毛伸入颜料井蘸取颜料（候选：蘸取），评分器 n_dips=28。" + } + ] + }, + "redfuji_copied": { + "method": "visual", + "intervals": [ + [ + 59.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.0, + "log_step": 94, + "text_zh": "观察：视频 59 s 终帧主纸呈完整红富士构图（蓝带天空、棕色尖峰山体、前景）。评分器字段：success=1，de_mean 1.754、de_p90 4.62、ssim_L 0.933、edge_corr 0.804、paint_iou 0.992、n_strokes 407，均达标。到达时刻取视频末尾（画面逐步累积，未精确定位）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：固定画笔的笔毛压在主纸上拖动，共407笔有色接触，留下丙烯笔触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.754, + "unit": "CIELAB DeltaE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.6177, + "unit": "CIELAB DeltaE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.933229, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.804266, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.991649, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 407.0, + "unit": "count", + "threshold": 407, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 16169.04, + "unit": "mm", + "threshold": 51700, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.9123, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.2448, + "unit": "CIELAB DeltaE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.89375, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.648881, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.977669, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "任务成功：视频 59.1 s 内画笔先蘸色（约视频 0.3 s 起见笔画），主纸上逐步画出完整红富士，终帧与目标构图一致；评分器 success=1，各项指标达标（407 笔，路程 16169 mm）。到达时刻 59.1 s 为终帧取值，精确时刻未定位；视频为快放回放，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": 8, + "summary_zh": "成功运行，两节点均达成；视频 0.5 s 起主纸出现蓝色笔画，59 s 终帧为完整红富士，与评分器 success=1 一致。未发现需修改之处。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:28:48Z", + "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/robopaint-acrylic-redfuji-i00-privileged--zemfywp/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-privileged--zemfywp/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7640eeead43cec3e4f3d30260d38cb24d6e2e43018047c82795316c8a7638c07", + "video_sha256": "d0beb85ad742f3b61e4de652e641371872a5f979ddf34c999585425466dce8ee", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-standard--zpxceo5.json b/phaseK/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-standard--zpxceo5.json new file mode 100644 index 0000000000000000000000000000000000000000..981a5e30f414001b7d48d75f827dbb9d12540e2f --- /dev/null +++ b/phaseK/robopaint/acrylic_redfuji/trajectories/robopaint-acrylic-redfuji-i00-standard--zpxceo5.json @@ -0,0 +1,359 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-redfuji-i00-standard--zpxceo5", + "taskKey": "robopaint/acrylic_redfuji", + "dag_sha256": "ec5faa4688a06d67b7fa022eeec684f89b81475ed44e09c944257e109bfcf638", + "outcome": { + "success": 0, + "reward": 0.833038, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.833038, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 2.4796, + "de_p90": 4.5848, + "de_bad_frac": 0.017336, + "de_mean_sheet": 2.4794, + "ssim_L": 0.908782, + "paint_iou": 0.983547, + "paint_area_mm2": 50888.7, + "target_paint_area_mm2": 50999.4, + "n_target_strokes": 313.0, + "de_mean_coarse": 1.8687, + "ssim_L_fine": 0.845474, + "edge_corr": 0.755236, + "region_cov_min": 0.013085, + "region_cov_mean": 0.985581, + "n_regions": 55.0, + "n_strokes": 428.0, + "n_practice_strokes": 10.0, + "n_dry_strokes": 0.0, + "max_strokes": 407.0, + "stroke_count_ok": 0.0, + "register_dx_mm": -0.2219, + "register_dy_mm": 0.0, + "register_shift_mm": 0.2219, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 2.4902, + "de_p90_unregistered": 4.6355, + "ssim_L_unregistered": 0.908357, + "edge_corr_unregistered": 0.753636, + "paint_iou_unregistered": 0.983418, + "path_mm": 10096.99, + "longest_stroke_mm": 242.83, + "max_path_mm": 51700.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2457, + "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": 0.833038, + "sim_steps": 36228, + "resets": 0.0, + "n_contacts": 438.0, + "samples": 181140.0, + "contact_samples": 37199.0, + "max_press_m": 0.013973, + "max_tilt_deg_in_contact": 0.148079, + "max_speed_in_contact_mps": 0.076574, + "handle_contact_samples": 0.0, + "n_dips": 30.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 36228, + "physics_steps": 181140, + "steps": 36228, + "calls": 1926, + "elapsed_s": 1866.7, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-redfuji-i00-standard--zpxceo5.mp4", + "duration_s": 59.5, + "fps": 10.0, + "frames": 595, + "sha256": "edd0b5f2805d682a6c0f04395c348436c2e873a75877dc012d20669616974575" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.6 s 侧视图笔尖已着青蓝色（0.0 s 无色），1.5 s 练习纸上已有多条蓝色笔迹，主纸 2.5 s 起才有笔触。判据允许笔毛着色或纸上画迹，故蘸取在约 0.5 s 前完成（评分器 n_dips=30）；视频为加速回放，精确时刻为估计。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 末端固定画笔的笔毛浸入颜料井取色（评分器 n_dips=30）；候选：蘸取。" + } + ] + }, + "redfuji_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.3, + "log_step": 115, + "text_zh": "观察：视频 59 s 时主纸上已有完整的红富士构图（深蓝带、天空、棕灰山峰、暖褐山体、前景），画面接近目标但仍有零散白点。评分器字段：笔画数 n_strokes=428 > 407（stroke_count_ok=0），ssim_L=0.909 < 0.92，edge_corr=0.755 < 0.8；de_mean 2.48 > 2.0（de_p90 4.58、paint_iou 0.984 达标）。agent 自述“All 407 contacts”（log step 115），与评分器 428 笔不符，以评分器为准。故未达到。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：固定画笔笔毛压在主纸上扫出笔触，评分器记录 428 笔主纸有色笔画。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.4796, + "unit": "CIELAB DeltaE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.5848, + "unit": "CIELAB DeltaE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.908782, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.755236, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.983547, + "unit": "ratio", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 428.0, + "unit": "count", + "threshold": 407, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 10096.99, + "unit": "mm", + "threshold": 51700, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.833038, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.8687, + "unit": "CIELAB DeltaE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.845474, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.013085, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.985581, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "redfuji_copied", + "where": "操作中", + "t": 59.3, + "log_step": 115, + "evidence_zh": "观察：视频 59 s 主纸整幅构图已画满；评分器字段 n_strokes=428 超过上限 407，ssim_L 0.909<0.92，edge_corr 0.755<0.8，de_mean 2.48>2.0。该步骤在最终画面上未达到数值验收。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志；画面细节（边缘偏差、笔画数超限的具体来源）从加速视频无法判定，评分器只给出汇总数值，没有足够证据给出具体失败现象与根因。agent 自述计划为 407 笔并保留 7 笔余量（log step 58, 115），评分器却计 428 笔（含 10 笔练习纸笔画另计），差异原因未能核实。", + "unmet": { + "redfuji_copied": false + } + }, + "summary_zh": "观察：画笔在视频约 0.5 s 前取得颜料（brush_loaded 达成），整幅构图在视频 59 s 前画满，但评分器记录主纸 428 笔（上限 407）、ssim_L 0.909<0.92、edge_corr 0.755<0.8、de_mean 2.48>2.0，所以“临摹红富士”未达成，成功=0。断点为临摹步骤的操作中；证据不足，现象与根因留空（见 gap_zh）。主要缺口：无状态日志，视频为加速回放。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "整体判定（brush_loaded 达成、redfuji_copied 未达成、断点与空现象层加 gap_zh）有评分器数值支撑；但 brush_loaded 的时间 2.2 s 偏晚：视频 0.6 s 侧视图笔尖已带青蓝色，1.5 s 练习纸上已有多条蓝色笔迹。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "brush_loaded（约0.5 s）与 redfuji_copied 未达成、断点在临摹步骤、现象/根因留空并附 gap_zh，均有评分器数值（n_strokes=428>407、ssim_L、edge_corr、de_mean）和视频支持；第1轮修正已落实。末帧可见零散白点，但原因和分类无法由现有证据确定，故不强加现象。", + "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": "2026-11-08T08:34:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--zpxceo5/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--zpxceo5/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--zpxceo5/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-redfuji-i00-standard--zpxceo5/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "dd99933bd18cb7bbf4918a2f9c7fb819e94965e0b6f742b258f1c80ef249bae5", + "video_sha256": "edd0b5f2805d682a6c0f04395c348436c2e873a75877dc012d20669616974575", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--cottznf.json b/phaseK/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--cottznf.json new file mode 100644 index 0000000000000000000000000000000000000000..33d54b41a3280b62cac3542017274ab2cd647aad --- /dev/null +++ b/phaseK/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-privileged--cottznf.json @@ -0,0 +1,323 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-suddenshower-i00-privileged--cottznf", + "taskKey": "robopaint/acrylic_suddenshower", + "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414", + "outcome": { + "success": 1, + "reward": 0.907485, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.907485, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 1.8503, + "de_p90": 4.4821, + "de_bad_frac": 0.029654, + "de_mean_sheet": 1.8457, + "ssim_L": 0.922553, + "paint_iou": 0.973822, + "paint_area_mm2": 49776.3, + "target_paint_area_mm2": 49626.0, + "n_target_strokes": 292.0, + "de_mean_coarse": 1.2986, + "ssim_L_fine": 0.874841, + "edge_corr": 0.852863, + "region_cov_min": 0.675978, + "region_cov_mean": 0.977675, + "n_regions": 55.0, + "n_strokes": 379.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 380.0, + "stroke_count_ok": 1.0, + "register_dx_mm": 0.0, + "register_dy_mm": 0.0, + "register_shift_mm": 0.0, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "de_mean_unregistered": 1.8503, + "de_p90_unregistered": 4.4821, + "ssim_L_unregistered": 0.922553, + "edge_corr_unregistered": 0.852863, + "paint_iou_unregistered": 0.973822, + "path_mm": 19502.45, + "longest_stroke_mm": 318.53, + "max_path_mm": 40500.0, + "path_budget_ok": 1.0, + "scribble_max": 2.6329, + "scribble_share": 0.007026, + "max_scribble": 2.5, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.907485, + "sim_steps": 70977.0, + "resets": 1.0, + "n_contacts": 379.0, + "samples": 354885.0, + "contact_samples": 281008.0, + "max_press_m": 0.012894, + "max_tilt_deg_in_contact": 0.180053, + "max_speed_in_contact_mps": 0.029191, + "handle_contact_samples": 0.0, + "n_dips": 23.0, + "dry_strokes": 0.0, + "n_frames": 598.0, + "replay_wall_s": 206.1, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 70977, + "video_rendered": 1, + "agent_sessions": 16, + "agent_resets": 15, + "agent_sim_steps": 755426, + "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-suddenshower-i00-privileged--cottznf.mp4", + "duration_s": 59.8, + "fps": 10.0, + "frames": 598, + "sha256": "8b909b30d013027f287ad8e7c88d9665c37a441bacac5381a5217e57cdc3e79c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.3, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.3, + "log_step": null, + "text_zh": "观察：视频 0.3 s 的右下画纸图已出现蓝灰色颜料笔迹，说明机械臂末端画笔在视频开头已蘸料并落笔（视频自 0 s 即开始绘画，蘸料发生在 0.3 s 之前，具体时刻无法更精确）；之后笔迹持续增加。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端固定的圆头画笔刷毛浸入左侧颜料井蘸料（候选名“蘸/浸”），视频开头即有蓝色笔迹，期间 n_dips=23 次蘸料（评分器字段）。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [ + [ + 59.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.7, + "log_step": 166, + "text_zh": "观察：视频 59.7 s 画纸图显示上部蓝灰、中部灰绿水面、下方斜向米黄桥梁、右上红色，整体与目标画作相符；评分器 success=1，de_mean 1.85、p90 4.48、SSIM 0.9226、edge 0.853、IoU 0.974、379 笔。推断：目标节点在加速重放的最后时刻才完全成形，到达时间取视频末尾约 59.7 s（时间不精确）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端画笔刷毛在主画纸上连续接触并拖擦涂色，共 379 笔（评分器 n_strokes），最大压入 12.9 mm，接触中倾斜 ≤0.18°。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.8503, + "unit": "ΔE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.4821, + "unit": "ΔE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.922553, + "unit": "无量纲", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.852863, + "unit": "无量纲", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.973822, + "unit": "比例", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 379.0, + "unit": "笔", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 19502.45, + "unit": "mm", + "threshold": 40500, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.007026, + "unit": "比例", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.907485, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.2986, + "unit": "ΔE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.874841, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.675978, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.977675, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "任务成功：评分器 success=1（最终奖励 0.907，de_mean 1.85、p90 4.48、SSIM 0.923、edge 0.853、IoU 0.974、379/380 笔、路径 19502 mm、scribble 0.007）。视频（59.8 s，加速重放）自 0 s 即有蓝色笔迹（蘸料，视频 0.3 s 前），59.7 s 画纸图与目标骤雨画作吻合。无失败；无状态日志，节点时间由视频目测，painting_copied 的到达时刻约为视频末尾，不精确。", + "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，两个节点（brush_loaded 约0.3 s、painting_copied 约59.7 s）与视频、评分器一致；无失败标注，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": "2026-11-08T08:29:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--cottznf/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-privileged--cottznf/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8547ef3ac43baf96d073296a5ba48f5057e26bfb0ce235ca4a94bd697d4a114d", + "video_sha256": "8b909b30d013027f287ad8e7c88d9665c37a441bacac5381a5217e57cdc3e79c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--bzaemmr.json b/phaseK/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--bzaemmr.json new file mode 100644 index 0000000000000000000000000000000000000000..51ebfa438a3ab541b6b9eab4b0e45a0ba0de05a6 --- /dev/null +++ b/phaseK/robopaint/acrylic_suddenshower/trajectories/robopaint-acrylic-suddenshower-i00-standard--bzaemmr.json @@ -0,0 +1,389 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-suddenshower-i00-standard--bzaemmr", + "taskKey": "robopaint/acrylic_suddenshower", + "dag_sha256": "187f548ad47d250cb59e7f2ac3897cac4781f1df583912ba9ae84e7df354b414", + "outcome": { + "success": 0, + "reward": 0.878309, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.878309, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 2.064, + "de_p90": 5.491, + "de_bad_frac": 0.040529, + "de_mean_sheet": 2.0536, + "ssim_L": 0.931289, + "paint_iou": 0.987534, + "paint_area_mm2": 49300.4, + "target_paint_area_mm2": 49626.0, + "n_target_strokes": 292.0, + "de_mean_coarse": 1.5475, + "ssim_L_fine": 0.888619, + "edge_corr": 0.880748, + "region_cov_min": 0.113128, + "region_cov_mean": 0.964677, + "n_regions": 55.0, + "n_strokes": 388.0, + "n_practice_strokes": 7.0, + "n_dry_strokes": 0.0, + "max_strokes": 380.0, + "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": 2.064, + "de_p90_unregistered": 5.491, + "ssim_L_unregistered": 0.931289, + "edge_corr_unregistered": 0.880748, + "paint_iou_unregistered": 0.987534, + "path_mm": 16097.39, + "longest_stroke_mm": 229.78, + "max_path_mm": 40500.0, + "path_budget_ok": 1.0, + "scribble_max": 1.1047, + "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": 0.878309, + "sim_steps": 44474, + "resets": 0.0, + "n_contacts": 395.0, + "samples": 222370.0, + "contact_samples": 88710.0, + "max_press_m": 0.014094, + "max_tilt_deg_in_contact": 0.086822, + "max_speed_in_contact_mps": 0.042223, + "handle_contact_samples": 0.0, + "n_dips": 33.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 44474, + "physics_steps": 222370, + "steps": 44468, + "calls": 444, + "elapsed_s": 2432.4, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 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-suddenshower-i00-standard--bzaemmr.mp4", + "duration_s": 59.4, + "fps": 10.0, + "frames": 594, + "sha256": "b67bd4db47e0c5e18a5bf30b3f967aba47bd167f5ae84c7b38a7381649180dbb" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 侧视图练习纸上已出现笔迹，1.5 s 练习纸有多条蓝色笔画，3.0 s 主纸已有蓝灰笔迹，说明约 0.5 s 前已蘸料（脚本控制画笔在颜料井蘸料）；评分器 n_dips=33 佐证蘸料发生。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "画笔刷毛浸入左侧颜料井（候选“蘸/浸”），评分器 n_dips=33。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.5, + "log_step": null, + "text_zh": "观察：视频 58.5 s 主纸已铺满蓝灰天空、灰绿水面、米黄桥梁和右上红块，整体与目标相似；但评分器字段 de_mean=2.064>2.0（阈值）、n_strokes=388>380（stroke_count_ok=0）、success=0，故严格验收未达成。其余指标（p90 5.491、SSIM 0.931、边缘 0.881、IoU 0.988、路径、scribble）均达标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂固定安装的圆头画笔刷毛压在主画纸上扫掠成笔，评分器 n_contacts=395。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 2.064, + "unit": "ΔE*ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 5.491, + "unit": "ΔE*ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.931289, + "unit": "无量纲", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.880748, + "unit": "无量纲", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.987534, + "unit": "比例", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 388.0, + "unit": "笔", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 16097.39, + "unit": "mm", + "threshold": 40500, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "比例", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.878309, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 1.5475, + "unit": "ΔE*ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.888619, + "unit": "无量纲", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.113128, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.964677, + "unit": "比例", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "where": "操作中", + "t": 58.5, + "log_step": 145, + "evidence_zh": "观察：视频 58.5 s 画作整体已成形，但评分器字段平均 ΔE 2.064（阈值 ≤2.0）且 n_strokes=388（上限 380）；agent 自记主纸 380 笔，与评分器 388 的差异来源无证据（n_practice_strokes=7 单列）；agent 最终报告（log step 145）自述相机估计平均 ΔE 2.151 高于阈值。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "无状态日志，节点按视频与评分器字段判断；失败只体现为评分器 de_mean 2.064>2.0 与 n_strokes 388>380（agent 自记 380，差异来源无证据）；帧上无可确认的具体缺陷，未观察到具体现象，根因证据不足。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔约视频 0.5 s 已在练习纸落笔（已蘸料），主纸最终画出与目标相似的画作（58.5 s），蘸料节点达成；但评分器 de_mean 2.064>2.0 且笔数 388>380，严格验收未过，画作临摹节点为否（1/2）。断点在画作临摹（操作中）；无具体现象证据，无状态日志，根因不明。", + "conf": 4, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "蘸料节点的起点偏晚：视频 0.5–1.0 s 练习纸上已出现蓝色笔迹，3.0 s 画纸图已有大片蓝灰笔迹，文件却写“3.0 s 仍空白、3.5 s 起出现”。断点证据把 7 笔练习笔画说成计入 388 笔，与任务文本（练习纸不计数）和评分器 n_practice_strokes 单列相矛盾；位姿不准现象只是推断，缺乏证据支持。", + "n_issues": 3, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（蘸料达成、临摹未达成）、断点 painting_copied 与 clocks 均无问题。但 root_causes 里的“控制 · 控制”只来自 agent 自述（相机估计 ΔE 高于阈值仍交付）与评分器指标重述，没有帧或日志证据支持具体控制缺陷，也没有对应现象，属无证据的根因类别。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按 accept 完整应用：root_causes 置空，gap_zh 与 summary_zh 改为根因不明，无其他破坏。