{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "c5f9feddc7bfa94a266559d8f4359f4931592390", "summary": "代码控制 v16：有效回合 0 / 1，原生成功 0 条；每项仅一个 seed / layout，GPT 上限 80 回合。这是控制器试验，不是全量成功率评测。", "episodes": [ { "id": "insert_key_staged", "task": "insert_key", "video": "insert_key_staged.mp4", "poster": "insert_key_staged.jpg", "instruction": "Pick up the key, hand it over to the other hand, insert it into the keyhole, then turn it.", "translation": "拿起钥匙，交给另一只手，插入锁孔，然后转动。", "rules": [ "呈递前检查多组钥匙倾角和高度，要求给出手、接收手预备位置和柄端目标均可规划；实际运动重新检查。接收手开合轴须垂直钥匙片面，给出手松开后独立验证换手。", "实测物体相对手腕的变换；尖端朝下、齿侧朝锁的局部 +X，分别对齐有向朝向与尖端位置。", "每段下降 4 mm；位置或角度超差则禁止继续，连续两次停滞要求退出恢复。", "达到入孔深度后才分段转动，最终仍以原