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按 accept 完整应用：root_causes 置空，gap_zh 与 summary_zh 改为根因不明，无其他破坏。", + "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": "2026-11-08T08:35:23Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--bzaemmr/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--bzaemmr/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--bzaemmr/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--bzaemmr/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--bzaemmr/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/robopaint-acrylic-suddenshower-i00-standard--bzaemmr/06_confirm_r3" + } + ], + "confirm_prompt": "prompts/06_confirm.md", + "confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267", + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--b5qzxb8.json b/phaseK/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--b5qzxb8.json new file mode 100644 index 0000000000000000000000000000000000000000..73fa546e6a3b8523744eb0b7be14a885fb280509 --- /dev/null +++ b/phaseK/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-privileged--b5qzxb8.json @@ -0,0 +1,288 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-sunflowers-i00-privileged--b5qzxb8", + "taskKey": "robopaint/acrylic_sunflowers", + "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443", + "outcome": { + "success": 1, + "reward": 0.90089, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.90089, + "deterministic": 1, + "grader_error": 0, + "infra_error": 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"peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-sunflowers-i00-privileged--b5qzxb8.mp4", + "duration_s": 59.9, + "fps": 10.0, + "frames": 599, + "sha256": "1829fd3f85a166201443c19f690c14b94adf455581bfd784e2346103eb78740e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 1.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.0, + "log_step": null, + "text_zh": "观察：视频 1.0 s 主纸上沿已有浅黄色笔迹，3 s 起整张纸被浅黄底色铺满，说明刷毛已蘸料并在纸上留下有色笔触（与成功录像开头的有色笔划一致）。时间为近似值。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端画笔刷毛浸入颜料井（候选名“蘸取”），日志显示 n_dips=372。" + } + ] + }, + "sunflowers_copied": { + "method": "visual", + "intervals": [ + [ + 59.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.5, + "log_step": null, + "text_zh": "观察：视频 30 s 画面仍是半成品，59.5 s 俯视图已呈现与目标一致的赭棕向日葵花束与下部花瓶；评分器字段 de_mean 1.98≤2、de_p90 4.22、ssim_L 0.934、edge_corr 0.849、paint_iou 0.990，success=1，故该目标节点为真。达标具体时刻无法从帧精确定位，取视频末尾，不确定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端画笔刷毛按压并扫过主画纸，374 笔，形成笔触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 1.9822, + "unit": "CIELAB", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 4.2202, + "unit": "CIELAB", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 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1, + "ok": true, + "space": "work/runs/robopaint-acrylic-sunflowers-i00-privileged--b5qzxb8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "af269b9d97395e97d89de86e708a19a91a85d5e1545c07d6a4fcf3c1fced7b54", + "video_sha256": "1829fd3f85a166201443c19f690c14b94adf455581bfd784e2346103eb78740e", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw.json b/phaseK/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw.json new file mode 100644 index 0000000000000000000000000000000000000000..b97dc6f321ace513bec89b7c52fc4af28de4b7be --- /dev/null +++ b/phaseK/robopaint/acrylic_sunflowers/trajectories/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw.json @@ -0,0 +1,341 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-sunflowers-i00-standard--xz8hdqw", + "taskKey": "robopaint/acrylic_sunflowers", + "dag_sha256": "fb832fa298951e910d61388fdaae8f14dd1ea50ac346f0204582fe7d6f9c4443", + "outcome": { + "success": 0, + "reward": 0.807322, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.807322, + 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+ "path_budget_ok": 1.0, + "scribble_max": 2.042, + "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": 0.807322, + "sim_steps": 29067, + "resets": 0.0, + "n_contacts": 414.0, + "samples": 145335.0, + "contact_samples": 49696.0, + "max_press_m": 0.014053, + "max_tilt_deg_in_contact": 0.181182, + "max_speed_in_contact_mps": 0.072598, + "handle_contact_samples": 0.0, + "n_dips": 55.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 29067, + "physics_steps": 145335, + "steps": 29061, + "calls": 547, + "elapsed_s": 2077.2, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-sunflowers-i00-standard--xz8hdqw.mp4", + "duration_s": 59.5, + "fps": 10.0, + "frames": 595, + "sha256": "92460215adb8287e5c6cc5761c5d4b60987ed8a0084bfa9bbfbc70c1550ae350" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 练习纸空白，1.5 s 起练习纸出现有色笔触线条（侧视相机可见），说明机械臂已在颜料井蘸料；评分器 n_dips=55。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端画笔刷毛浸入颜料井蘸料（候选名“蘸取”）。" + } + ] + }, + "sunflowers_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.0, + "log_step": 89, + "text_zh": "观察：视频 59 s 主纸已画满向日葵，但评分器给出 de_mean 3.26（阈值 2）、de_p90 8.09（6）、ssim_L 0.82（0.92）、edge_corr 0.67（0.8），颜色与结构未达标，故未达成（仅 paint_iou 0.99 达标）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "画笔带颜料刷毛按压并扫过主画纸形成笔触，评分器记录 394 笔、最大压深 14 mm。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 3.2587, + "unit": "CIELAB", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 8.0874, + "unit": "CIELAB", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.820303, + "unit": "1", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.670822, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.989754, + "unit": "1", + "threshold": 0.95, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 394, + "unit": "strokes", + "threshold": 380, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 11197.0, + "unit": "mm", + "threshold": 41700.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "sunflowers_copied", + "where": "操作中", + "t": 59.0, + "evidence_zh": "观察：视频 59 s 主纸已画满，但评分器的颜色差、结构相似度、边缘相关均未达阈值（sunflowers_copied 未达成，失败发生在作画操作中）。评分器 n_strokes 394 超过上限 380（stroke_count_ok=0）是独立的失败项。", + "log_step": 89 + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "t": 59.0, + "log_step": 89, + "note_zh": "候选名“涂色偏差”：位置基本对准，但色块颜色/形状与目标不符，现有失败现象无对应项。", + "evidence_zh": "观察：视频 59 s 主纸已画满。评分器 paint_iou 0.99、region_cov_mean 0.94、register_shift 0.22 mm，说明整体位置基本对准（不是位姿不准）；ssim_L 0.82、edge_corr 0.67、de_mean 3.26、de_p90 8.09 均未达阈值，表现为色块颜色与形状边界与目标不一致。这些指标只表明偏差存在，具体是哪些笔触造成的无逐笔证据。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "未知", + "evidence_zh": "日志：step 27 初版需 469 笔，step 40/47 为压到 380 笔上限而合并/删笔；step 52 离线预测 ΔE 1.86、SSIM 0.943，评分器实际 de_mean 3.26、ssim 0.82，差距大；agent 自己最终相机估计 ΔE 3.08、SSIM 0.805 已不达标（step 89），仍以 380/380 完成收尾。oracle 在同一上限内成功，说明目标本身可行，但此 agent 的具体替代方案是否可行未知。推断：笔数上限下的简化分解与过乐观的离线预测是原因，无逐笔证据。", + "source_zh": "日志 + 评分器字段" + } + ], + "gap_zh": "根因证据有限：没有状态日志和逐笔对比，无法区分是笔触宽度/颜色混合还是离线渲染模型偏差，规划根因为推断。评分器 n_strokes 394 > 380（stroke_count_ok=0）是独立失败项；agent 自计 380 笔，差额（练习笔 n_practice_strokes 20 是否计入）来源未知，无证据，不作任务设计问题判断。", + "unmet": { + "sunflowers_copied": false + } + }, + "summary_zh": "观察：视频 1.5 s 起练习纸出现有色笔触，brush_loaded 达成；主纸被画满、位置基本对准（paint_iou 0.99），但 de_mean 3.26、ssim 0.82、edge 0.67 未达阈值，且评分器笔数 394 超过 380 上限，故 sunflowers_copied 未达成（1/2 节点）。断点在作画操作中，现象为色块颜色/形状偏差（其他），根因推断为笔数上限下的简化规划与过乐观的离线预测（认知·推理/规划，无逐笔证据）。视频仅 59.5 s，无状态日志。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（brush_loaded 真、sunflowers_copied 假）与评分器一致，无异议；但断点 where=终态验收 不符合定义（目标节点未达成应为操作中），根因留空而日志里有可支持的规划证据，位姿不准 主要是复述指标且与 paint_iou/配准读数相矛盾。另 n_strokes 394>380 未作为失败指标记入证据说明。", + "n_issues": 5, + "n_major": 3 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值（brush_loaded 真、sunflowers_copied 假）、断点（sunflowers_copied 操作中）、其他现象与认知·推理/规划根因均与评分器字段、视频和日志一致，证据已区分观察与推断，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": "2026-11-08T08:34:54Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-acrylic-sunflowers-i00-standard--xz8hdqw/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c3a2936b8e17415364e802433b6be59888676bb9967fd771c8272113bef56ea9", + "video_sha256": "92460215adb8287e5c6cc5761c5d4b60987ed8a0084bfa9bbfbc70c1550ae350", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-privileged--2xljnyt.json b/phaseK/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-privileged--2xljnyt.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef6ff5d2dedac98264695e5c787cbea167f782e --- /dev/null +++ b/phaseK/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-privileged--2xljnyt.json @@ -0,0 +1,362 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-vision-i00-privileged--2xljnyt", + "taskKey": "robopaint/acrylic_vision", + "dag_sha256": "b27019de98f8c06bc99749ef2d9b6c5833e8f50f3e7ac2187efc8b7ee41be188", + "outcome": { + "success": 0, + "reward": 0.801695, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.801695, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 3.9661, + "de_p90": 9.6952, + "de_bad_frac": 0.095806, + "de_mean_sheet": 3.8339, + "ssim_L": 0.829521, + "paint_iou": 0.958614, + "paint_area_mm2": 47092.5, + "target_paint_area_mm2": 47160.4, + "n_target_strokes": 300.0, + "de_mean_coarse": 2.3653, + "ssim_L_fine": 0.764651, + "edge_corr": 0.684742, + "region_cov_min": 0.019324, + "region_cov_mean": 0.921622, + "n_regions": 92.0, + "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": 3.9661, + "de_p90_unregistered": 9.6952, + "ssim_L_unregistered": 0.829521, + "edge_corr_unregistered": 0.684742, + "paint_iou_unregistered": 0.958614, + "path_mm": 12601.25, + "longest_stroke_mm": 199.34, + "max_path_mm": 32300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.5872, + "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": 0.801695, + "sim_steps": 56280.0, + "resets": 1.0, + "n_contacts": 390.0, + "samples": 281400.0, + "contact_samples": 74617.0, + "max_press_m": 0.013608, + "max_tilt_deg_in_contact": 0.179079, + "max_speed_in_contact_mps": 0.065849, + "handle_contact_samples": 0.0, + "n_dips": 390.0, + "dry_strokes": 0.0, + "n_frames": 600.0, + "replay_wall_s": 352.1, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 56280, + "video_rendered": 1, + "agent_sessions": 17, + "agent_resets": 17, + "agent_sim_steps": 916992, + "agent_records": 14, + "agent_replays": 3, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.007, + "peak_memory_gb": 1.204, + "peak_processes": 13, + "peak_disk_gb": 0.353, + "peak_cpus": 4.14, + "peak_pids": 424, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-acrylic-vision-i00-privileged--2xljnyt.mp4", + "duration_s": 60.0, + "fps": 10.0, + "frames": 600, + "sha256": "f795189208c6d00fad4f041dce43072a76699c7fbf51559ead6a21c54eb51f3e" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.2, + "log_step": null, + "text_zh": "观察：视频 0.1 s 侧视图刷尖落在调色盘孔处、主纸仍空白；视频 0.2 s 主纸出现第一笔朱红色笔迹，说明已蘸色（奖励字段 n_dips=390、dry_strokes=0 一致）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端画笔刷毛浸入调色盘颜料孔（候选名“浸蘸”）；视频 0.2 s 起纸上出现有色笔迹。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.9, + "log_step": null, + "text_zh": "观察：视频末帧右下精确画布视图已画出整体构图（朱红上部、棕色斜带、左下深色块、下部米白灰色形块），但局部形块位置与边缘与目标有差异；评分字段 de_mean 3.97>2.0、de_p90 9.70>6.0、ssim_L 0.83<0.92、edge_corr 0.68<0.8，success=0，故未达标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端画笔刷毛压在主纸上连续画出 390 笔笔触（n_contacts=390，最大按压 13.6 mm）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 3.9661, + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 9.6952, + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.829521, + "unit": "ratio", + "threshold": 0.92, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.684742, + "unit": "correlation", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.958614, + "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": 12601.25, + "unit": "mm", + "threshold": 32300.0, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.801695, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 2.3653, + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.764651, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.019324, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.921622, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "t": null, + "log_step": null, + "where": "终态验收", + "evidence_zh": "观察：视频末帧（约 59.9 s）整幅画已画满，笔数 390 与路径合规，但颜色差、结构相似度、边缘相关未达阈值（de_mean 3.97、ssim 0.83、edge 0.68），临摹节点未完成。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 59.9, + "log_step": null, + "evidence_zh": "观察：视频末帧右下画布视图中部分形块（左下深色块边缘、下部米白灰色块）轮廓与位置与目标不一致，评分字段 edge_corr 0.68、ssim_L 0.83 低于阈值。推断：笔触位置/形状偏差。" + } + ], + "root_causes": [], + "gap_zh": "未读日志逐步原因，无证据区分根因（笔数上限 390 与目标 300 笔的分配、控制精度等），故根因留空。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：画笔在视频约 0.1-0.2 s 蘸色并开始作画，视频 60 s 内画满 390 笔，满足笔数、路径、涂填约束，但 de_mean 3.97、p90 9.70、ssim 0.83、edge 0.68 均未达阈值，success=0，主纸临摹未完成（brush_loaded 达成，1/2）。断点在“主纸临摹”的终态验收，现象为形块位置/边缘不准；根因证据不足。视频为四视图拼接，仅看到整体结果。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "终态未达标、断点与位姿不准现象基本可接受；但 brush_loaded 的时间和证据有误：视频 0.1 s 刷尖已在调色盘处，0.2 s 主纸已有朱红笔迹，而文件称 0.5 s 主纸仍空白、1.0 s 才出现第一笔。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "brush_loaded 0.1-0.2 s、painting_copied 未达成（success=0，指标全部未达阈值）、断点 painting_copied/终态验收、现象位姿不准均与帧和评分字段一致；根因留空并给出 gap_zh 可接受，日志仅显示开环计划与 390 笔上限，无足够证据区分根因。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-standard--eyxe3xg.json b/phaseK/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-standard--eyxe3xg.json new file mode 100644 index 0000000000000000000000000000000000000000..a1da26e3ba14b356df22c9dc915a81ef2001eb27 --- /dev/null +++ b/phaseK/robopaint/acrylic_vision/trajectories/robopaint-acrylic-vision-i00-standard--eyxe3xg.json @@ -0,0 +1,337 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-acrylic-vision-i00-standard--eyxe3xg", + "taskKey": "robopaint/acrylic_vision", + "dag_sha256": "b27019de98f8c06bc99749ef2d9b6c5833e8f50f3e7ac2187efc8b7ee41be188", + "outcome": { + "success": 0, + "reward": 0.711594, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.711594, + "infra_error": 0, + "sim_error": 0, 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"log_step": null, + "text_zh": "观察：视频 0-1 s 主纸空白，约 1.2 s 起主纸出现棕色笔迹，说明刷毛已在调色盘蘸色（侧视图可见刷尖下探）；此后笔迹持续出现。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端圆画笔刷毛浸入左侧调色盘颜料孔蘸色（候选接触名“浸蘸”）。" + } + ] + }, + "painting_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.5, + "log_step": 94, + "text_zh": "观察：视频 59.5 s 画布呈现朱红背景、棕带、左下深色块与米白灰色形块的大体构图，但边缘和形状粗糙、颜色有偏差。评分器字段：de_mean 5.37（≤2.0）、de_p90 15.06（≤6）、ssim_L 0.79（≥0.92）、edge_corr 0.64（≥0.8）、paint_iou 0.947（<0.95）、n_strokes 401（>390），均不达标，未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：画笔刷毛压在主纸上扫出笔触，视频全程持续作画。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 5.3667, + "unit": "DeltaE_ab", + "threshold": 2.0, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 15.0638, + "unit": "DeltaE_ab", + "threshold": 6.0, + "direction": "lower_better" + }, + { + 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"ssim_L_fine", + "value": 0.716612, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.046934, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.851431, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "painting_copied", + "t": 59.5, + "log_step": 94, + "where": "操作中", + "evidence_zh": "观察：视频全程机械臂持续用刷毛在主纸作画，59.5 s 画面构图大体接近目标但细节粗糙。评分器字段：de_mean 5.37、de_p90 15.06、ssim_L 0.79、edge_corr 0.64、paint_iou 0.947 均未达阈值，且笔数 401 超过上限 390（stroke_count_ok=0）。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "现象与根因留空：失败是整幅画连续指标（色差、结构、边缘、笔数）略差，不对应分类表中的单一可见物理现象；agent 自述（log step 77-88）只给出估计 ΔE，不足以确定根因。视频为约 60 s 的压缩回放，无法逐笔核对。", + "unmet": { + "painting_copied": false + } + }, + "summary_zh": "观察：视频约 1.2 s 蘸色成功（brush_loaded 达成），随后持续作画，到 59.5 s 构图大体接近目标，但评分器各项指标（de_mean 5.37、ssim 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--who6niq.json b/phaseK/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--who6niq.json new file mode 100644 index 0000000000000000000000000000000000000000..c5cad1ebe7c7d74131d20cd7de461918fd4195f0 --- /dev/null +++ b/phaseK/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-privileged--who6niq.json @@ -0,0 +1,322 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-beiquelindanshui-i00-privileged--who6niq", + "taskKey": "robopaint/caoshu_beiquelindanshui", + "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180", + "outcome": { + "success": 1, + "reward": 0.800354, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.800354, + 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12, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.026, + "peak_memory_gb": 0.491, + "peak_processes": 9, + "peak_disk_gb": 0.243, + "peak_cpus": 1.66, + "peak_pids": 155, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "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-caoshu-beiquelindanshui-i00-privileged--who6niq.mp4", + "duration_s": 48.2, + "fps": 10.0, + "frames": 482, + "sha256": "612b1b2db9d1d9fb189ae0177be447e259a684eaec08a6e4db0c8caf83dbc147" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.5, + "log_step": null, + "text_zh": "观察：视频 1.5 s 笔尖仍为浅色，2.5 s 起侧视图中笔尖变深（砚台处），3.5 s 笔尖深色，之后主纸出现墨迹（视频 6 s 右下画布已有墨点），推断约 2.5 s 蘸墨完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端固定毛笔的笔尖浸入砚台墨液（浸蘸）。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [ + [ + 47.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 47.5, + "log_step": null, + "text_zh": "观察：视频 47.5 s 右下画布显示“北阙临丹水”五字连笔单列，与目标布局一致；评分器 iou 0.800、boundary_f 0.962、min_stroke_coverage 0.827、stray 0.011、n_strokes 12，success=1（均过阈值）。达标时刻约在末笔完成时，取 47.5 s（不确定，±1 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔毫压在主纸上沿笔画移动书写，12 个计数笔画。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.800354, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.962134, + "unit": "1", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.826748, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.010965, + "unit": "1", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 12.0, + "unit": "count", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 12.0, + "unit": "count", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 964.0, + "unit": "mm", + "threshold": 2680, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 1.931, + "unit": "mm", + "threshold": 0.59, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "成功：2/2 节点达成。机械臂约视频 2.5 s 在砚台蘸墨，随后在主纸上以 12 笔写出五字草书，评分器 IoU 0.800（阈值 0.8，余量极小）、边界F 0.962、最小笔画覆盖 0.827，过程规则通过。证据缺口：蘸墨与完成时刻由视频目测（±1 s），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，2/2 节点合理：蘸墨约视频 2.5–3.6 s 笔尖变深（在 1 s 内），随后主纸出现墨迹；46 s 起右下画布已为完整五字，评分器各项过阈值。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": "2026-11-08T08:31:31Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--who6niq/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-privileged--who6niq/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b30915434d962efc3d5384571d9437501dc5dd8dd3f9e8e445933adedbbb600b", + "video_sha256": "612b1b2db9d1d9fb189ae0177be447e259a684eaec08a6e4db0c8caf83dbc147", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--vq3ydxi.json b/phaseK/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--vq3ydxi.json new file mode 100644 index 0000000000000000000000000000000000000000..94fd6b249d1b0e33cbb431f45837b2cb46c81eb9 --- /dev/null +++ b/phaseK/robopaint/caoshu_beiquelindanshui/trajectories/robopaint-caoshu-beiquelindanshui-i00-standard--vq3ydxi.json @@ -0,0 +1,358 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-beiquelindanshui-i00-standard--vq3ydxi", + "taskKey": "robopaint/caoshu_beiquelindanshui", + "dag_sha256": "0557145ba7b17045052dd74a06eb7d85f40f2baa29528c58a09390de0b11a180", + "outcome": { + "success": 0, + "reward": 0.548328, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + 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}, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.4-0.6 s 侧视图中笔尖落到砚台处，笔毫由浅色变深色；其后练习纸和主纸均出现墨迹（主纸首次出墨约视频 34 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端固定的毛笔笔毫浸入砚台墨液（浸蘸，候选名）。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": 167, + "text_zh": "观察：视频末帧右下画布有五字草书单列，布局大体对应，但下部字有墨团、笔画粗细与连笔和字帖不符。评分器字段：iou 0.548（需≥0.80）、min_stroke_coverage 0.272（需≥0.80）、stray_frac 0.192（需≤0.04），笔数12合规，success 0，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔毫压在主纸上沿笔画移动，共12笔，最大压深约7 mm。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.548328, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.778061, + "unit": "1", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.272043, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.191559, + "unit": "1", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 12.0, + "unit": "count", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 12.0, + "unit": "count", + "threshold": 12, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 952.99, + "unit": "mm", + "threshold": 2680, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 2.2063, + "unit": "mm", + "threshold": 0.59, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.548328, + "unit": "1", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "exemplar_copied", + "where": "操作中", + "t": 57.0, + "log_step": 167, + "evidence_zh": "观察：视频 57 s 末帧五字均已写出，但整体墨形与目标不符；评分器 iou 0.548、min_stroke_coverage 0.272（第24区仅0.27）、stray_frac 0.192 均未达标。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 57.0, + "log_step": 167, + "evidence_zh": "观察：视频 57 s 末帧五字笔画位置与粗细偏离字帖，下部有墨团；评分器 stray_frac 0.192、min_stroke_coverage 0.272（第24区），笔数12合规。" + } + ], + "root_causes": [], + "gap_zh": "根因证据不足：agent 日志只显示其用笔压-位移补偿模型拟合，未能区分是模型标定误差还是笔画设计问题，故根因留空。状态日志不存在，节点由视频与评分字段判断。", + "unmet": { + "exemplar_copied": false + } + }, + "summary_zh": "观察：视频 0.5 s 笔毫浸入砚台，毛笔蘸墨达成；12笔写出五字，但 iou 0.548、最小笔画覆盖 0.272、杂墨 0.192 均未达标，临摹整幅字帖未完成。断点在临摹步骤（操作中），现象为笔画位置/粗细不准，根因证据不足；无状态日志。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "brush_inked 约0.5-0.7 s 达成、exemplar_copied 未达成（评分器 iou 0.548、min_stroke_coverage 0.272、stray_frac 0.192 均未达标）、断点与位姿不准现象均有视频和评分字段支持；根因留空并附 gap_zh 合理，未发现需改动的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:30:59Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--vq3ydxi/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-caoshu-beiquelindanshui-i00-standard--vq3ydxi/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "bee4eca8837e3e111a5a120a4fb958989715245b44ab3aac36303d7fe0fc9d35", + "video_sha256": "cfc56f675cab42de7d83ea8ea61fd3c2c38ec64256f8de63ca2419c1d5f6e8a6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/caoshu_siwushaonian/trajectories/robopaint-caoshu-siwushaonian-i00-privileged--cmvudfs.json b/phaseK/robopaint/caoshu_siwushaonian/trajectories/robopaint-caoshu-siwushaonian-i00-privileged--cmvudfs.json new file mode 100644 index 0000000000000000000000000000000000000000..d86204404741da06e7b646e89d4ad790e341b4a8 --- /dev/null +++ b/phaseK/robopaint/caoshu_siwushaonian/trajectories/robopaint-caoshu-siwushaonian-i00-privileged--cmvudfs.json @@ -0,0 +1,322 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-siwushaonian-i00-privileged--cmvudfs", + "taskKey": "robopaint/caoshu_siwushaonian", + "dag_sha256": "b3c59604809d0ee9309c37986daf01a8de4c6d85c6b0d71300c8ba64f5140da8", + "outcome": { + "success": 1, + "reward": 0.802552, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.802552, + "deterministic": 1, + "grader_error": 0, + 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"scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.802552, + "sim_steps": 1457.0, + "resets": 1.0, + "n_contacts": 8.0, + "samples": 7285.0, + "contact_samples": 4266.0, + "max_press_m": 0.006224, + "max_tilt_deg_in_contact": 0.075453, + "max_speed_in_contact_mps": 0.056853, + "handle_contact_samples": 0.0, + "n_dips": 1.0, + "dry_strokes": 0.0, + "n_frames": 487.0, + "replay_wall_s": 108.6, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1457, + "video_rendered": 1, + "agent_sessions": 34, + "agent_resets": 23, + "agent_sim_steps": 31514, + "agent_records": 20, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.034, + "peak_memory_gb": 0.659, + "peak_processes": 13, + "peak_disk_gb": 0.398, + "peak_cpus": 2.31, + "peak_pids": 159, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "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-caoshu-siwushaonian-i00-privileged--cmvudfs.mp4", + "duration_s": 48.7, + "fps": 10.0, + "frames": 487, + "sha256": "b2ea2a42e6e844103a579edaec251c91d5fc936b8589be4020a4787477e72da0" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 4.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 4.5 s 左右笔尖落入左侧砚台，视频 5.0 s 起纸面（右下纸面图）出现第一处黑色墨点，说明已上墨（时间约 ±0.5 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端毛笔笔毫浸入砚台墨液（候选“浸蘸”）；评分器 n_dips=1。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [ + [ + 48.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 48.5, + "log_step": 213, + "text_zh": "观察：视频末帧（约 48.5 s）主纸图出现完整一列“四五少年”，与上段环、中段交叉、下段折笔及收尾环形布局一致。评分器字段：iou 0.8026≥0.8、boundary_f 0.925、min_stroke_coverage 0.805、stray_frac 0.0237、n_strokes 8，success=1。完成时刻取最后一笔收尾处，约 48 s（推断，±1.5 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂末端毛笔笔毫压在主纸上沿笔画移动留墨，共 8 笔（n_contacts=8）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.802552, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.925255, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.804636, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.0237, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 8.0, + "unit": "count", + "threshold": 8, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 8.0, + "unit": "count", + "threshold": 8, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 642.28, + "unit": "mm", + "threshold": 1930, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 2.8046, + "unit": "mm", + "threshold": 0.79, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "观察：privileged 运行成功。视频约 4.5 s 毛笔蘸墨，随后 8 笔写出整列“四五少年”，评分器 iou 0.8026（仅略高于 0.8 阈值）、各指标均达标，两个节点均达成。节点时间由视频估计，完成时刻约 48 s，精度较低；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，两个节点达成，时间与视频一致；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": "2026-11-08T08:30:01Z", + "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": 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/caoshu_siwushaonian/trajectories/robopaint-caoshu-siwushaonian-i00-standard--ynqpzc6.json b/phaseK/robopaint/caoshu_siwushaonian/trajectories/robopaint-caoshu-siwushaonian-i00-standard--ynqpzc6.json new file mode 100644 index 0000000000000000000000000000000000000000..a89a5b5a47d78fea12299a94a8fea1a16b281c69 --- /dev/null +++ b/phaseK/robopaint/caoshu_siwushaonian/trajectories/robopaint-caoshu-siwushaonian-i00-standard--ynqpzc6.json @@ -0,0 +1,287 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-siwushaonian-i00-standard--ynqpzc6", + "taskKey": "robopaint/caoshu_siwushaonian", + "dag_sha256": "b3c59604809d0ee9309c37986daf01a8de4c6d85c6b0d71300c8ba64f5140da8", + "outcome": { + "success": 0, + "reward": 0.524252, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 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"观察：视频 1-2 s 起练习纸上已出现黑色笔迹（毛笔已蘸墨，视频为整个会话的压缩回放）；日志 n_dips=38。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端毛笔浸入砚台墨液（候选“浸蘸”）。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 58.8, + "log_step": 128, + "text_zh": "观察：视频末帧（58.8 s）主纸上有一列四组墨迹，布局大体对但笔画粗细、位置与目标有明显偏差；评分器字段 IoU=0.524（<0.80）、boundary_f=0.685、min_stroke_coverage=0.34、stray_frac=0.107，image_success=0，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂毛笔笔毫压在主纸上沿笔画移动，共8笔（评分器 n_strokes=8）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": { + "breakpoint": { + "ref": "exemplar_copied", + "where": "操作中", + "t": 58.0, + "evidence_zh": "观察：视频 40-58.8 s 机械臂在主纸上写完8笔，末帧布局相近但与目标不吻合；评分器 IoU 0.524、boundary_f 0.685、各笔覆盖最低0.34，未过 0.80/0.75 阈值，笔数、填色、回填约束均通过。", + "log_step": 126 + }, + "phenomena": [ + { + "cat": "运动", + "t": 58.0, + "log_step": 126, + "evidence_zh": "观察：视频末帧墨迹整体位置与布局正确但笔画局部偏离目标、粗细不一；评分器 stray_frac=0.107、missing_frac=0.113，agent 自检（log step 126）也称“substantial local mismatch”。", + "item": "位姿不准" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "日志 step 44-49：agent 自述软毫在 25 mm/s 下因 PD 滞后和笔毫拖尾切角、新蘸墨初期笔宽瞬态；主纸一次成笔，墨迹不可修正，笔宽/轨迹跟踪误差未补偿。子类型不明。", + "source_zh": "agent 自述 / 评分器字段" + } + ], + "gap_zh": "视频是整个会话的压缩回放，无状态日志，无法精确定位各笔时间；根因子类型来自 agent 自述，仅部分被视频支持。", + "unmet": { + "exemplar_copied": false + } + }, + "summary_zh": "观察：毛笔蘸墨在视频约 1 s 已达成；主纸8笔写完（视频约 40-58.8 s），但 IoU=0.524 未达 0.80，临摹节点未达成。断点在临摹书写操作中，现象为笔画位置/粗细偏离目标（位姿不准），根因倾向控制（软毫轨迹跟踪与笔宽误差）。证据缺口：无状态日志，根因部分来自 agent 自述。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点值（brush_inked 达成、exemplar_copied 未达成）、断点、位姿不准与控制根因均与视频及评分器字段（IoU 0.524<0.80、n_strokes=8）一致；未发现需改内容的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:30:33Z", + "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/robopaint-caoshu-siwushaonian-i00-standard--ynqpzc6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-caoshu-siwushaonian-i00-standard--ynqpzc6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "27e424c650582cec76325b9591c54bde77e4a367a83853baa71a5a82d6514538", + "video_sha256": "eabeb1e35a8ac2f07fbe318e05bf69ae59d6a50d5db2c0ece0a7d14b7aca6020", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-privileged--6wn5jaw.json b/phaseK/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-privileged--6wn5jaw.json new file mode 100644 index 0000000000000000000000000000000000000000..28f22c2e32b9bc7c711a687fe1f60516cd2a99c7 --- /dev/null +++ b/phaseK/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-privileged--6wn5jaw.json @@ -0,0 +1,272 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-zhen-i00-privileged--6wn5jaw", + "taskKey": "robopaint/caoshu_zhen", + "dag_sha256": "629d29be0561405eaaa741dde6ba35841d1d4813d01c932235b262867c07d34f", + "outcome": { + "success": 1, + "reward": 0.844029, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.844029, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "iou": 0.844029, + "boundary_precision": 0.801316, + "boundary_recall": 0.713047, + "boundary_f": 0.754609, + "ink_precision": 0.904685, + "ink_recall": 0.92641, + "min_stroke_coverage": 0.819734, + "mean_stroke_coverage": 0.921325, + "stray_frac": 0.027721, + "missing_frac": 0.02039, + "ink_area_mm2": 2991.06, + "target_area_mm2": 2920.92, + "n_target_strokes": 12.0, + "stroke_coverage_01": 0.903775, + "stroke_coverage_02": 0.994107, + "stroke_coverage_03": 0.949148, + "stroke_coverage_04": 0.923739, + "stroke_coverage_05": 0.942791, + "stroke_coverage_06": 0.877041, + "stroke_coverage_07": 0.970121, + "stroke_coverage_08": 0.922484, + "stroke_coverage_09": 0.889914, + "stroke_coverage_10": 0.932144, + "stroke_coverage_11": 0.930901, + "stroke_coverage_12": 0.819734, + "n_strokes": 3.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 1.0, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 3.0, + "max_strokes": 3.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.2219, + "register_dy_mm": -0.2219, + "register_shift_mm": 0.3138, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.84092, + "boundary_f_unregistered": 0.743261, + "min_stroke_coverage_unregistered": 0.806828, + "stray_frac_unregistered": 0.027569, + "path_mm": 696.55, + "longest_stroke_mm": 433.73, + "mark_width_mm": 5.7127, + "max_path_mm": 1610.0, + "min_mark_width_mm": 1.75, + "colour_in": 0.0, + "n_marked_pieces": 3.0, + "n_strokes_counted": 3.0, + "max_stroke_path_mm": 1590.0, + "longest_counted_stroke_mm": 433.62, + "strokes_counted_ok": 1.0, + "scribble_max": 3.4101, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.844029, + "sim_steps": 1079.0, + "resets": 1.0, + "n_contacts": 3.0, + "samples": 5395.0, + "contact_samples": 2398.0, + "max_press_m": 0.014538, + "max_tilt_deg_in_contact": 0.108873, + "max_speed_in_contact_mps": 0.198553, + "handle_contact_samples": 0.0, + "n_dips": 3.0, + "dry_strokes": 0.0, + "n_frames": 541.0, + "replay_wall_s": 107.1, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1079, + "video_rendered": 1, + "agent_sessions": 11, + "agent_resets": 11, + "agent_sim_steps": 11854, + "agent_records": 9, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.022, + "peak_memory_gb": 0.698, + "peak_processes": 17, + "peak_disk_gb": 0.381, + "peak_cpus": 7.67, + "peak_pids": 153, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "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-caoshu-zhen-i00-privileged--6wn5jaw.mp4", + "duration_s": 54.1, + "fps": 10.0, + "frames": 541, + "sha256": "e33b352c9711ad2cfe4d9cbb601d9d6510b31093705c6138f46753a4d0017de6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_ink_loaded": { + "method": "visual", + "intervals": [ + [ + 8.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 9.3, + "log_step": null, + "text_zh": "观察：视频约 9.3 s 起主纸视图出现黑墨点并逐渐扩大（9.0 s 仍空白），说明毛笔此前已在砚台蘸墨（干笔不会留墨）；蘸墨瞬间未单独逐帧确认，时间约 8.5 s 为推断。评分器 n_dips=3, n_dry_strokes=0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端安装的毛笔笔毫浸入砚台墨液（候选“浸蘸”）。" + } + ] + }, + "cursive_zhen_written": { + "method": "visual", + "intervals": [ + [ + 52.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 52.7, + "log_step": null, + "text_zh": "观察：视频 9 s 后墨迹逐步写出字形，26 s 起主纸图像暂停，35–41 s 与 51–53 s 又有补笔（墨面积增加），约 53 s 后不再变化直至 54.1 s 结束；成字时间取约 53 s。评分器字段 success=1, iou 0.844, boundary_f 0.755, n_strokes 3，各项过程指标达标。达成时间为像素计数估计。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "含墨毛笔笔毫压在主纸上，沿字形分三笔移动（评分器 n_strokes=3，handle_contact_samples=0）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "观察：特权模式下机械臂用毛笔蘸墨后（视频约 8.5 s）在主纸上分三笔写出草书“真”，视频约 53 s 字形完成并保持到 54.1 s；评分器判定成功（iou 0.844、boundary_f 0.755、笔数 3/3）。两个节点均达成；蘸墨瞬间与字形完成的精确时间为目视估计，未逐帧核对。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 8, + "summary_zh": "蘸墨节点基本可信；但 cursive_zhen_written 的达成时间 26 s 及“26 s 后主纸图像不再变化”与视频不符：墨迹在 35–41 s 和 51–53 s 仍增加，左下短笔在 26 s 帧中尚未出现，字形实际约 53 s 才完成。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第一轮修改已落实：成字时间约 53 s，墨点约 9.3 s；成功任务两节点均达成，接触标注合理，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": "2026-11-08T08:35:03Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-caoshu-zhen-i00-privileged--6wn5jaw/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": 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The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-standard--upb9jeb.json b/phaseK/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-standard--upb9jeb.json new file mode 100644 index 0000000000000000000000000000000000000000..63a670404b902d295ac60844fa9633aa549b8da2 --- /dev/null +++ b/phaseK/robopaint/caoshu_zhen/trajectories/robopaint-caoshu-zhen-i00-standard--upb9jeb.json @@ -0,0 +1,343 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-caoshu-zhen-i00-standard--upb9jeb", + "taskKey": "robopaint/caoshu_zhen", + "dag_sha256": "629d29be0561405eaaa741dde6ba35841d1d4813d01c932235b262867c07d34f", + "outcome": { + "success": 0, + "reward": 0.63506, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.63506, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "iou": 0.63506, + "boundary_precision": 0.349851, + "boundary_recall": 0.368151, + "boundary_f": 0.358768, + "ink_precision": 0.677053, + "ink_recall": 0.911024, + "min_stroke_coverage": 0.800347, + "mean_stroke_coverage": 0.887781, + "stray_frac": 0.313437, + "missing_frac": 0.035422, + "ink_area_mm2": 3930.31, + "target_area_mm2": 2920.92, + "n_target_strokes": 12.0, + "stroke_coverage_01": 1.0, + "stroke_coverage_02": 0.984449, + "stroke_coverage_03": 0.983383, + "stroke_coverage_04": 0.845326, + "stroke_coverage_05": 0.800347, + "stroke_coverage_06": 0.803057, + "stroke_coverage_07": 0.992795, + "stroke_coverage_08": 0.853876, + "stroke_coverage_09": 0.821902, + "stroke_coverage_10": 0.949988, + "stroke_coverage_11": 0.810171, + "stroke_coverage_12": 0.808077, + "n_strokes": 3.0, + "n_practice_strokes": 26.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 1.0, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 3.0, + "max_strokes": 3.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.8874, + "register_dy_mm": 0.0, + "register_shift_mm": 0.8874, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.628346, + "boundary_f_unregistered": 0.342889, + "min_stroke_coverage_unregistered": 0.762496, + "stray_frac_unregistered": 0.317886, + "path_mm": 922.19, + "longest_stroke_mm": 446.19, + "mark_width_mm": 4.3681, + "max_path_mm": 1610.0, + "min_mark_width_mm": 1.75, + "colour_in": 0.0, + "n_marked_pieces": 3.0, + "n_strokes_counted": 3.0, + "max_stroke_path_mm": 1590.0, + "longest_counted_stroke_mm": 446.16, + "strokes_counted_ok": 1.0, + "scribble_max": 5.5972, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.63506, + "sim_steps": 7597, + "resets": 0.0, + "n_contacts": 29.0, + "samples": 37985.0, + "contact_samples": 20058.0, + "max_press_m": 0.016151, + "max_tilt_deg_in_contact": 0.39749, + "max_speed_in_contact_mps": 0.060593, + "handle_contact_samples": 0.0, + "n_dips": 15.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 7597, + "physics_steps": 37985, + "steps": 7470, + "calls": 289, + "elapsed_s": 2411.3, + "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": 0.362, + "peak_processes": 9, + "peak_disk_gb": 0.553, + "peak_cpus": 4.57, + "peak_pids": 252, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "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-caoshu-zhen-i00-standard--upb9jeb.mp4", + "duration_s": 58.6, + "fps": 10.0, + "frames": 586, + "sha256": "2b0f62e9713f969137b6dd48c3eb2dc53b904156eb532ecd0d09a146aaa8e6f6" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_ink_loaded": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2 s 起侧视中笔尖已变黑，视频 5-11 s 练习纸上依次出现黑色短竖线，说明笔毫已含墨（评分器 n_dips=15，干笔划 0）。推断：蘸墨在视频开始前后即已完成，约 2 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端毛笔笔毫浸入砚台墨液（候选“浸蘸”）；评分器 n_dips=15。" + } + ] + }, + "cursive_zhen_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.0, + "log_step": 143, + "text_zh": "观察：视频 40-58 s 机械臂用含墨毛笔在主纸上连续写三笔，视频末帧（58.5 s）四宫格右下纸面视图为粗大的黑色团块，上部为实心大黑团、下部有粗尾，回环与折转未分开，与目标字形差距大。评分器字段：iou 0.635（<0.80）、boundary_f 0.359（<0.75）、stray_frac 0.313（>0.04），笔数 3 合规、min_stroke_coverage 0.800 刚达标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂末端毛笔笔毫含墨压在主纸上沿路径移动，共 3 次主纸接触，路径 922 mm，平均墨宽 4.37 mm。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.63506, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.358768, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.800347, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.313437, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 3.0, + "unit": "count", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 3.0, + "unit": "count", + "threshold": 3, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 922.19, + "unit": "mm", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 4.3681, + "unit": "mm", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "final_reward", + "value": 0.63506, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "cursive_zhen_written", + "t": 50.0, + "log_step": 140, + "where": "操作中", + "evidence_zh": "观察：视频 40-58 s 写主纸三笔，末帧右下视图为一团粗黑块而非可辨的“真”；评分器 iou 0.635、stray_frac 0.313、boundary_f 0.359 均未达标。蘸墨已完成，故断在写字步骤。" + }, + "unmet": { + "cursive_zhen_written": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 58.0, + "log_step": 142, + "evidence_zh": "观察：末帧墨迹整体偏粗、偏位，墨面积 3930 mm² 对目标 2921 mm²，墨精度 0.68、召回 0.91，游离墨 31%。agent 自述（log step 142）相机对比 IoU 0.625、多余墨多且位置偏。推断：笔画路径/宽度与目标不符，而非漏写。" + } + ], + "root_causes": [], + "gap_zh": "根因留空：agent 只说墨“过宽且偏位”，没有证据区分是笔压/墨宽参数、相机标定偏差还是跟踪误差；无状态日志。视频时间为四宫格画面，未逐笔核对路径。" + }, + "summary_zh": "观察：蘸墨在视频约 2 s 已完成；主纸三笔（视频 40-58 s）写出一团粗黑墨，iou 0.635、边界F 0.359、游离墨 0.313，未达标，写成草书真未达成（0/1 目标节点）。断点为写字步骤，现象为位姿不准（墨迹过粗偏位），根因证据不足而留空。无状态日志，笔画细节来自视频四宫格。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点时间、接触、断点与现象与视频和评分器数值一致：视频 42 s 前主纸为空，约 42-58 s 写三笔成粗黑团块，蘸墨在 2 s 已完成。根因留空并写明 gap_zh，在现有证据下可接受。", + "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": "2026-11-08T08:32:38Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-caoshu-zhen-i00-standard--upb9jeb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-caoshu-zhen-i00-standard--upb9jeb/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1333d9474cb48f2aae973f10aec098c84a489077852a60e91d87654cd3096e7b", + "video_sha256": "2b0f62e9713f969137b6dd48c3eb2dc53b904156eb532ecd0d09a146aaa8e6f6", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe.json b/phaseK/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe.json new file mode 100644 index 0000000000000000000000000000000000000000..fdb0664c255e91a157aa1acd3e4b81f81b0c6ee9 --- /dev/null +++ b/phaseK/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe.json @@ -0,0 +1,398 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe", + "taskKey": "robopaint/kaishu_linfengguilong", + "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed", + "outcome": { + "success": 0, + "reward": 0.80261, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.80261, + "deterministic": 1, + 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0.989216, + "stroke_coverage_17": 0.85303, + "stroke_coverage_18": 0.910828, + "stroke_coverage_19": 0.874447, + "stroke_coverage_20": 0.966814, + "stroke_coverage_21": 0.92403, + "stroke_coverage_22": 0.861267, + "stroke_coverage_23": 0.925662, + "stroke_coverage_24": 0.883171, + "stroke_coverage_25": 0.871115, + "stroke_coverage_26": 0.901971, + "stroke_coverage_27": 0.863691, + "stroke_coverage_28": 0.797661, + "stroke_coverage_29": 0.923323, + "stroke_coverage_30": 0.931732, + "stroke_coverage_31": 0.961499, + "stroke_coverage_32": 0.830409, + "stroke_coverage_33": 0.904339, + "stroke_coverage_34": 0.896154, + "stroke_coverage_35": 0.938312, + "stroke_coverage_36": 0.908463, + "stroke_coverage_37": 0.89065, + "stroke_coverage_38": 0.873232, + "stroke_coverage_39": 0.925179, + "stroke_coverage_40": 0.84876, + "stroke_coverage_41": 0.927981, + "stroke_coverage_42": 0.871257, + "stroke_coverage_43": 0.75413, + "stroke_coverage_44": 0.96814, + "stroke_coverage_45": 0.914328, + "stroke_coverage_46": 0.831089, + "stroke_coverage_47": 0.93471, + "stroke_coverage_48": 0.945707, + "stroke_coverage_49": 0.888098, + "stroke_coverage_50": 0.885307, + "stroke_coverage_51": 0.894785, + "stroke_coverage_52": 0.882081, + "stroke_coverage_53": 0.885338, + "stroke_coverage_54": 0.873077, + "stroke_coverage_55": 0.924528, + "stroke_coverage_56": 0.871732, + "stroke_coverage_57": 0.87698, + "stroke_coverage_58": 0.920661, + "stroke_coverage_59": 0.90755, + "stroke_coverage_60": 0.907271, + "stroke_coverage_61": 0.930837, + "stroke_coverage_62": 0.914952, + "stroke_coverage_63": 0.90566, + "stroke_coverage_64": 0.897297, + "stroke_coverage_65": 0.896676, + "stroke_coverage_66": 0.877306, + "stroke_coverage_67": 0.96123, + "stroke_coverage_68": 0.891336, + "stroke_coverage_69": 0.872837, + "stroke_coverage_70": 0.9024, + "stroke_coverage_71": 0.912236, + "n_strokes": 71.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 0.634863, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 70.0, + "max_strokes": 71.0, + "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, + "iou_unregistered": 0.80261, + "boundary_f_unregistered": 0.893728, + "min_stroke_coverage_unregistered": 0.75413, + "stray_frac_unregistered": 0.023718, + "path_mm": 2828.77, + "longest_stroke_mm": 188.41, + "mark_width_mm": 3.0083, + "max_path_mm": 7880.0, + "min_mark_width_mm": 0.99, + "colour_in": 0.0, + "n_marked_pieces": 71.0, + "n_strokes_counted": 71.0, + "max_stroke_path_mm": 920.0, + "longest_counted_stroke_mm": 188.28, + "strokes_counted_ok": 1.0, + "scribble_max": 2.5492, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.80261, + "sim_steps": 8044.0, + "resets": 1.0, + "n_contacts": 71.0, + "samples": 40220.0, + "contact_samples": 19622.0, + "max_press_m": 0.00759, + "max_tilt_deg_in_contact": 0.127449, + "max_speed_in_contact_mps": 0.113033, + "handle_contact_samples": 0.0, + "n_dips": 1.0, + "dry_strokes": 0.0, + "n_frames": 576.0, + "replay_wall_s": 164.9, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 8044, + "video_rendered": 1, + "agent_sessions": 22, + "agent_resets": 22, + "agent_sim_steps": 93797, + "agent_records": 11, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.068, + "peak_memory_gb": 0.948, + "peak_processes": 12, + "peak_disk_gb": 0.256, + "peak_cpus": 4.53, + "peak_pids": 405, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe.mp4", + "duration_s": 57.6, + "fps": 10.0, + "frames": 576, + "sha256": "0db764fb3d0af4024e248f5b58f80fa3866c3750d0421e7f36f88e2c736867f2" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_ink_loaded": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.5 s 起主纸俯视图（右下）已出现首笔黑色墨迹，此前无墨；说明笔毫已在砚台装墨（砚台下探瞬间未单独核对，按纸上首次墨迹确认，标准 criterion_zh）。之后墨迹持续存在。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 臂端毛笔笔毫浸入砚台墨液（候选：浸蘸）；视频 0-1.5 s 内发生，纸上首笔墨迹为证。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": 227, + "text_zh": "观察：视频末帧（57.5 s）主纸上“麟鳳龜龍”四字全部写出，位置、字形与目标大致相符，无明显缺笔。观察：评分器字段 iou 0.8026、boundary_f 0.894、stray_frac 0.0237、n_strokes 71、过程约束均过，但 min_stroke_coverage 0.754 < 0.80（第 43、6、28 笔覆盖率 0.754/0.777/0.798），success=0。推断：整幅条件因个别笔画覆盖不足未成立，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "Panda 臂端毛笔笔毫压在主纸上沿笔画滑动落墨，视频约 1.5-57 s，共 71 个计数笔画。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "unit": "1", + "threshold": 0.8, + "direction": "higher_better", + "value": 0.80261 + }, + { + "name": "boundary_f", + "unit": "1", + "threshold": 0.75, + "direction": "higher_better", + "value": 0.893728 + }, + { + "name": "min_stroke_coverage", + "unit": "1", + "threshold": 0.8, + "direction": "higher_better", + "value": 0.75413 + }, + { + "name": "stray_frac", + "unit": "1", + "threshold": 0.04, + "direction": "lower_better", + "value": 0.023718 + }, + { + "name": "n_strokes", + "unit": "count", + "threshold": 71, + "direction": "lower_better", + "value": 71.0 + }, + { + "name": "n_strokes_counted", + "unit": "count", + "threshold": 71, + "direction": "lower_better", + "value": 71.0 + }, + { + "name": "path_mm", + "unit": "mm", + "threshold": 7880, + "direction": "lower_better", + "value": 2828.77 + }, + { + "name": "mark_width_mm", + "unit": "mm", + "threshold": 0.99, + "direction": "higher_better", + "value": 3.0083 + }, + { + "name": "scribble_share", + "unit": "1", + "threshold": 0.1, + "direction": "lower_better", + "value": 0.0 + } + ], + "failure": { + "breakpoint": { + "ref": "exemplar_copied", + "t": null, + "log_step": 227, + "where": "终态验收", + "evidence_zh": "观察：视频全程在写字，末帧四字齐全；评分器 min_stroke_coverage 0.754（<0.80），其余指标（iou 0.8026、boundary_f 0.894、stray 0.0237、笔数 71）均达标。推断：整幅写完，仅个别笔画（第 43、6、28 笔）覆盖不足，终态验收未过。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": null, + "log_step": 227, + "evidence_zh": "观察：评分器字段 stroke_coverage_43=0.754、_06=0.777、_28=0.798，低于 0.80 门槛；agent 末次汇报（log step 227）自述“最小笔画覆盖率 0.75413 ✗”。推断：这几笔的落笔位置/宽度与范本偏差，具体偏差形态未在视频中逐笔核对。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 开环逐笔拟合笔迹轨迹（log step 56-66 用预览模型拟合，仍留三个低覆盖笔画），并在 22 次 session 重置后交付；未证明具体是哪一项参数或轨迹问题。", + "source_zh": "日志；评分器字段" + } + ], + "gap_zh": "未逐笔对照视频与目标图核对第 43、6、28 笔的具体偏差；根因仅停留在控制层。", + "unmet": { + "exemplar_copied": false + } + }, + "summary_zh": "观察：机器人（Panda 臂毛笔，视频 57.6 s）在视频 1.5 s 前蘸墨并依次写出四字，末帧四字齐全。评分器 iou/boundary_f/stray/笔数均达标，但最小笔画覆盖率 0.754 < 0.80（第 43、6、28 笔），整幅未判成功，断点在 exemplar_copied 终态验收，现象 位姿不准、根因 控制（未细分）。缺口：未逐笔核对低覆盖笔画的具体偏差。", + "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、评分器字段一致：蘸墨1.5 s、末帧四字齐全、min_stroke_coverage 0.754<0.80 导致未成功；断点、位姿不准、控制（未细分）均有证据支持且缺口已声明。", + "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": "2026-11-08T08:32:22Z", + "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/robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-kaishu-linfengguilong-i00-privileged--lhoxvqe/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "2146a74c0f9656084e23c695aa219d103e27e534e20c8c0e76fe4393d111ef9d", + "video_sha256": "0db764fb3d0af4024e248f5b58f80fa3866c3750d0421e7f36f88e2c736867f2", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm.json b/phaseK/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm.json new file mode 100644 index 0000000000000000000000000000000000000000..f9c236454eeb28677f6553b862fb9fa460a2785a --- /dev/null +++ b/phaseK/robopaint/kaishu_linfengguilong/trajectories/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm.json @@ -0,0 +1,425 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm", + "taskKey": "robopaint/kaishu_linfengguilong", + "dag_sha256": "0352a792db678588e063ce40e77c101250d8fd18f0467e7f2b18cc90110f36ed", + "outcome": { + "success": 0, + "reward": 0.580164, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + 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"resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm.mp4", + "duration_s": 57.6, + "fps": 10.0, + "frames": 576, + "sha256": "0c873c64f887f02ab69416b25bd6ee2152f649d6b577b4705d91080869888bb7" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_ink_loaded": { + "method": "visual", + "intervals": [ + [ + 3.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.0, + "log_step": 11, + "text_zh": "观察：视频 1.5 s 侧视图笔尖干净无墨；视频 3 s 起练习纸上出现第一道黑色笔迹，之后练习纸上线条逐渐增多，主纸约 9 s 起出现墨迹。推断：笔已在砚台蘸墨（蘸墨瞬间被遮挡，按准则以首次纸上墨迹确认），时间约 3 s。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 臂端的毛笔笔毫下探进入砚台蘸墨（候选“浸蘸”），随后在练习纸与主纸上出墨；砚台内瞬间被遮挡，以纸上墨迹推断。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": 104, + "text_zh": "观察：视频末帧 57.5 s 主纸四字都已写出（右列麟/鳳，左列龜/龍），但笔画粗细不均、位置偏移。评分器字段：IoU 0.580（阈值0.80）、boundary_f 0.681（0.75）、min_stroke_coverage 0.440（0.80）、stray_frac 0.089（≤0.04），image_success 0，故整幅临帖未达标；71 笔数量规则满足。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：Panda 臂端毛笔笔毫压在主纸上沿笔画滑动落墨，写出四字（视频约 9-57 s），共 71 次有墨接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.580164, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.681232, + "unit": "1", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.439669, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.089457, + "unit": "1", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 71.0, + "unit": "count", + "threshold": 71, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 71.0, + "unit": "count", + "threshold": 71, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 2470.4, + "unit": "mm", + "threshold": 7880, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 3.8754, + "unit": "mm", + "threshold": 0.99, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "exemplar_copied", + "t": 57.0, + "log_step": 104, + "where": "操作中", + "evidence_zh": "观察：视频 9-57 s 机械臂在主纸上写完四字，末帧 57.5 s 字形整体可辨但笔画偏移、粗细不均。评分器字段 IoU 0.580、min_stroke_coverage 0.440、stray_frac 0.089 均未达阈值。" + }, + "unmet": { + "exemplar_copied": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 57.0, + "log_step": 60, + "evidence_zh": "观察：末帧 57.5 s 四字整体位置基本对齐（评分器配准位移仅 0.67 mm，IoU 未配准 0.557→配准 0.580），但局部笔画偏离范本并粘连，min_stroke_coverage 最低 0.44，杂墨 0.089，笔画宽 3.88 mm。推断（agent 自述 log step 60-62、79、86，未独立验证）：部分笔画落墨滞后于规划位置。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "agent 自述（log step 62、79、86）：笔尖到达规划位置但快速移动/下降后未充分稳定，落墨滞后于规划；四次慢速补写（log 74-97）仅把相机估计 IoU 由 0.5645 提到 0.5752，未能修复。子类不明，停在控制。", + "source_zh": "日志" + } + ], + "gap_zh": "无状态日志；位姿不准的偏移量由末帧与评分器字段支持，滞后原因主要来自 agent 自述，未经独立验证。" + }, + "summary_zh": "观察：毛笔蘸墨在视频约 3 s 达成（练习纸出现墨迹）；整幅临帖未达成：视频约 9-57 s 写完四字，但 IoU 0.580（阈值 0.80）、最小笔画覆盖 0.44、杂墨 0.089 均未达标，用满 71 笔后无法再修补。断点为整幅临帖的书写操作，现象为位姿不准，根因记控制（子类不明，依据主要为 agent 自述的落墨滞后）。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点、时间、接触、断点（exemplar_copied，操作中）与 3 s 蘸墨均与视频一致；问题在于位姿不准的观察性证据把「整体错位」写成观察，而评分器的配准位移仅 0.67 mm，该说法被评分字段反驳，应改为局部笔画偏移/笔画变粗、杂墨。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点（蘸墨约3 s 视频时间达成、整幅临帖未达成）、接触、断点（exemplar_copied，操作中）与现象、根因均与视频末帧和评分字段一致；上一轮提出的“整体错位”问题已按评分器配准位移修正。", + "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": "2026-11-08T08:34:37Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-kaishu-linfengguilong-i00-standard--qxsmcwm/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3ece192f787b46f564a79ff7f49dd2a3f15144c92d4952e445d5ad24de16b597", + "video_sha256": "0c873c64f887f02ab69416b25bd6ee2152f649d6b577b4705d91080869888bb7", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/oil_monalisa_i01/trajectories/robopaint-oil-monalisa-i01-privileged--5bcmhw8.json b/phaseK/robopaint/oil_monalisa_i01/trajectories/robopaint-oil-monalisa-i01-privileged--5bcmhw8.json new file mode 100644 index 0000000000000000000000000000000000000000..6ed424c768c2f00b16b7cc23be4b1ecf0cfbfda2 --- /dev/null +++ b/phaseK/robopaint/oil_monalisa_i01/trajectories/robopaint-oil-monalisa-i01-privileged--5bcmhw8.json @@ -0,0 +1,232 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-oil-monalisa-i01-privileged--5bcmhw8", + "taskKey": "robopaint/oil_monalisa_i01", + "dag_sha256": "d1c0aede67e6da30d4dd67f31dcff980381a1182640b45baa5d673b639138d08", + "outcome": { + "success": 1, + "reward": 0.771045, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.771045, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 4.5791, + "de_p90": 7.8821, + "de_bad_frac": 0.040684, + "de_mean_sheet": 4.5791, + "ssim_L": 0.860719, + "paint_iou": 0.997643, + "paint_area_mm2": 44504.8, + "target_paint_area_mm2": 44609.9, + "n_target_strokes": 1671.0, + "de_mean_coarse": 2.9268, + "ssim_L_fine": 0.745373, + "edge_corr": 0.71369, + "region_cov_min": 0.0, + "region_cov_mean": 0.961098, + "n_regions": 86.0, + "n_strokes": 2505.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 2507.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.4437, + "register_dy_mm": -0.4437, + "register_shift_mm": 0.6275, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "score_inset_mm": 7.987, + "de_mean_unregistered": 4.6798, + "de_p90_unregistered": 8.1097, + "ssim_L_unregistered": 0.857075, + "edge_corr_unregistered": 0.705024, + "paint_iou_unregistered": 0.997653, + "path_mm": 26600.59, + "longest_stroke_mm": 228.07, + "max_path_mm": 69900.0, + "path_budget_ok": 1.0, + "scribble_max": 1.2267, + "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": 0.771045, + "sim_steps": 70445.0, + "resets": 1.0, + "n_contacts": 2505.0, + "samples": 352225.0, + "contact_samples": 107033.0, + "max_press_m": 0.005996, + "max_tilt_deg_in_contact": 0.241877, + "max_speed_in_contact_mps": 0.079967, + "handle_contact_samples": 0.0, + "n_dips": 1262.0, + "dry_strokes": 0.0, + "n_frames": 598.0, + "replay_wall_s": 467.0, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 70445, + "video_rendered": 1, + "agent_sessions": 13, + "agent_resets": 12, + "agent_sim_steps": 418189, + "agent_records": 7, + "agent_replays": 1, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.068, + "peak_memory_gb": 1.633, + "peak_processes": 15, + "peak_disk_gb": 0.321, + "peak_cpus": 3.37, + "peak_pids": 150, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-oil-monalisa-i01-privileged--5bcmhw8.mp4", + "duration_s": 59.8, + "fps": 10.0, + "frames": 598, + "sha256": "f92ab4ad38e98ff0bfb4ed820577544ecc32b4f8e49bf48bf55f52af4e83559a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.1, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.1, + "log_step": null, + "text_zh": "观察：视频 0.1-0.4 s 主画纸顶端已出现绿色笔迹（上方视角），说明笔刷已在颜料井蘸色；视频是整段落笔的快放，起点即已作画。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端油画笔笔毛浸入左侧颜料井（候选接触：蘸取），评分器 n_dips=1262。" + } + ] + }, + "monalisa_painted": { + "method": "visual", + "intervals": [ + [ + 59.7, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.7, + "log_step": 112, + "text_zh": "观察：视频 59.5 s 末帧主画纸呈完整的蒙娜丽莎，面部、深色头发与衣服、绿褐背景连成完整图像，无大片白洞；评分器 success=1（ΔE均值4.58、p90 7.88、SSIM 0.861、边缘相关0.714、IoU 0.998、2505笔、路径26.6 m）。达标具体时刻无法从逐帧判定，按画面完成于视频末尾标注。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：油画笔笔毛压在主画纸上扫出带色笔迹，共2505笔，无练习纸和干笔笔画。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [], + "failure": null, + "summary_zh": "成功：视频 0.1 s 起笔刷已蘸色并开始作画，59.8 s 时主画纸已形成完整蒙娜丽莎，两个节点均达成，评分器 success=1。证据缺口：视频为快放，目标达标的精确时刻只能标在视频末尾；未提供状态日志。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 8, + "summary_zh": "两节点（蘸色、画成）及终态均与视频和评分器一致：0.1 s 已有绿色笔迹，45-56 s 下部仍有白色空隙，59.5 s 才完整，画成标在视频末尾合理；成功无失败层，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": "2026-11-08T08:32:15Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-oil-monalisa-i01-privileged--5bcmhw8/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-oil-monalisa-i01-privileged--5bcmhw8/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "7c659635d26c6c755b080ffb5e0980d8f83b49f62a360dbd38c669b0e72c4bbd", + "video_sha256": "f92ab4ad38e98ff0bfb4ed820577544ecc32b4f8e49bf48bf55f52af4e83559a", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/oil_monalisa_i01/trajectories/robopaint-oil-monalisa-i01-standard--hick5bx.json b/phaseK/robopaint/oil_monalisa_i01/trajectories/robopaint-oil-monalisa-i01-standard--hick5bx.json new file mode 100644 index 0000000000000000000000000000000000000000..4f3e584d103f63bd9153b5fad0f84330995bce68 --- /dev/null +++ b/phaseK/robopaint/oil_monalisa_i01/trajectories/robopaint-oil-monalisa-i01-standard--hick5bx.json @@ -0,0 +1,369 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-oil-monalisa-i01-standard--hick5bx", + "taskKey": "robopaint/oil_monalisa_i01", + "dag_sha256": "d1c0aede67e6da30d4dd67f31dcff980381a1182640b45baa5d673b639138d08", + "outcome": { + "success": 0, + "reward": 0.650945, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.650945, + "infra_error": 0, + "sim_error": 0, 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"path_budget_ok": 1.0, + "scribble_max": 1.2095, + "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": 0.650945, + "sim_steps": 70043, + "resets": 0.0, + "n_contacts": 2997.0, + "samples": 350215.0, + "contact_samples": 167811.0, + "max_press_m": 0.007005, + "max_tilt_deg_in_contact": 0.142591, + "max_speed_in_contact_mps": 0.044054, + "handle_contact_samples": 0.0, + "n_dips": 75.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 70043, + "physics_steps": 350215, + "steps": 69966, + "calls": 890, + "elapsed_s": 3481.4, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 0.723, + "peak_processes": 9, + "peak_disk_gb": 0.327, + "peak_cpus": 1.68, + "peak_pids": 253, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-oil-monalisa-i01-standard--hick5bx.mp4", + "duration_s": 60.0, + "fps": 10.0, + "frames": 600, + "sha256": "414d1aa1e5d03a909ccc32d9a6e840ca93ebba381db7ca5221e542a2f0fb761c" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 0.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 0.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 起练习纸上已有黄色笔迹，说明笔刷已载色；2 s 时主纸侧视图出现深色笔迹。评分器字段 n_dry_strokes=0、n_dips=75。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端的油画笔笔毛浸入颜料井载色（候选“蘸取”），评分器 n_dips=75。" + } + ] + }, + "monalisa_painted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.5, + "log_step": 159, + "text_zh": "观察：视频 59.5 s 俯视图中已画出可辨的蒙娜丽莎轮廓，但笔触呈块状颗粒。评分器字段 de_mean 6.98>5.2、de_p90 13.3>8.5、ssim_L 0.63<0.82、edge_corr 0.32<0.7，paint_iou 0.964 达标，路径与涂鸦占比达标；故未达标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "油画笔笔毛在主画纸上逐笔点涂，共 2507 笔，接触样本约 16.8 万。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 6.9811, + "unit": "DeltaE_ab", + "threshold": 5.2, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 13.3175, + "unit": "DeltaE_ab", + "threshold": 8.5, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.631598, + "unit": "ratio", + "threshold": 0.82, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.316901, + "unit": "correlation", + "threshold": 0.7, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.963554, + "unit": "ratio", + "threshold": 0.96, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 2507.0, + "unit": "count", + "threshold": 2507, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 23272.36, + "unit": "mm", + "threshold": 69900, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.650945, + "unit": "score", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "de_mean_coarse", + "value": 4.8267, + "unit": "DeltaE_ab", + "threshold": null, + "direction": "lower_better" + }, + { + "name": "ssim_L_fine", + "value": 0.472422, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_min", + "value": 0.0, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + }, + { + "name": "region_cov_mean", + "value": 0.818846, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "monalisa_painted", + "where": "操作中", + "t": 59.5, + "log_step": 159, + "evidence_zh": "观察：视频 59.5 s 末帧整幅画已覆盖，但细节模糊；评分器字段 ssim_L 0.63、edge_corr 0.32、de_p90 13.3 均未达标（stroke 用满 2507）。" + }, + "phenomena": [ + { + "cat": "其他", + "item": "其他", + "note_zh": "候选：笔触空隙/块状马赛克（主纸整幅布满白色细点缝隙，笔触呈块状）", + "t": 59.5, + "log_step": 159, + "evidence_zh": "观察：视频 59.5 s 四视图的主纸整幅可见白色细点缝隙和块状笔触，脸部与衣服轮廓模糊。" + } + ], + "root_causes": [], + "gap_zh": "视频压缩成 60 s，看不到逐笔过程；agent 的 SSIM 估计只是自述，评分器字段只给出指标，没有给出结构偏差的原因，所以根因留空。", + "unmet": { + "monalisa_painted": false + } + }, + "summary_zh": "观察：智能体用满 2507 笔画出完整可辨的蒙娜丽莎，笔刷载色在视频 0.5 s 起成立；但评分器 ssim_L 0.63、edge_corr 0.32、de_mean 6.98、de_p90 13.3 均未达标，临摹画成未达成（success=0）。断点为临摹画成（操作中）；视频压缩成 60 s、看不到逐笔过程，评分器只给指标不给原因，根因证据不足。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值（brush_loaded 0.5 s 起为真、monalisa_painted 为假）和断点（monalisa_painted·操作中）与视频、评分器一致。问题在现象：现有“其他·画面细节结构不符”只是复述 ssim_L / edge_corr 未达标（N10），没有写出帧上可见的错误；gap_zh 称“未能核对 taxonomy”也不合适。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点和现象与 59.5 s 帧及评分器字段一致；上轮问题已改正，根因留空有证据缺口说明。", + "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": "2026-11-08T08:34:40Z", + "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-oil-monalisa-i01-standard--hick5bx/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-oil-monalisa-i01-standard--hick5bx/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-oil-monalisa-i01-standard--hick5bx/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-oil-monalisa-i01-standard--hick5bx/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "cdaf01ea12dcb7aff38c7b8cfe79f85be0d0be637f50c1ce674e0f9ccef4c488", + "video_sha256": "414d1aa1e5d03a909ccc32d9a6e840ca93ebba381db7ca5221e542a2f0fb761c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--kgy4uru.json b/phaseK/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--kgy4uru.json new file mode 100644 index 0000000000000000000000000000000000000000..8846cfbe9dbcdc9c4854a369b4e3bb50a6672a41 --- /dev/null +++ b/phaseK/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-privileged--kgy4uru.json @@ -0,0 +1,314 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-oil-starrynight-i01-privileged--kgy4uru", + "taskKey": "robopaint/oil_starrynight_i01", + "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf", + "outcome": { + "success": 0, + "reward": 0.538097, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.538097, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "de_mean": 9.2124, + "de_p90": 17.0855, + "de_bad_frac": 0.289361, + "de_mean_sheet": 9.2124, + "ssim_L": 0.509884, + "paint_iou": 0.94973, + "paint_area_mm2": 42367.4, + "target_paint_area_mm2": 44609.9, + "n_target_strokes": 1678.0, + "de_mean_coarse": 5.8814, + "ssim_L_fine": 0.342855, + "edge_corr": 0.07383, + "region_cov_min": 0.059351, + "region_cov_mean": 0.718659, + "n_regions": 211.0, + "n_strokes": 2523.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "max_strokes": 2517.0, + "stroke_count_ok": 0.0, + "register_dx_mm": 0.2219, + "register_dy_mm": 0.4437, + "register_shift_mm": 0.4961, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "score_inset_mm": 7.987, + "de_mean_unregistered": 9.2807, + "de_p90_unregistered": 17.3506, + "ssim_L_unregistered": 0.505827, + "edge_corr_unregistered": 0.071463, + "paint_iou_unregistered": 0.94984, + "path_mm": 39723.39, + "longest_stroke_mm": 52.57, + "max_path_mm": 62300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.7617, + "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": 0.538097, + "sim_steps": 56574.0, + "resets": 1.0, + "n_contacts": 2523.0, + "samples": 282870.0, + "contact_samples": 116197.0, + "max_press_m": 0.006115, + "max_tilt_deg_in_contact": 0.450003, + "max_speed_in_contact_mps": 0.125431, + "handle_contact_samples": 0.0, + "n_dips": 433.0, + "dry_strokes": 0.0, + "n_frames": 597.0, + "replay_wall_s": 391.7, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 56574, + "video_rendered": 1, + "agent_sessions": 23, + "agent_resets": 17, + "agent_sim_steps": 195192, + "agent_records": 3, + "agent_replays": 0, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.013, + "peak_memory_gb": 1.14, + "peak_processes": 11, + "peak_disk_gb": 0.436, + "peak_cpus": 3.31, + "peak_pids": 417, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-oil-starrynight-i01-privileged--kgy4uru.mp4", + "duration_s": 59.7, + "fps": 10.0, + "frames": 597, + "sha256": "f9b36e1a605e0efd032f3d39a1a2135ea4ea18a2ced14d1114b84afcb22f198c" + }, + "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": 1.2, + "log_step": null, + "text_zh": "观察：视频 0.4 s 主纸仍空白，1.2 s 起主纸出现蓝绿色笔迹，说明刷毛已在调色盘蘸料（入槽瞬间被机械臂遮挡，时间约 1 s，不精确）。评分器字段 n_dips=433。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端画笔刷毛浸入调色盘颜料槽蘸取颜料（候选：蘸取），n_dips=433" + } + ] + }, + "starry_night_painted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 59.6, + "log_step": null, + "text_zh": "观察：视频末帧主纸俯视图中蓝色旋涡、月亮和柏树大致可辨，但全幅布满水平条带状笔触，下部村庄/山丘区域大片白色横向空隙，细节和边缘不符。评分器字段：de_mean 9.21（阈值 6.5）、de_p90 17.09（11.5）、ssim_L 0.51（0.68）、edge_corr 0.074（0.52）、paint_iou 0.950（0.96）、n_strokes 2523（上限 2517）均未达标。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂末端画笔刷毛压在主纸上沿水平扫掠，共 2523 笔" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 9.2124, + "unit": "DeltaE_ab", + "threshold": 6.5, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 17.0855, + "unit": "DeltaE_ab", + "threshold": 11.5, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.509884, + "unit": "ratio", + "threshold": 0.68, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": 0.07383, + "unit": "correlation", + "threshold": 0.52, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.94973, + "unit": "ratio", + "threshold": 0.96, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 2523.0, + "unit": "count", + "threshold": 2517, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 39723.39, + "unit": "mm", + "threshold": 62300, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "starry_night_painted", + "t": 59.0, + "log_step": 295, + "where": "操作中", + "evidence_zh": "观察：视频 59.6 s 末帧，主纸为水平条带状笔触，下部有大片白色横向空隙，与参考图不符；评分器 de_mean 9.21、ssim_L 0.51、edge_corr 0.074、n_strokes 2523 > 2517 均未达标。" + }, + "unmet": { + "starry_night_painted": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 59.0, + "log_step": null, + "evidence_zh": "观察：视频末段主纸上笔触是粗的水平扫掠条带，村庄/山丘区白色空隙明显、边缘和细节丢失（edge_corr 0.074 远低于 0.52），画面与参考图结构不符。" + } + ], + "root_causes": [ + { + "cat": "认知", + "item": "推理/规划", + "alt_feasible": "未知", + "evidence_zh": "agent 自述其离线预览“第一版布局太粗，达不到相似度阈值”（log step 43），后来仍称“边缘保真度仍不够”（log step 66）；最终仍交付由同类水平扫掠组成的 2517 笔方案（log step 295），笔数预算限制下未找到能达标的分解策略。", + "source_zh": "agent 自述" + } + ], + "gap_zh": "无状态日志；agent 计划 2517 笔而评分回放记 2523 笔（原因未查明，可能是回放拆笔）。根因只来自 agent 自述，其策略不可行性未被独立验证。" + }, + "summary_zh": "观察：画笔约视频 1 s 已蘸料（节点 1 达成），但主纸最终只是水平条带状的粗略星夜，下部有大片白缝，色差、SSIM、边缘相关、IoU 均未达标且笔数 2523 超 2517，所以主纸画成星夜未达成。断点在画主纸（操作中），现象为位姿不准（笔触位置/形状与参考不符）；根因推断为推理/规划（笔数预算下选的粗扫掠策略不足以保真，依据 agent 自述）。无状态日志，蘸料瞬间被遮挡。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点1约1 s达成、终点节点未达成、断点在主纸绘制、现象位姿不准均与帧和评分字段相符；根因来自agent自述，标注者已在gap_zh说明，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": "2026-11-08T08:32:10Z", + "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/robopaint-oil-starrynight-i01-privileged--kgy4uru/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-oil-starrynight-i01-privileged--kgy4uru/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c92d48d258025307b4f73174c04da7b559598fa6a7979a0ebdafd420d7c72f3c", + "video_sha256": "f9b36e1a605e0efd032f3d39a1a2135ea4ea18a2ced14d1114b84afcb22f198c", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--u5ojyyy.json b/phaseK/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--u5ojyyy.json new file mode 100644 index 0000000000000000000000000000000000000000..1739bd2dbfc2aa8410881e9d5ea0a39a44522f23 --- /dev/null +++ b/phaseK/robopaint/oil_starrynight_i01/trajectories/robopaint-oil-starrynight-i01-standard--u5ojyyy.json @@ -0,0 +1,325 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-oil-starrynight-i01-standard--u5ojyyy", + "taskKey": "robopaint/oil_starrynight_i01", + "dag_sha256": "eedd512073a6be994cd9e8516841e2a38950f9025d8042807b6f6d6d256e6faf", + "outcome": { + "success": 0, + "reward": 0.0, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.0, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "de_mean": 31.7573, + "de_p90": 62.2526, + "de_bad_frac": 0.862442, + "de_mean_sheet": 31.7573, + "ssim_L": 0.065247, + "paint_iou": 0.546174, + "paint_area_mm2": 24364.8, + "target_paint_area_mm2": 44609.9, + "n_target_strokes": 1678.0, + "de_mean_coarse": 30.1278, + "ssim_L_fine": 0.027913, + "edge_corr": -0.013115, + "region_cov_min": 0.0, + "region_cov_mean": 0.142079, + "n_regions": 211.0, + "n_strokes": 1461.0, + "n_practice_strokes": 27.0, + "n_dry_strokes": 0.0, + "max_strokes": 2517.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.2219, + "register_dy_mm": -0.4437, + "register_shift_mm": 0.4961, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "score_inset_mm": 7.987, + "de_mean_unregistered": 31.7414, + "de_p90_unregistered": 62.2749, + "ssim_L_unregistered": 0.064094, + "edge_corr_unregistered": -0.013857, + "paint_iou_unregistered": 0.545887, + "path_mm": 18626.2, + "longest_stroke_mm": 27.45, + "max_path_mm": 62300.0, + "path_budget_ok": 1.0, + "scribble_max": 1.1555, + "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": 0.0, + "sim_steps": 72000, + "resets": 0.0, + "n_contacts": 1488.0, + "samples": 360000.0, + "contact_samples": 38230.0, + "max_press_m": 0.005058, + "max_tilt_deg_in_contact": 55.247924, + "max_speed_in_contact_mps": 0.598267, + "handle_contact_samples": 0.0, + "n_dips": 84.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 72000, + "physics_steps": 360000, + "steps": 60933, + "calls": 529, + "elapsed_s": 2765.9, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0, + "peak_memory_gb": 1.2, + "peak_processes": 13, + "peak_disk_gb": 0.553, + "peak_cpus": 4.08, + "peak_pids": 942, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-oil-starrynight-i01-standard--u5ojyyy.mp4", + "duration_s": 60.1, + "fps": 10.0, + "frames": 601, + "sha256": "49dbd4cc3f5440c911468dbcc7691b313450ccbf63932fc55b1fd627de267217" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_loaded": { + "method": "visual", + "intervals": [ + [ + 7.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.5, + "log_step": 6, + "text_zh": "观察：视频 0.2 s 练习纸空白；视频 7.5 s 练习纸与主纸上已有蓝色笔迹，说明刷毛已在颜料槽装载（推断：首次蘸料发生在视频 0.2–7.5 s 之间，未逐帧定位，7.5 s 为不晚于的上界）；评分器 n_dips=84。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端安装的画笔刷毛浸入左侧调色盘颜料槽（候选：蘸取），随后在纸上出现有色笔迹；评分器 n_dips=84。" + } + ] + }, + "starry_night_painted": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": 290, + "text_zh": "观察：视频末帧（约 60 s）主纸俯视图已满铺蓝色旋涡，但柏树区是黑白斑驳、黄色星月很弱、仍有大量白露；评分器 paint_iou 0.546（阈值0.96）、de_mean 31.8（6.5）、ssim_L 0.065（0.68）、edge_corr −0.013（0.52），均未达标，故未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：画笔刷毛在主纸上压触拖出笔画（评分器 n_strokes=1461，接触样本 38230），无抓握。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "de_mean", + "value": 31.7573, + "unit": "DeltaE_ab", + "threshold": 6.5, + "direction": "lower_better" + }, + { + "name": "de_p90", + "value": 62.2526, + "unit": "DeltaE_ab", + "threshold": 11.5, + "direction": "lower_better" + }, + { + "name": "ssim_L", + "value": 0.065247, + "unit": "ratio", + "threshold": 0.68, + "direction": "higher_better" + }, + { + "name": "edge_corr", + "value": -0.013115, + "unit": "correlation", + "threshold": 0.52, + "direction": "higher_better" + }, + { + "name": "paint_iou", + "value": 0.546174, + "unit": "ratio", + "threshold": 0.96, + "direction": "higher_better" + }, + { + "name": "n_strokes", + "value": 1461.0, + "unit": "count", + "threshold": 2517, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 18626.2, + "unit": "mm", + "threshold": 62300, + "direction": "lower_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "starry_night_painted", + "t": 60.0, + "log_step": 290, + "where": "操作中", + "evidence_zh": "观察：全程 60 s 视频中机械臂持续在主纸上落笔，末帧画面与参考《星月夜》仍有明显差距（柏树区黑白斑驳、黄色星月弱、大量露白）；评分器 paint_iou 0.546、edge_corr −0.013、de_mean 31.8，笔画数与路径预算均未超（n_strokes 1461/2517，path 18626/62300 mm），失败在画面质量而非预算。" + }, + "phenomena": [], + "root_causes": [], + "gap_zh": "根因未给：agent 自述（log step 287、290）只说相机估计远低于阈值，并称完成 2273/2517 笔，与评分器 n_strokes=1461 不一致，没有证据区分是取色、落点标定还是规划问题。视频为加速画面，首次蘸料时刻未精确定位。 现象未给：末帧主纸构图位置（旋涡天空、左侧柏树、下部山丘）与参考图大体对应，帧上看不出落点整体错位；可见的只是大量露白、柏树区黑白斑驳、黄色星月弱（颜色选择不符）。edge_corr≈0 与肉眼构图相近的矛盾原因不明，证据无法区分，故不把“位姿不准”写成观察。", + "unmet": { + "starry_night_painted": false + } + }, + "summary_zh": "观察：画笔在视频约 7.5 s 前已蘸料（brush_loaded 达成），随后整段视频持续在主纸上落笔，末帧主纸已铺满蓝色旋涡但与参考图差距大，评分器各画质指标（paint_iou 0.546、edge_corr −0.013、de_mean 31.8）均未达标，主纸画成星夜未完成（1/2）。断点在主纸绘制，笔画数与路径预算并未超限；根因证据不足，留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "节点值、时间与断点基本可接受；但失败现象“位姿不准”的证据与末帧相矛盾：末帧主纸的构图（旋涡、柏树位置、山村）与参考图位置一致，并非落点整体错位，该现象由指标反推而非帧所见，却写成观察。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "节点值、断点与空 phenomena/root_causes（含 gap_zh）与视频末帧和评分器指标一致，上一轮问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:36:56Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work_rerun1/runs/robopaint-oil-starrynight-i01-standard--u5ojyyy/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/robopaint-oil-starrynight-i01-standard--u5ojyyy/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work_rerun1/runs/robopaint-oil-starrynight-i01-standard--u5ojyyy/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work_rerun1/runs/robopaint-oil-starrynight-i01-standard--u5ojyyy/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b8a15a0c0dbef553235f3a0d5fd2763b58e1bf9b307fdc0237c74d722b32faa0", + "video_sha256": "49dbd4cc3f5440c911468dbcc7691b313450ccbf63932fc55b1fd627de267217", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_feng/trajectories/robopaint-xingshu-feng-i00-privileged--ryytwtn.json b/phaseK/robopaint/xingshu_feng/trajectories/robopaint-xingshu-feng-i00-privileged--ryytwtn.json new file mode 100644 index 0000000000000000000000000000000000000000..7f390bea5c64a4539b3375a8565fb884739d5ce1 --- /dev/null +++ b/phaseK/robopaint/xingshu_feng/trajectories/robopaint-xingshu-feng-i00-privileged--ryytwtn.json @@ -0,0 +1,336 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-feng-i00-privileged--ryytwtn", + "taskKey": "robopaint/xingshu_feng", + "dag_sha256": "b2000d8b39972d5c5404587c9bb6982941749c262ea1a295ab64def636da9b59", + "outcome": { + "success": 0, + "reward": 0.78848, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.78848, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + 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"media:robopaint-xingshu-feng-i00-privileged--ryytwtn.mp4", + "duration_s": 41.8, + "fps": 10.0, + "frames": 418, + "sha256": "f1065cf013d6c8521e08f449135a84228f820090ac5be49f9ce02649e118cff4" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 5.8, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 6.0, + "log_step": null, + "text_zh": "观察：视频 6.0 s 右下角纸面图出现首个墨点，7-9 s 变成一笔黑色弯划；视频 5 s 时纸面仍空白。推断：毛笔此前已在墨池蘸墨（视频开头视角被机械臂遮挡，未直接看到入池），按首次落墨约视频 5.8 s 记为达成。grader 字段 n_dips=1。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 臂端固定安装的毛笔笔毫浸入左侧墨池（grader n_dips=1），候选接触名“浸蘸”。" + } + ] + }, + "feng_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 41.5, + "log_step": 148, + "text_zh": "观察：视频 41.5 s 主纸俯视图已有形似“風”的黑字，但外形偏粗、内部白洞偏小；评分器字段 iou 0.788<0.80，boundary_f 0.485<0.75，min_stroke_coverage 0.596<0.80（第8区），stray_frac 0.080>0.04，image_success 0。故图像验收条件全程未满足，intervals 为空。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：毛笔笔毫在主纸上画出 6 笔有墨接触（grader n_marked_pieces=6，contact_samples 3164），沿笔画拖动成字。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.78848, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.484616, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.596182, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.08027, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 707.2, + "unit": "mm", + "threshold": 2150, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 9.2352, + "unit": "mm", + "threshold": 2.42, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "feng_written", + "t": 41.5, + "log_step": 148, + "where": "操作中", + "evidence_zh": "观察：视频 41.5 s 主纸上六笔已写完，字形接近目标但粗细、内部留白不符；评分器 iou 0.788<0.80、boundary_f 0.485、min_stroke_coverage 0.596（第8区）、stray_frac 0.080 均未达标，笔数/填色/扫写过程门槛通过（strict_ok 1）。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 41.5, + "log_step": 148, + "evidence_zh": "观察：视频 41.5 s 的成字笔迹整体偏粗、笔画位置有偏差（右侧细钩区覆盖仅 0.596，杂墨 0.080）；评分器字段为证。推断：笔迹位置/宽度偏离目标，而非接触问题。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "alt_feasible": "未知", + "evidence_zh": "观察：agent 自述（log step 100、137）笔宽几乎与压力无关、实际手臂落墨与理想墨迹模型在细钩处差别明显；11 次会话反复调整仍未达标。推断：六笔拖拽轨迹无法同时压住杂墨并覆盖细区，属轨迹执行/设计不足，子类不明，保持“控制”。", + "source_zh": "agent 自述 / 评分器字段" + } + ], + "gap_zh": "无状态日志，无法核对笔尖与墨池的精确进出时间；视频开头视角被机械臂遮挡，蘸墨时刻为推断。根因子类证据有限。", + "unmet": { + "feng_written": false + } + }, + "summary_zh": "观察：视频 5.8 s 左右出现首笔墨迹，说明毛笔蘸墨已达成；视频 41.8 s 内写出六笔近似“風”，但 IoU 0.788、边界F 0.485、第8区覆盖 0.596、杂墨 0.080 均未达标，目标节点未达成（success=0）。断点为临成風字，现象为位姿不准，根因仅能定到控制。主要缺口：无状态日志，蘸墨时刻靠推断。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点（蘸墨约5.8 s达成、风字未达成）、断点（feng_written，操作中）和位姿不准现象均与视频及评分器数值一致；根因只定到控制，证据有限但已如实标注。", + "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": "2026-11-08T08:30:12Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-feng-i00-privileged--ryytwtn/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-feng-i00-privileged--ryytwtn/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "8f57a4f286ee86791bf071547ad4e40b048ffc56c75d392d61dbd995d1895be8", + "video_sha256": "f1065cf013d6c8521e08f449135a84228f820090ac5be49f9ce02649e118cff4", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_feng/trajectories/robopaint-xingshu-feng-i00-standard--crvud8j.json b/phaseK/robopaint/xingshu_feng/trajectories/robopaint-xingshu-feng-i00-standard--crvud8j.json new file mode 100644 index 0000000000000000000000000000000000000000..33b9e4b76b2dfec83e774e344037293f25582a89 --- /dev/null +++ b/phaseK/robopaint/xingshu_feng/trajectories/robopaint-xingshu-feng-i00-standard--crvud8j.json @@ -0,0 +1,333 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-feng-i00-standard--crvud8j", + "taskKey": "robopaint/xingshu_feng", + "dag_sha256": "b2000d8b39972d5c5404587c9bb6982941749c262ea1a295ab64def636da9b59", + "outcome": { + "success": 0, + "reward": 0.70481, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.70481, + "infra_error": 0, + "sim_error": 0, + "grader_error": 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+ "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 6316, + "physics_steps": 31580, + "steps": 6316, + "calls": 82, + "elapsed_s": 2390.8, + "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": 0.273, + "peak_processes": 8, + "peak_disk_gb": 0.308, + "peak_cpus": 3.55, + "peak_pids": 253, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-feng-i00-standard--crvud8j.mp4", + "duration_s": 57.6, + "fps": 10.0, + "frames": 576, + "sha256": "bdc9988c4f20d9a16d33ee4bd8b06ba3b5ac7094d4d893a41bef6a87f79857ae" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.0, + "log_step": null, + "text_zh": "观察：视频 1-2 s 笔尖下到墨池后笔毫变黑，视频 4 s 起练习纸上出现黑色实线（侧视图），说明已蘸墨；起点约 2 s 为推断（开头被机械臂遮挡）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "安装在 Panda 臂端的毛笔笔毫浸入墨池（浸蘸），视频约 1-2 s；整段共 7 次蘸墨（评分器 n_dips=7）。" + } + ] + }, + "feng_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.5, + "log_step": 174, + "text_zh": "观察：视频末帧右下角纸面图有六笔墨迹，大致呈“風”字形，但内部笔画粗糙、与目标有偏差；评分器 iou=0.705（<0.80）、boundary_f=0.414（<0.75）、min_stroke_coverage=0.652（<0.80）、stray_frac=0.0915（>0.04），image_success=0，故未达成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "安装的毛笔笔毫压在主纸上沿笔画拖动，视频约 46-57 s 写出六笔；评分器记 6 个有墨接触、路径 647 mm。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.70481, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.4135, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.65244, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.091505, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 647.22, + "unit": "mm", + "threshold": 2150, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 8.8337, + "unit": "mm", + "threshold": 2.42, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "feng_written", + "t": 50.0, + "log_step": 173, + "where": "操作中", + "evidence_zh": "观察：视频约 46-57 s 主纸上写出六笔，末帧字形大致像“風”但轮廓和内部笔画偏离目标；评分器 iou 0.705、boundary_f 0.414、stray_frac 0.0915 均未达标，六笔上限用完后未再补写（agent 自述 log step 173）。" + }, + "unmet": { + "feng_written": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 50.0, + "log_step": 173, + "evidence_zh": "观察：末帧墨迹整体形状像“風”，但笔画位置/粗细与目标不符（boundary_f 0.414，min_stroke_coverage 0.652，第6区覆盖 0.652，杂墨 9.2%）；agent 自述 camera 估计 IoU≈0.66（log step 173）。" + } + ], + "root_causes": [], + "gap_zh": "主纸笔画位置偏差的具体来源（笔迹宽度标定、坐标映射或轨迹规划）没有状态日志或逐笔对照证据，故根因留空；phenomena 的细类（位姿不准）依据评分器指标与末帧推断。" + }, + "summary_zh": "观察：毛笔约视频 2 s 蘸墨（brush_inked 达成），视频约 46-57 s 在主纸写下六笔，但最终 IoU 0.705、boundary_f 0.414、stray 0.0915 均未达标，feng_written 未达成（1/2 节点）。断点在写字步骤的笔画位置/形状偏差；六笔上限用尽，agent 没有再补笔。根因无直接证据，留空。", + "conf": 6, + "review": { + "status": "agreed", + "rounds": 1, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "agree", + "conf": 6, + "summary_zh": "节点 brush_inked 达成、feng_written 未达成与评分器指标（iou 0.705、boundary_f 0.414、stray 0.0915）一致；断点、位姿不准现象及空根因加 gap_zh 均有依据，未发现需要修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:30:50Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-feng-i00-standard--crvud8j/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-feng-i00-standard--crvud8j/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "1b1300f68b10a5408793c899d67db329afdbbc3803d26496297fff986bfdf7b6", + "video_sha256": "bdc9988c4f20d9a16d33ee4bd8b06ba3b5ac7094d4d893a41bef6a87f79857ae", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--bm4mbef.json b/phaseK/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--bm4mbef.json new file mode 100644 index 0000000000000000000000000000000000000000..e45db15a644ea7e99a07662077ee01df2ee00457 --- /dev/null +++ b/phaseK/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-privileged--bm4mbef.json @@ -0,0 +1,339 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-he-i00-privileged--bm4mbef", + "taskKey": "robopaint/xingshu_he", + "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6", + "outcome": { + "success": 1, + "reward": 0.880874, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.880874, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "iou": 0.880874, + "boundary_precision": 0.779494, + "boundary_recall": 0.757463, + "boundary_f": 0.768321, + "ink_precision": 0.914736, + "ink_recall": 0.959671, + "min_stroke_coverage": 0.823529, + "mean_stroke_coverage": 0.949269, + "stray_frac": 0.039757, + "missing_frac": 0.006181, + "ink_area_mm2": 3517.39, + "target_area_mm2": 3352.69, + "n_target_strokes": 7.0, + "stroke_coverage_01": 0.999541, + "stroke_coverage_02": 0.95765, + "stroke_coverage_03": 0.973619, + "stroke_coverage_04": 0.965832, + "stroke_coverage_05": 0.974551, + "stroke_coverage_06": 0.823529, + "stroke_coverage_07": 0.95016, + "n_strokes": 6.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 0.846154, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 4.0, + "max_strokes": 6.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.4437, + "register_dy_mm": -0.2219, + "register_shift_mm": 0.4961, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.869537, + "boundary_f_unregistered": 0.753605, + "min_stroke_coverage_unregistered": 0.815896, + "stray_frac_unregistered": 0.03823, + "path_mm": 422.39, + "longest_stroke_mm": 104.21, + "mark_width_mm": 10.6577, + "max_path_mm": 1850.0, + "min_mark_width_mm": 1.93, + "colour_in": 0.0, + "n_marked_pieces": 6.0, + "n_strokes_counted": 6.0, + "max_stroke_path_mm": 1770.0, + "longest_counted_stroke_mm": 104.08, + "strokes_counted_ok": 1.0, + "scribble_max": 2.1435, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.880874, + "sim_steps": 1355.0, + "resets": 1.0, + "n_contacts": 6.0, + "samples": 6775.0, + "contact_samples": 2642.0, + "max_press_m": 0.015006, + "max_tilt_deg_in_contact": 0.138259, + "max_speed_in_contact_mps": 0.027937, + "handle_contact_samples": 0.0, + "n_dips": 6.0, + "dry_strokes": 0.0, + "n_frames": 453.0, + "replay_wall_s": 111.4, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1355, + "video_rendered": 1, + "agent_sessions": 18, + "agent_resets": 27, + "agent_sim_steps": 32628, + "agent_records": 13, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 1, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.022, + "peak_memory_gb": 10.606, + "peak_processes": 13, + "peak_disk_gb": 0.362, + "peak_cpus": 3.21, + "peak_pids": 409, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 3, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0, + "over_oom": 1 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-he-i00-privileged--bm4mbef.mp4", + "duration_s": 45.3, + "fps": 10.0, + "frames": 453, + "sha256": "68aa8b4e304a6b203d791c94d982ecc3209e72a9296257fbe79c9dab5113df0d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 4.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 4.8, + "log_step": null, + "text_zh": "观察：视频 4.0 s 笔尖在砚台上方、主纸空白；视频 4.5 s 笔尖已下探砚台处，视频 4.8 s 右下主纸图首次出现一小块黑墨。推断：蘸墨约在视频 4.5 s，时刻有约0.3 s不确定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端固定的毛笔笔毫下探砚台墨液（候选“浸蘸”），随后笔毫载墨；评分器 n_dips=6。" + } + ] + }, + "he_written": { + "method": "visual", + "intervals": [ + [ + 39.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 39.0, + "log_step": 193, + "text_zh": "观察：视频 30 s 主纸图仍缺右部方框口形；视频 38.5 s 起主纸图已是完整的黑色“和”，禾形撇、长笔、竖笔与右部口形都在，38.5 s 与 42 s、45.2 s（末帧）帧几乎相同。评分器 success=1、IoU 0.881、边界F 0.768、笔数 6，与画面一致。推断：IoU 阈值无法逐帧读出，以形状齐全的首帧（约 38.5–39 s）为准，之后口形边缘仍有细微调整。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：毛笔笔毫在主纸上按压并沿笔画拖动，共6次载墨接触（评分器 n_contacts=6），画出完整“和”字。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.880874, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.768321, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.823529, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.039757, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 422.39, + "unit": "mm", + "threshold": 1850, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 10.6577, + "unit": "mm", + "threshold": 1.93, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.880874, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：graded 回放视频中毛笔约视频 4.5 s 蘸墨，视频 4.8 s 主纸首次出墨，约视频 39 s 起主纸为完整“和”字；评分器 success=1（IoU 0.881、边界F 0.768、六笔）。两个节点均达成。证据缺口：写成时刻按形状齐全的首帧估计（约 38.5–39 s），IoU 阈值无法逐帧读出，无状态日志。", + "conf": 8, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "蘸墨节点与两节点终值、contact_actual、无失败层均正确；唯一问题是 he_written 的达成时刻：视频约 38.5–39 s 起主纸图已含完整禾形、长笔、竖笔和右部口形，标成 42 s 偏晚约 3 s。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "两节点终值、时刻（蘸墨约 4.5 s，写成约 39 s）、contact_actual 均与帧和评分器一致；成功运行无失败层，第1轮问题已修正。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:34:32Z", + "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/robopaint-xingshu-he-i00-privileged--bm4mbef/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-privileged--bm4mbef/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-privileged--bm4mbef/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-privileged--bm4mbef/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "92dc40666b736ea31edf6eb8237589f706dcebd19878e596f4191ea8d626680b", + "video_sha256": "68aa8b4e304a6b203d791c94d982ecc3209e72a9296257fbe79c9dab5113df0d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--wujsefb.json b/phaseK/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--wujsefb.json new file mode 100644 index 0000000000000000000000000000000000000000..e05d9b17ab545ade9831b7f1b2fa590820061e59 --- /dev/null +++ b/phaseK/robopaint/xingshu_he/trajectories/robopaint-xingshu-he-i00-standard--wujsefb.json @@ -0,0 +1,360 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-he-i00-standard--wujsefb", + "taskKey": "robopaint/xingshu_he", + "dag_sha256": "19ded855419f27bc05692a1fd774331a949e1f77ebe803735575803304cc82e6", + "outcome": { + "success": 0, + "reward": 0.704532, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.704532, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + 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"media:robopaint-xingshu-he-i00-standard--wujsefb.mp4", + "duration_s": 60.1, + "fps": 10.0, + "frames": 601, + "sha256": "a6cb4a20be21a3f726b83472f5186936eb757ba3e610078a559cf70e47823c9d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 0-3 s 机械臂带毛笔在砚台附近下探，视频 3 s 起练习纸上出现墨痕（说明笔已载墨）；砚台被笔遮挡，具体时刻约 2 s（不确定）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：机械臂末端固定毛笔笔毫浸入砚台墨液（候选名“浸蘸”），日志 n_dips=12。" + } + ] + }, + "he_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 60.0, + "log_step": null, + "text_zh": "观察：视频 60 s 右下主纸图有近似“和”的黑墨，但右部口形偏实、左部笔画粗糙。评分器字段：iou 0.705<0.80，boundary_f 0.371<0.75，min_stroke_coverage 0.734<0.80（第4区），stray_frac 0.120>0.04，n_strokes 6 合规，success 0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：毛笔笔毫在主纸上压划写出6笔，约视频 33-60 s；n_contacts 17。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.704532, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.370992, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.734413, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.119711, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 795.72, + "unit": "mm", + "threshold": 1850, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 7.0289, + "unit": "mm", + "threshold": 1.93, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.704532, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "he_written", + "t": 60.0, + "log_step": 85, + "where": "操作中", + "evidence_zh": "观察：视频 60 s 主纸上的“和”已写出六笔，但与目标形状不符（IoU 0.705，边界F 0.371，第4笔区域覆盖 0.734，杂墨 0.120）；agent 自述其估计 IoU≈0.70 低于阈值，并停止在笔数上限（log step 85、87）。 第6笔补写（log step 82，约视频 60 s 前）没能修复形状偏差，he_written 从未达成，失败发生在书写过程中。" + }, + "unmet": { + "he_written": false + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 60.0, + "log_step": 84, + "evidence_zh": "观察：视频末帧主纸墨迹轮廓与目标有偏差，右部口形被涂实、笔画偏粗，杂墨比 0.120 超过 0.04。推断：分类为落墨位置/形状不准；taxonomy 无更精确条目，此处为近似。" + } + ], + "root_causes": [], + "gap_zh": "没有状态日志，无法判定偏差由规划（七笔目标合并为六笔）还是笔迹控制造成，故根因层留空；phenomenon 的类别为近似。" + }, + "summary_zh": "观察：毛笔先在练习纸试笔并蘸墨（视频约 2 s 起），随后在主纸写出六笔“和”（约 33-60 s）。推断：蘸墨节点达成，写成和字未达成（IoU 0.705<0.80，边界F 0.371，杂墨 0.120，第4区覆盖 0.734）；笔数合规。缺口：无状态日志，根因无法判定。", + "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（蘸墨达成、he_written 未达成，final=1/2）与评分器数值一致，视频末帧也支持；主要问题是断点失败位置：写字这一步一直没做好，不是“所有关系已达成、只在终态验收失败”。根因层留空并写了 gap_zh，可接受。", + "n_issues": 1, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "蘸墨达成、he_written 未达成与评分器数值及末帧一致；断点 where 已按上轮改为操作中；根因层留空并有 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": "2026-11-08T08:34:34Z", + "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/robopaint-xingshu-he-i00-standard--wujsefb/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-standard--wujsefb/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-standard--wujsefb/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-he-i00-standard--wujsefb/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "5f4de8996b757992ccf074bf584257ecdad5a82a9f3a4703d517676b58cc518d", + "video_sha256": "a6cb4a20be21a3f726b83472f5186936eb757ba3e610078a559cf70e47823c9d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--wt5lqug.json b/phaseK/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--wt5lqug.json new file mode 100644 index 0000000000000000000000000000000000000000..aa4611924851c4ee5f477864af36ae4a09afeef6 --- /dev/null +++ b/phaseK/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-privileged--wt5lqug.json @@ -0,0 +1,362 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-huifenghechang-i00-privileged--wt5lqug", + "taskKey": "robopaint/xingshu_huifenghechang", + "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5", + "outcome": { + "success": 0, + "reward": 0.801094, + "source": "catalog", + "raw": { + "success": 0, + "final_reward": 0.801094, + "deterministic": 1, + 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"stroke_order_concordance": 0.576819, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 22.0, + "max_strokes": 28.0, + "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, + "iou_unregistered": 0.801094, + "boundary_f_unregistered": 0.824519, + "min_stroke_coverage_unregistered": 0.592275, + "stray_frac_unregistered": 0.037522, + "path_mm": 2705.02, + "longest_stroke_mm": 288.97, + "mark_width_mm": 2.789, + "max_path_mm": 6060.0, + "min_mark_width_mm": 1.15, + "colour_in": 0.0, + "n_marked_pieces": 28.0, + "n_strokes_counted": 28.0, + "max_stroke_path_mm": 1250.0, + "longest_counted_stroke_mm": 288.12, + "strokes_counted_ok": 1.0, + "scribble_max": 4.1994, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.801094, + "sim_steps": 5076.0, + "resets": 1.0, + "n_contacts": 28.0, + "samples": 25380.0, + "contact_samples": 16585.0, + "max_press_m": 0.00998, + "max_tilt_deg_in_contact": 0.090634, + "max_speed_in_contact_mps": 0.026456, + "handle_contact_samples": 0.0, + "n_dips": 1.0, + "dry_strokes": 0.0, + "n_frames": 565.0, + "replay_wall_s": 167.9, + "all_success": 0, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 5076, + "video_rendered": 1, + "agent_sessions": 54, + "agent_resets": 19, + "agent_sim_steps": 88914, + "agent_records": 1, + "agent_replays": 17, + "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": 1.753, + "peak_processes": 18, + "peak_disk_gb": 0.555, + "peak_cpus": 5.73, + "peak_pids": 841, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-huifenghechang-i00-privileged--wt5lqug.mp4", + "duration_s": 56.5, + "fps": 10.0, + "frames": 565, + "sha256": "1448eb8f5d2ee13444d9a3548a8ee4d086158296eb2c3b2ca734affe56de441a" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": null, + "peak": null, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.0, + "log_step": null, + "text_zh": "观察：视频 2.0 s 右下主纸图出现第一笔黑色墨迹，说明笔毫已蘸墨（起始蘸墨被机械臂遮挡）；评分字段 n_dips=1、n_dry_strokes=0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "毛笔笔毫浸入墨池（候选“蘸取”），由随后出现的墨迹和 n_dips=1 确认。" + } + ] + }, + "calligraphy_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 56.4, + "log_step": null, + "text_zh": "观察：视频末段（约 56 s）主纸四字（惠风和畅）轮廓基本成形，但评分字段 min_stroke_coverage=0.592<0.80（区域30，区域3为0.724），IoU=0.801、boundary_f=0.825、stray_frac=0.0375、笔画数28均达标；故四字帖未完成。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔尖按压主纸写出28笔（n_contacts=28，最大按压约10 mm）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.801094, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.824519, + "unit": "1", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.592275, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.037522, + "unit": "1", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 28.0, + "unit": "stroke", + "threshold": 28, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 28.0, + "unit": "stroke", + "threshold": 28, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 2705.02, + "unit": "mm", + "threshold": 6060, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 2.789, + "unit": "mm", + "threshold": 1.15, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "calligraphy_copied", + "where": "操作中", + "t": 56.0, + "evidence_zh": "观察：写完28笔后，评分器字段 min_stroke_coverage=0.592（阈值0.80），第30区0.592、第3区0.724未达标，其余指标达标。", + "log_step": null + }, + "phenomena": [ + { + "t": 56.0, + "log_step": null, + "evidence_zh": "观察：视频 56 s 主纸图字形整体正确，但个别笔画局部墨量不足（评分字段第30区覆盖 0.592、第3区 0.724）。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [], + "gap_zh": "未能把未达标区域对应到具体笔画与根因；agent 日志只显示其用压力微调反复折中杂墨与覆盖，未提供可核实的根因，故根因层留空。", + "unmet": { + "calligraphy_copied": false + } + }, + "summary_zh": "观察：毛笔在视频约 2.0 s 前已蘸墨，写满28笔、四字形态基本可辨，IoU 0.801、boundary_f 0.825、stray 0.0375均达标，但最小区域覆盖仅 0.592（<0.80），故临帖未完成（1/2 节点）。断点为临成四字帖；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": "节点 brush_inked(2.0 s 首笔墨迹，n_dips=1)与 calligraphy_copied 未完成(min_stroke_coverage 0.592<0.80)均与视频和评分字段一致；断点、根因留空并写明 gap_zh 合理。位姿不准的证据较弱但标注已保守，未发现必须修改的错误。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:30:58Z", + "review_prompt": 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5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd.json b/phaseK/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd.json new file mode 100644 index 0000000000000000000000000000000000000000..56296da029386239f86591effe62b94c0294a01a --- /dev/null +++ b/phaseK/robopaint/xingshu_huifenghechang/trajectories/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd.json @@ -0,0 +1,427 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd", + "taskKey": "robopaint/xingshu_huifenghechang", + "dag_sha256": "59e99aa57ce40b63680d8f4c19c80e625eebdfe45d57ff8f8c80c0325c0c00e5", + "outcome": { + "success": 0, + "reward": 0.523946, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + 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"其他", + "note_zh": "观察：机械臂末端毛笔笔毫浸入墨池取墨（候选“蘸取”），随后纸上出现墨迹。" + } + ] + }, + "calligraphy_copied": { + "method": "visual", + "intervals": null, + "final": false, + "evidence": [ + { + "t": 59.8, + "log_step": 146, + "text_zh": "观察：视频末帧（59.8 s）右下主纸图仅有右列“惠”“風”、左列两处杂乱墨团，字形不似“和”“畅”，墨团粗大。评分字段 iou 0.524（阈值0.80）、boundary_f 0.389、min_stroke_coverage 0.242、stray_frac 0.263（阈值0.04），success=0；n_strokes 28 未超限。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：机械臂末端毛笔笔毫压住主纸并沿笔画移动，共28笔主纸带墨接触。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.523946, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.388545, + "unit": "1", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.241762, + "unit": "1", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.262993, + "unit": "1", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 28.0, + "unit": "stroke", + "threshold": 28, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 28.0, + "unit": "stroke", + "threshold": 28, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 2434.79, + "unit": "mm", + "threshold": 6060, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 4.279, + "unit": "mm", + "threshold": 1.15, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "1", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "calligraphy_copied", + "where": "操作中", + "t": 59.8, + "log_step": 146, + "evidence_zh": "观察：视频末帧（59.8 s）主纸左列字形混乱成墨团，右列“惠風”也偏粗；评分 iou 0.524、stray_frac 0.263，agent 自述最终估计 IoU 0.507（log step 146）。28 笔用完仍未修复。" + }, + "phenomena": [ + { + "t": 59.8, + "log_step": 146, + "evidence_zh": "观察：视频 59.8 s 主纸图左列“和”“畅”字形错位、笔画挤成团，多余墨迹占比 0.263（评分字段 stray_frac），部分笔画覆盖仅 0.24-0.45（stroke_coverage_11/03/30）。", + "cat": "运动", + "item": "位姿不准" + } + ], + "gap_zh": "根因子类型无法从日志与视频区分（笔毫模型、位置偏差还是笔画规划）；视频为 60 s 压缩回放，无法逐笔对应日志。", + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "推断：agent 用自定义脚本多次分阶段写字并以俯视相机估计修补（log step 141-146），但落笔位置与笔画粗细仍偏离目标；未见错误目标或规划证据，具体子类型不明。", + "source_zh": "日志", + "alt_feasible": "未知" + } + ], + "unmet": { + "calligraphy_copied": false + } + }, + "summary_zh": "观察：视频约 7.6 s 起主纸出现墨迹，蘸墨达成；但终帧四字未临成（IoU 0.524、stray_frac 0.263、min_stroke_coverage 0.242，success=0）。断点为临成四字帖的书写过程，现象为字形位姿不准，28 笔用尽无法修复；根因只能归到控制，细项不明。无状态日志，节点按视频判断。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 3, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "整体标签（calligraphy_copied 未达成、断点、位姿不准、控制根因）与评分字段和末帧一致；唯一错误是 brush_inked 的时间：主纸墨迹在视频约 7.6-7.8 s 已出现，而非 9.5/10 s。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "fix", + "conf": 7, + "summary_zh": "节点、断点、位姿不准与控制根因与末帧及评分字段一致；仅顶层 summary_zh 仍写“约 10 s”，与已修正的 brush_inked 7.6 s 不符。", + "n_issues": 1, + "n_major": 0 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 3, + "kind": "confirm", + "verdict": "agree", + "summary_zh": "I1 已按 accept 应用：summary_zh 现写“约 7.6 s”，与 brush_inked 区间及视频一致。", + "n_issues": 0, + "n_checks": 1 + } + ], + "open_zh": [], + "confirm": { + "verdict": "confirmed", + "summary_zh": "I1 已按 accept 应用：summary_zh 现写“约 7.6 s”，与 brush_inked 区间及视频一致。", + "checks_ok": "1/1", + "n_factual_errors": 0 + } + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:35:18Z", + "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/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd/04_review_r2" + }, + { + "stage": "reconcile", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd/05_reconcile_r2" + }, + { + "stage": "confirm", + "round": 3, + "ok": true, + "space": "work/runs/robopaint-xingshu-huifenghechang-i00-standard--ytjtbwd/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": "279be22fd2ee62c2106c855cb10a80c27ee26f7346f8f2e53fcf201002fb2ec5", + "video_sha256": "a38f400563e27ccdee0df3e788b4981bd85bf13cc08840297b7f0df60121e448", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_maolinxiuzhu/trajectories/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o.json b/phaseK/robopaint/xingshu_maolinxiuzhu/trajectories/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o.json new file mode 100644 index 0000000000000000000000000000000000000000..92f9125b8fe58ebe8c873cde1014f16c05a7bd8b --- /dev/null +++ b/phaseK/robopaint/xingshu_maolinxiuzhu/trajectories/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o.json @@ -0,0 +1,359 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o", + "taskKey": "robopaint/xingshu_maolinxiuzhu", + "dag_sha256": "724a758332945538c8dac6cd500043b8c4f98f7f80ea28dedaa0e42ff14ce095", + "outcome": { + "success": 1, + "reward": 0.809117, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.809117, + "deterministic": 1, + "grader_error": 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"media:robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o.mp4", + "duration_s": 59.8, + "fps": 10.0, + "frames": 598, + "sha256": "b577029ff4a231b4e334ba5d66861d9e2fb9f28498be253ef6c70bcecd580a5f" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 2.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 2.4, + "log_step": null, + "text_zh": "观察：视频 1.0–2.2 s 右下俯视图纸面空白（砚台上的黑点是砚台墨液，不是笔迹），约 2.4 s 出现首个墨点，3.0 s 变大；评分字段 n_dips=1、n_dry_strokes=0（评分器字段）。蘸墨动作本身未逐帧看到，约 2.0 s 为首个墨点前的推断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 末端毛笔笔毫浸入砚台墨液（候选名“蘸墨”）；仅由 n_dips=1 与墨迹出现推断" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [ + [ + 59.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 59.5, + "log_step": null, + "text_zh": "观察：视频 59.5 s 右下俯视图显示两列四字（茂、林、修、竹）完整，与目标图一致；评分器 success=1，iou 0.809、boundary_f 0.857、min_stroke_coverage 0.810、stray_frac 0.037、n_strokes 21。观察：55 s 时茂、林、修已写出，仅竹未写完；约 59 s 完成（估计）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔毫压在主纸上沿笔画拖动成墨迹，共 21 次含墨接触（n_contacts=21）" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.809117, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.856916, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.809589, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.036909, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 21, + "unit": "count", + "threshold": 21, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 21, + "unit": "count", + "threshold": 21, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 1917.24, + "unit": "mm", + "threshold": 3160, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 2.2092, + "unit": "mm", + "threshold": 1.12, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": null, + "summary_zh": "成功：评分器 success=1，两个节点（蘸墨、临摹整幅字帖）均达成。观察：视频 1 s 起出现墨迹，59.5 s 俯视图两列“茂林修竹”完整；指标均略高于阈值（IoU 0.809、笔数 21/21）。证据缺口：无状态日志，蘸墨瞬间与完成时刻只能由墨迹出现时间推断。", + "conf": 7, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "成功判定与两个节点最终值正确，但 brush_inked 的时间与证据所述的“1.0 s 已有墨点”不符（右下纸面视图 1.0–2.2 s 仍空白，首个墨点约 2.4 s），且 exemplar_copied 证据中“55 s 仍缺林下部与修”与帧不符。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 8, + "summary_zh": "成功判定与两节点最终值正确；第1轮修正已落实（蘸墨约2.0 s，首墨点2.4 s；59.5 s四字完整）。", + "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": "2026-11-08T08:34:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-privileged--j4tsa8o/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "db18da7152387af0f44d1c994a462403f91dbadcd53777d8c03d40cd1234a383", + "video_sha256": "b577029ff4a231b4e334ba5d66861d9e2fb9f28498be253ef6c70bcecd580a5f", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_maolinxiuzhu/trajectories/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge.json b/phaseK/robopaint/xingshu_maolinxiuzhu/trajectories/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge.json new file mode 100644 index 0000000000000000000000000000000000000000..acc6d8738b498716b1a92df7107a2d6af442727b --- /dev/null +++ b/phaseK/robopaint/xingshu_maolinxiuzhu/trajectories/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge.json @@ -0,0 +1,388 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge", + "taskKey": "robopaint/xingshu_maolinxiuzhu", + "dag_sha256": "724a758332945538c8dac6cd500043b8c4f98f7f80ea28dedaa0e42ff14ce095", + "outcome": { + "success": 0, + "reward": 0.505272, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 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"instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 5032, + "physics_steps": 25160, + "steps": 5031, + "calls": 96, + "elapsed_s": 1971.5, + "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": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge.mp4", + "duration_s": 56.1, + "fps": 10.0, + "frames": 561, + "sha256": "0ec3e029802f5c9ff7f52668032ac018f31dfbe9d70507cd4cc6300b1658d544" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 3.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 3.5, + "log_step": null, + "text_zh": "观察：视频 2.5-4.5 s 左下相机显示毛笔在砚台处升降；推断：笔毫蘸墨约在视频 3.5 s（精度约 1-2 s）。观察：视频约 17-19 s 起练习纸（左下相机）出现黑色笔迹，说明笔已带墨；主纸（右下俯视图）首笔约在视频 32 s；评分器 n_dips=2。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "观察：Panda 毛笔笔毫浸入砚台墨液（蘸墨，候选名）。" + } + ] + }, + "exemplar_copied": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 55.5, + "log_step": 161, + "text_zh": "观察：视频 55.5 s 右下俯视图显示两列字形严重残缺：缺笔、笔画断裂、粗细不均。评分器字段 iou=0.505（需≥0.80）、boundary_f=0.450（≥0.75）、min_stroke_coverage=0.305（≥0.80）、stray_frac=0.284（≤0.04），共 21 笔，未达验收。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "观察：视频约 32 s 起毛笔笔毫压在主纸上按 21 笔写字，笔毫与纸面接触留下墨迹（此前约 17-32 s 为练习纸试写）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.505272, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.450296, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.305292, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.283907, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 21.0, + "unit": "count", + "threshold": 21, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 21.0, + "unit": "count", + "threshold": 21, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 1217.34, + "unit": "mm", + "threshold": 3160, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 4.0492, + "unit": "mm", + "threshold": 1.12, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + } + ], + "failure": { + "breakpoint": { + "ref": "exemplar_copied", + "where": "操作中", + "t": 32, + "log_step": 160, + "evidence_zh": "观察：视频约 32-55.5 s 毛笔在主纸写出 21 笔（此前约 17-32 s 为练习纸试写，n_practice_strokes=16），右下俯视图字形残缺、粗细和笔画位置与字帖不符；评分器 iou 0.505、stray_frac 0.284、min_stroke_coverage 0.305。" + }, + "phenomena": [ + { + "t": 55.5, + "log_step": 160, + "evidence_zh": "观察：视频 55.5 s 成品中多处笔画缺失或偏位，同时有多余墨（stray_frac 0.284，ink_precision 0.60）。", + "cat": "运动", + "item": "位姿不准" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "控制", + "evidence_zh": "agent 自述在练习纸上多次测试笔毫拖尾偏移和压力（log step 65-66、136-148），最终执行后自己的诊断也承认精度未达标（log step 161）；子类型不明。", + "source_zh": "agent 自述 / 评分器字段" + } + ], + "gap_zh": "视频仅 56.1 s，逐笔时间未逐一核对；蘸墨时刻约 3.5 s 为推断，根因子类型无法确定。", + "unmet": { + "exemplar_copied": false + } + }, + "summary_zh": "观察：视频 56 s 中约 17-32 s 为练习纸试写，约 32-55.5 s 为主纸 21 笔执行。毛笔蘸墨（约视频 3.5 s）完成，但临摹未达标（iou 0.505、boundary_f 0.450、min_stroke_coverage 0.305、stray_frac 0.284），断点为临摹整幅字帖的书写。根因仅能判为控制（子类型不明）；蘸墨精确时刻为推断。", + "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（brush_inked 真、exemplar_copied 假）与 breakpoint 归属正确，但证据把视频 17-32 s 的练习纸书写误读为主纸书写：主纸（右下俯视图）要到约视频 32 s 才出现第一笔墨迹，因此 brush_inked 证据和 breakpoint.t / evidence 的时间不成立。", + "n_issues": 2, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 7, + "summary_zh": "第 1 轮的时间/证据问题已修正；brush_inked 真、exemplar_copied 假，断点（临摹书写，约视频 32 s）、位姿不准 + 控制（子类型不明）均有评分器数值和帧支持，未发现需要改的内容。", + "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": "2026-11-08T08:34:55Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-maolinxiuzhu-i00-standard--a3vmqge/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "b96ba12ade938445276a1e9651b33049292ccb63cd8a534d8438b8d4eae1de07", + "video_sha256": "0ec3e029802f5c9ff7f52668032ac018f31dfbe9d70507cd4cc6300b1658d544", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_xian/trajectories/robopaint-xingshu-xian-i00-privileged--jrrmln6.json b/phaseK/robopaint/xingshu_xian/trajectories/robopaint-xingshu-xian-i00-privileged--jrrmln6.json new file mode 100644 index 0000000000000000000000000000000000000000..71de568f56fa1eedca7cff86406dd66b8242615d --- /dev/null +++ b/phaseK/robopaint/xingshu_xian/trajectories/robopaint-xingshu-xian-i00-privileged--jrrmln6.json @@ -0,0 +1,310 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-xian-i00-privileged--jrrmln6", + "taskKey": "robopaint/xingshu_xian", + "dag_sha256": "91dcbb4d7f5654e33e4a1e6c0b9a48d50aa45e7ca302b50610710a5eb22e7889", + "outcome": { + "success": 1, + "reward": 0.834969, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.834969, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "iou": 0.834969, + "boundary_precision": 0.74305, + "boundary_recall": 0.761737, + "boundary_f": 0.752277, + "ink_precision": 0.911185, + "ink_recall": 0.908944, + "min_stroke_coverage": 0.809407, + "mean_stroke_coverage": 0.912675, + "stray_frac": 0.035306, + "missing_frac": 0.019315, + "ink_area_mm2": 4873.11, + "target_area_mm2": 4885.12, + "n_target_strokes": 15.0, + "stroke_coverage_01": 0.95243, + "stroke_coverage_02": 0.894737, + "stroke_coverage_03": 0.951529, + "stroke_coverage_04": 0.982824, + "stroke_coverage_05": 0.825748, + "stroke_coverage_06": 0.990971, + "stroke_coverage_07": 0.809407, + "stroke_coverage_08": 0.860587, + "stroke_coverage_09": 0.906868, + "stroke_coverage_10": 0.990234, + "stroke_coverage_11": 0.949083, + "stroke_coverage_12": 0.887553, + "stroke_coverage_13": 0.924803, + "stroke_coverage_14": 0.936486, + "stroke_coverage_15": 0.826872, + "n_strokes": 7.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 0.866667, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 3.0, + "max_strokes": 7.0, + "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, + "iou_unregistered": 0.834969, + "boundary_f_unregistered": 0.752277, + "min_stroke_coverage_unregistered": 0.809407, + "stray_frac_unregistered": 0.035306, + "path_mm": 1305.76, + "longest_stroke_mm": 426.28, + "mark_width_mm": 4.5461, + "max_path_mm": 2630.0, + "min_mark_width_mm": 1.88, + "colour_in": 0.0, + "n_marked_pieces": 7.0, + "n_strokes_counted": 7.0, + "max_stroke_path_mm": 1930.0, + "longest_counted_stroke_mm": 425.65, + "strokes_counted_ok": 1.0, + "scribble_max": 3.849, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.834969, + "sim_steps": 1729.0, + "resets": 1.0, + "n_contacts": 7.0, + "samples": 8645.0, + "contact_samples": 4463.0, + "max_press_m": 0.015176, + "max_tilt_deg_in_contact": 0.194858, + "max_speed_in_contact_mps": 0.170872, + "handle_contact_samples": 0.0, + "n_dips": 1.0, + "dry_strokes": 0.0, + "n_frames": 578.0, + "replay_wall_s": 52.2, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 1729, + "video_rendered": 1, + "agent_sessions": 62, + "agent_resets": 60, + "agent_sim_steps": 173321, + "agent_records": 48, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.056, + "peak_memory_gb": 2.006, + "peak_processes": 17, + "peak_disk_gb": 0.77, + "peak_cpus": 5.27, + "peak_pids": 160, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-xian-i00-privileged--jrrmln6.mp4", + "duration_s": 57.8, + "fps": 10.0, + "frames": 578, + "sha256": "50884fc0c77cae9ff57b75163fea480647476f48bf7ddbfa192f68694e5a354d" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 6.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 7.0, + "log_step": null, + "text_zh": "观察：视频 5-7 s 低侧视图中毛笔笔尖移到砚台处并变黑，视频 9 s 起纸面出现黑色笔迹，说明笔毫已载墨（时间约 ±1 s）。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端毛笔笔毫浸入砚台墨液（候选“蘸取”）。" + } + ] + }, + "xian_written": { + "method": "visual", + "intervals": [ + [ + 57.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 57.0, + "log_step": 193, + "text_zh": "观察：视频 57 s 右下目标对比图与主纸上可见完整繁体贤字（上部左右结构、横向连笔、下部竖画收笔）。评分器字段：success=1，iou 0.835、boundary_f 0.752、min_stroke_coverage 0.809、stray_frac 0.035、n_strokes 7，全部过阈值；达成时间取视频末段，约 57 s，精确时刻未逐帧核定。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂末端毛笔笔毫压在主纸上，分 7 个带墨接触沿笔画拖动（n_contacts=7）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.834969, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.752277, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.809407, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.035306, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 1305.76, + "unit": "mm", + "threshold": 2630.0, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 4.5461, + "unit": "mm", + "threshold": 1.88, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.834969, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "成功：毛笔在视频约 6 s 蘸墨，随后以 7 个带墨接触写出完整贤字（视频末段约 57 s 可见），评分器全部阈值通过（IoU 0.835、边界F 0.752、最差区域覆盖 0.809、杂墨 0.035）。缺口：蘸墨与完成时刻为目测约值，未逐帧核定；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": "两个节点（蘸墨约6 s、贤字完成约57 s）与视频一致：8 s 已见笔尖在砚台处和纸上墨迹，53-57 s 下部笔画逐步补完，57 s 字形完整，评分器全部过阈值；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": "2026-11-08T08:32:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-xian-i00-privileged--jrrmln6/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-xian-i00-privileged--jrrmln6/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "c33b1547d0e30aa47efe53028caa16b25adb43d0bf14111d7d68006b0a3b5351", + "video_sha256": "50884fc0c77cae9ff57b75163fea480647476f48bf7ddbfa192f68694e5a354d", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_xian/trajectories/robopaint-xingshu-xian-i00-standard--ak8rkud.json b/phaseK/robopaint/xingshu_xian/trajectories/robopaint-xingshu-xian-i00-standard--ak8rkud.json new file mode 100644 index 0000000000000000000000000000000000000000..faa6d84214b47031d871f598c8b62d5673527526 --- /dev/null +++ b/phaseK/robopaint/xingshu_xian/trajectories/robopaint-xingshu-xian-i00-standard--ak8rkud.json @@ -0,0 +1,354 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-xian-i00-standard--ak8rkud", + "taskKey": "robopaint/xingshu_xian", + "dag_sha256": "91dcbb4d7f5654e33e4a1e6c0b9a48d50aa45e7ca302b50610710a5eb22e7889", + "outcome": { + "success": 0, + "reward": 0.587446, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.587446, + "infra_error": 0, + "sim_error": 0, + "grader_error": 0, + "missing_log": 0, + "iou": 0.587446, + "boundary_precision": 0.364366, + "boundary_recall": 0.326868, + "boundary_f": 0.3446, + "ink_precision": 0.686801, + "ink_recall": 0.802402, + "min_stroke_coverage": 0.474409, + "mean_stroke_coverage": 0.771299, + "stray_frac": 0.265932, + "missing_frac": 0.123309, + "ink_area_mm2": 5707.37, + "target_area_mm2": 4885.12, + "n_target_strokes": 15.0, + "stroke_coverage_01": 0.865047, + "stroke_coverage_02": 0.873684, + "stroke_coverage_03": 0.853228, + "stroke_coverage_04": 0.777827, + "stroke_coverage_05": 0.621825, + "stroke_coverage_06": 0.7693, + "stroke_coverage_07": 0.480647, + "stroke_coverage_08": 0.685226, + "stroke_coverage_09": 0.871162, + "stroke_coverage_10": 0.978516, + "stroke_coverage_11": 1.0, + "stroke_coverage_12": 0.721183, + "stroke_coverage_13": 0.474409, + "stroke_coverage_14": 0.877921, + "stroke_coverage_15": 0.719516, + "n_strokes": 7.0, + "n_practice_strokes": 25.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 0.25, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 3.0, + "max_strokes": 7.0, + "stroke_count_ok": 1.0, + "register_dx_mm": -0.6656, + "register_dy_mm": 0.0, + "register_shift_mm": 0.6656, + "register_at_edge": 0.0, + "register_window_mm": 4.8809, + "iou_unregistered": 0.583848, + "boundary_f_unregistered": 0.350653, + "min_stroke_coverage_unregistered": 0.511024, + "stray_frac_unregistered": 0.270074, + "path_mm": 1107.92, + "longest_stroke_mm": 263.76, + "mark_width_mm": 7.206, + "max_path_mm": 2630.0, + "min_mark_width_mm": 1.88, + "colour_in": 0.0, + "n_marked_pieces": 7.0, + "n_strokes_counted": 7.0, + "max_stroke_path_mm": 1930.0, + "longest_counted_stroke_mm": 263.76, + "strokes_counted_ok": 1.0, + "scribble_max": 2.8666, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 0.0, + "image_final_reward": 0.587446, + "sim_steps": 5185, + "resets": 0.0, + "n_contacts": 32.0, + "samples": 25925.0, + "contact_samples": 8624.0, + "max_press_m": 0.016313, + "max_tilt_deg_in_contact": 0.260491, + "max_speed_in_contact_mps": 0.184104, + "handle_contact_samples": 0.0, + "n_dips": 11.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 5185, + "physics_steps": 25925, + "steps": 5182, + "calls": 107, + "elapsed_s": 2764.0, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-xian-i00-standard--ak8rkud.mp4", + "duration_s": 57.8, + "fps": 10.0, + "frames": 578, + "sha256": "089e3fae6e4d43ee2af2faf1d5681c8b4d63ad542aa7050f16538686a58b85ea" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 1.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 1.5 s 笔尖到达砚台处；约 3 s 起低侧视图练习纸出现墨迹，主纸约 43 s 起出现墨迹；评分器 n_dips=11，说明已载墨。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "机械臂末端毛笔笔毫浸入砚台墨液（候选“蘸取”）；评分器 n_dips=11。" + } + ] + }, + "xian_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 57.0, + "log_step": 205, + "text_zh": "观察：视频末帧主纸图可见字形拥挤杂乱、笔画粘连，与目标贤字不符；评分器字段：iou 0.587<0.80，boundary_f 0.345<0.75，min_stroke_coverage 0.474<0.80，stray_frac 0.266>0.04，笔数 7 合规。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "机械臂末端毛笔笔毫压在主纸上写了 7 笔（评分器 n_strokes=7），另在练习纸上有 25 笔练习。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.587446, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.3446, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.474409, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.265932, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 1107.92, + "unit": "mm", + "threshold": 2630.0, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 7.206, + "unit": "mm", + "threshold": 1.88, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.587446, + "unit": "ratio", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "xian_written", + "where": "操作中", + "t": 57.0, + "log_step": 205, + "evidence_zh": "观察：视频约 43-57 s 在主纸上写 7 笔（之前为练习纸上的练习，评分器 n_practice_strokes=25），末帧字形杂乱；评分器 iou 0.587、stray_frac 0.266，未达阈值，笔数合规。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 57.0, + "log_step": 205, + "evidence_zh": "观察：视频末帧主纸上墨迹位置、形状与目标贤字偏差大，多处粘连；评分器 stray_frac 0.266，min_stroke_coverage 0.474。" + } + ], + "root_causes": [], + "unmet": { + "xian_written": false + }, + "gap_zh": "无状态日志；未找到可证实的根因（agent 只自述 IoU 约 0.58 且笔数用完，不足以断定感知或控制原因），故根因为空。" + }, + "summary_zh": "观察：视频 1.5 s 毛笔蘸墨（已达成）；视频约 43-57 s 在主纸写满 7 笔，但字形杂乱，iou 0.587 等指标未达阈值，临写贤字未完成。断点为临写贤字（操作中），现象为位姿不准；根因证据不足。无状态日志，起笔时间为视觉估计。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 7, + "summary_zh": "总体判定（xian_written 未达成、断点在临写贤字、位姿不准）成立，但证据里的时间有误：主纸右下图第一笔墨迹约在视频 43 s 才出现，而非 30 s；30 s 起可见的黑色笔迹在练习纸（低侧视图），不是主纸。brush_inked 的证据也引用了这一错误的“约30 s主纸出现笔迹”。", + "n_issues": 2, + "n_major": 1 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "brush_inked 达成、xian_written 未达成、断点在临写贤字（操作中）、现象位姿不准均有视频与评分器字段支持；上一轮的时间问题已修正（主纸约 43 s 起写）。根因为空并附 gap_zh，在无状态日志时可接受。", + "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": "2026-11-08T08:35:04Z", + "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/robopaint-xingshu-xian-i00-standard--ak8rkud/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-xian-i00-standard--ak8rkud/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-xian-i00-standard--ak8rkud/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-xian-i00-standard--ak8rkud/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "3acdea794b2231a687b896669e607f4232e34f328bc3ca5dde488acc40e3feff", + "video_sha256": "089e3fae6e4d43ee2af2faf1d5681c8b4d63ad542aa7050f16538686a58b85ea", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-privileged--2pqay8m.json b/phaseK/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-privileged--2pqay8m.json new file mode 100644 index 0000000000000000000000000000000000000000..e225a408c8dce4551244a48f1c95d39bc1a48aa9 --- /dev/null +++ b/phaseK/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-privileged--2pqay8m.json @@ -0,0 +1,318 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-yong-i00-privileged--2pqay8m", + "taskKey": "robopaint/xingshu_yong", + "dag_sha256": "f0a37ecca46b4338ba9e5150c7460e29ad0252d458d19ec0eed7b70a3f9729a2", + "outcome": { + "success": 1, + "reward": 0.886944, + "source": "catalog", + "raw": { + "success": 1, + "final_reward": 0.886944, + "deterministic": 1, + "grader_error": 0, + "infra_error": 0, + "missing_trajectory": 0, + "bad_trajectory": 0, + "iou": 0.886944, + "boundary_precision": 0.819952, + "boundary_recall": 0.843772, + "boundary_f": 0.831692, + "ink_precision": 0.923468, + "ink_recall": 0.957311, + "min_stroke_coverage": 0.912594, + "mean_stroke_coverage": 0.9474, + "stray_frac": 0.023752, + "missing_frac": 0.00579, + "ink_area_mm2": 3454.39, + "target_area_mm2": 3332.27, + "n_target_strokes": 9.0, + "stroke_coverage_01": 0.919918, + "stroke_coverage_02": 0.91809, + "stroke_coverage_03": 0.912594, + "stroke_coverage_04": 0.984403, + "stroke_coverage_05": 0.935525, + "stroke_coverage_06": 0.950069, + "stroke_coverage_07": 0.985754, + "stroke_coverage_08": 0.988467, + "stroke_coverage_09": 0.931777, + "n_strokes": 6.0, + "n_practice_strokes": 0.0, + "n_dry_strokes": 0.0, + "stroke_order_concordance": 0.785714, + "stroke_order_exact": 0.0, + "strokes_matched_distinct": 5.0, + "max_strokes": 6.0, + "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, + "iou_unregistered": 0.886944, + "boundary_f_unregistered": 0.831692, + "min_stroke_coverage_unregistered": 0.912594, + "stray_frac_unregistered": 0.023752, + "path_mm": 569.92, + "longest_stroke_mm": 209.01, + "mark_width_mm": 6.1726, + "max_path_mm": 1450.0, + "min_mark_width_mm": 2.25, + "colour_in": 0.0, + "n_marked_pieces": 6.0, + "n_strokes_counted": 6.0, + "max_stroke_path_mm": 1330.0, + "longest_counted_stroke_mm": 208.82, + "strokes_counted_ok": 1.0, + "scribble_max": 2.1534, + "scribble_share": 0.0, + "max_scribble": 12.0, + "max_scribble_share": 0.1, + "scribble_ok": 1.0, + "strict_ok": 1.0, + "image_success": 1.0, + "image_final_reward": 0.886944, + "sim_steps": 629.0, + "resets": 1.0, + "n_contacts": 6.0, + "samples": 3145.0, + "contact_samples": 1796.0, + "max_press_m": 0.014805, + "max_tilt_deg_in_contact": 0.462708, + "max_speed_in_contact_mps": 0.292734, + "handle_contact_samples": 0.0, + "n_dips": 1.0, + "dry_strokes": 0.0, + "n_frames": 316.0, + "replay_wall_s": 32.0, + "all_success": 1, + "instance_ok": 1, + "instance_exact": 1, + "n_actions": 629, + "video_rendered": 1, + "agent_sessions": 7, + "agent_resets": 6, + "agent_sim_steps": 3769, + "agent_records": 4, + "agent_replays": 2, + "agent_cost_self_reported": 1, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 0, + "peak_gpu_memory_gb": 0.056, + "peak_memory_gb": 0.704, + "peak_processes": 15, + "peak_disk_gb": 0.24, + "peak_cpus": 5.33, + "peak_pids": 44, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-yong-i00-privileged--2pqay8m.mp4", + "duration_s": 31.6, + "fps": 10.0, + "frames": 316, + "sha256": "631d3c1ed2c61f39dc584a972f2e82691c9d16c6c4239daf66fcb3b5f285c8e3" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 2, + "final": 2, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 4.5, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 5.0, + "log_step": null, + "text_zh": "观察：视频 5.0 s 起纸面墨迹面板出现第一处黑点，说明毛笔在此前已于砚台蘸墨（侧视笔毫变黑）；蘸墨具体时刻约视频 4.5 s 之前，为推断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "安装在 Panda 末端的毛笔笔尖浸入砚台墨液（候选“蘸取”）；视频 5 s 前后。" + } + ] + }, + "yong_written": { + "method": "visual", + "intervals": [ + [ + 31.0, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 31.5, + "log_step": 86, + "text_zh": "观察：视频 31 s 前后墨迹面板出现完整“永”字；评分器 success=1，IoU 0.887、边界F 0.832、最小分区覆盖 0.913、杂墨 0.024、有墨接触 6 笔均达标（评分字段）。达标具体时刻约在最后一笔完成处，为推断。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔毫压在主纸上沿笔画移动，共 6 次有墨接触（评分字段 n_contacts=6）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.886944, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.831692, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.912594, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.023752, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 569.92, + "unit": "mm", + "threshold": 1450, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 6.1726, + "unit": "mm", + "threshold": 2.25, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.886944, + "unit": "score", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": null, + "summary_zh": "观察：视频 31.6 s 内机械臂先蘸墨（约视频 5 s 前），随后 6 笔写出完整“永”，评分器 success=1，两节点均达成。无状态日志，蘸墨与完成时刻来自视频，为粗略估计。", + "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，两节点达成，时间与接触合理，无失败标签，与视频和评分字段一致。", + "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": "2026-11-08T08:30:06Z", + "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/robopaint-xingshu-yong-i00-privileged--2pqay8m/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-yong-i00-privileged--2pqay8m/04_review_r1" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "f22446f396a11c1651fb69182eab0a5dfce2784c600424923f5ae6897b9a7d39", + "video_sha256": "631d3c1ed2c61f39dc584a972f2e82691c9d16c6c4239daf66fcb3b5f285c8e3", + "states_sha256": null, + "video_choice": "HF replay.mp4 status 404; local graded video" + }, + "writer_note": "Writer and reviewer: Claude Sonnet 5.5 (claude-sonnet-5-5) in Claude Code, separate sessions; for this agent (Kimi 3.1 Pro) only, by the owner's decision of 2026-11-08. The labels of the other seven agents were written by GPT-6.1 Sol in Codex and reviewed by Claude Sonnet 5.5. Same prompts (v3.2), same phase-2 task DAGs, same validation." + } +} diff --git a/phaseK/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-standard--nwxar5g.json b/phaseK/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-standard--nwxar5g.json new file mode 100644 index 0000000000000000000000000000000000000000..25202a2a3457a06f3caa19b5cdd78c9fa5423204 --- /dev/null +++ b/phaseK/robopaint/xingshu_yong/trajectories/robopaint-xingshu-yong-i00-standard--nwxar5g.json @@ -0,0 +1,371 @@ +{ + "schema": "efe-trajectory-labels/1", + "taxonomy": "v2", + "runId": "robopaint-xingshu-yong-i00-standard--nwxar5g", + "taskKey": "robopaint/xingshu_yong", + "dag_sha256": "f0a37ecca46b4338ba9e5150c7460e29ad0252d458d19ec0eed7b70a3f9729a2", + "outcome": { + "success": 0, + "reward": 0.633568, + "source": "catalog", + "raw": { + "success": 0, + "live_success": 0, + "graded_by_live": 1, + "replays": 0, + "final_reward": 0.633568, + "infra_error": 0, + "sim_error": 0, + 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"handle_contact_samples": 0.0, + "n_dips": 28.0, + "dry_strokes": 0.0, + "instance_exact": 1, + "finalized": 1, + "no_verdict": 0, + "n_actions": 12787, + "physics_steps": 63935, + "steps": 12787, + "calls": 108, + "elapsed_s": 1425.8, + "video_rendered": 1, + "sim_startups": 1.0, + "resumes": 0.0, + "resume_state_mismatch": 0.0, + "resume_max_tcp_dev_m": 0.0, + "resume_max_joint_dev": 0.0, + "gave_up": 0, + "instance_mismatch": 0, + "resource_enforced": 0, + "limits_violation_observed": 0, + "resource_monitor_missing": 1, + "peak_gpu_memory_gb": 0.0, + "peak_memory_gb": 0.0, + "peak_processes": 0.0, + "peak_disk_gb": 0.0, + "peak_cpus": 0.0, + "peak_pids": 0.0, + "resource_memory_kills": 0, + "resource_pids_kills": 0, + "resource_disk_kills": 0, + "resource_gpu_memory_kills": 0, + "resource_monitor_kills": 0, + "resource_emergency_kills": 0, + "resource_limit_exceeded": 0, + "resource_cpu_throttles": 0, + "resource_cpu_throttled_sec": 0.0, + "resource_oom_kills": 0, + "resource_host_oom_kills": 0, + "resource_service_oom_kills": 0 + } + }, + "video": { + "kind": "media", + "url": "media:robopaint-xingshu-yong-i00-standard--nwxar5g.mp4", + "duration_s": 58.3, + "fps": 10.0, + "frames": 583, + "sha256": "db6569764e2a96b3d4e1e61c35c3a86a15a231b36e5b726ae7deb336195fa69b" + }, + "state": null, + "progress": { + "method": "visual", + "denominator": 2, + "base": 0, + "peak": 1, + "final": 1, + "nodes": { + "brush_inked": { + "method": "visual", + "intervals": [ + [ + 1.2, + null + ] + ], + "final": true, + "evidence": [ + { + "t": 1.5, + "log_step": null, + "text_zh": "观察：视频 0.5 s 侧视笔尖为白，1.5 s 起笔毫变黑，约 3 s 起练习纸出现墨线（视频时钟）；评分器 n_dips=28、n_dry_strokes=0。主纸 51 s 才出现首笔，那是主纸起笔而非蘸墨时刻。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "其他", + "note_zh": "Panda 末端毛笔笔毫浸入砚台墨液（候选名“蘸取”）；n_dips=28 含练习纸前的蘸墨。" + } + ] + }, + "yong_written": { + "method": "visual", + "intervals": [], + "final": false, + "evidence": [ + { + "t": 58.3, + "log_step": 106, + "text_zh": "观察：视频末帧主纸有“永”的大致形状（上点、竖钩、撇捺），但笔画粗糙、右侧笔画偏粗/偏短；评分器字段 iou 0.634<0.80、boundary_f 0.374<0.75、min_stroke_coverage 0.192<0.80（第9笔区域）、stray_frac 0.103>0.04，n_strokes 6 合规，image_success 0。" + } + ], + "contact_actual": [ + { + "who": "手持工具", + "how": "压/擦", + "note_zh": "毛笔笔毫压在主纸上按脚本写了6笔（n_strokes 6，接触约46次）。" + } + ] + } + }, + "constraints": {} + }, + "native_metrics": [ + { + "name": "iou", + "value": 0.633568, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "boundary_f", + "value": 0.374383, + "unit": "ratio", + "threshold": 0.75, + "direction": "higher_better" + }, + { + "name": "min_stroke_coverage", + "value": 0.192192, + "unit": "ratio", + "threshold": 0.8, + "direction": "higher_better" + }, + { + "name": "stray_frac", + "value": 0.102911, + "unit": "ratio", + "threshold": 0.04, + "direction": "lower_better" + }, + { + "name": "n_strokes", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "n_strokes_counted", + "value": 6.0, + "unit": "count", + "threshold": 6, + "direction": "lower_better" + }, + { + "name": "path_mm", + "value": 367.63, + "unit": "mm", + "threshold": 1450, + "direction": "lower_better" + }, + { + "name": "mark_width_mm", + "value": 9.1848, + "unit": "mm", + "threshold": 2.25, + "direction": "higher_better" + }, + { + "name": "scribble_share", + "value": 0.0, + "unit": "ratio", + "threshold": 0.1, + "direction": "lower_better" + }, + { + "name": "final_reward", + "value": 0.633568, + "unit": "score", + "threshold": null, + "direction": "higher_better" + } + ], + "failure": { + "breakpoint": { + "ref": "yong_written", + "t": 58.0, + "log_step": null, + "where": "操作中", + "evidence_zh": "观察：视频 51-58 s 主纸写出六笔，成字但与目标不符；评分器字段 iou 0.634、boundary_f 0.374、min_stroke_coverage 0.192（第9区域）、stray_frac 0.103 均未达阈值。" + }, + "phenomena": [ + { + "cat": "运动", + "item": "位姿不准", + "t": 58.0, + "log_step": null, + "evidence_zh": "观察：视频末帧笔画位置/粗细与目标轮廓有偏差（边界 F 0.374，第9区域覆盖 0.19，杂墨 0.10）；推断：笔迹位置与形状偏离目标，而非笔画缺失（笔画数合规）。" + } + ], + "root_causes": [ + { + "cat": "控制", + "item": "反馈控制", + "t": null, + "log_step": 104, + "evidence_zh": "观察/日志：离线开环笔毫模型预演 IoU 0.926（log step 35/88），练习纸实测排练 IoU 仅约 0.53–0.57（step 69、75）、补偿后点试 0.24–0.26（step 91、98）；agent 仍选开环补偿写主纸，写字时无闭环纠偏，相机自估 IoU 0.625（step 104），官方 iou 0.634。推断：开环模型与实际笔毫不符、未被闭环修正；归因子类（反馈 vs 参数）证据较弱。", + "source_zh": "agent 日志 step 35/69/91/98/104；评分器 iou" + } + ], + "gap_zh": "无状态日志；视频为压缩的约58秒，笔画逐笔过程无法逐帧核对。根因取反馈控制（开环、无闭环纠偏）依据 agent 日志中预演 0.93 与实测 0.53–0.63 的落差，子类（反馈控制 vs 参数调试/模型误差）分不清，conf 低。phenomenon 的“位姿不准”主要依据评分器指标与末帧。", + "unmet": { + "yong_written": false + } + }, + "summary_zh": "观察：graded 视频 51 s 起在主纸写出六笔，蘸墨节点达成，但“永”图像指标未达标（IoU 0.634、边界F 0.374、最小笔画覆盖0.192、杂墨0.103），目标节点未达成。断点在临写永字，现象为笔迹位置/形状偏差；根因证据不足。证据缺口：无状态日志，视频被压缩。", + "conf": 5, + "review": { + "status": "agreed", + "rounds": 2, + "reviewers": [ + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 1, + "verdict": "fix", + "conf": 6, + "summary_zh": "brush_inked 的起点 51 s 错：视频 1.0–1.5 s 笔毫已变黑，约 3 s 起练习纸出现墨迹，51 s 是主纸首笔而非蘸墨时刻。断点 where 应为操作中而非终态验收（目标步骤的书写本身做偏）。根因留空可商榷：agent 日志显示离线预演 IoU 0.93，实测 0.63，开环笔毫模型与实际不符。", + "n_issues": 3, + "n_major": 2 + }, + { + "engine": "claude", + "model": "claude-sonnet-5-5", + "round": 2, + "verdict": "agree", + "conf": 6, + "summary_zh": "第1轮问题均已修正：brush_inked 自 1.2 s（视频时钟）达成，yong_written 未达成与评分器指标一致，断点在操作中，根因为低置信的反馈控制，证据可追溯。", + "n_issues": 0, + "n_major": 0 + } + ], + "open_zh": [] + }, + "provenance": { + "prompt": "prompts/03_trajectory.md", + "prompt_sha256": "2385b35930667330fc4ea181a15ea0818b49cfeae0df1700b8b08c988e72ad8e", + "engine": "claude", + "model": "claude-sonnet-5-5", + "effort": "high", + "created": "2026-11-08T08:35:07Z", + "review_prompt": "prompts/04_trajectory_review.md", + "review_prompt_sha256": "9afbc4ac19b1e1cf03732c8961ec46a618d682ee229343f66e3316794b14f9ba", + "reconcile_prompt": "prompts/05_reconcile.md", + "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", + "calls": [ + { + "stage": "traj", + "round": 0, + "ok": true, + "space": "work/runs/robopaint-xingshu-yong-i00-standard--nwxar5g/03_label" + }, + { + "stage": "traj_review", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-yong-i00-standard--nwxar5g/04_review_r1" + }, + { + "stage": "reconcile", + "round": 1, + "ok": true, + "space": "work/runs/robopaint-xingshu-yong-i00-standard--nwxar5g/05_reconcile_r1" + }, + { + "stage": "traj_review", + "round": 2, + "ok": true, + "space": "work/runs/robopaint-xingshu-yong-i00-standard--nwxar5g/04_review_r2" + } + ], + "review_engine": "claude", + "review_model": "claude-sonnet-5-5", + "inputs": { + "run_json_sha256": "369149ab9174ef9528209aa6ea555778b0f2bb1f9005f67dcd9587ad92f38eb6", + "video_sha256": "db6569764e2a96b3d4e1e61c35c3a86a15a231b36e5b726ae7deb336195fa69b", + "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." + } +}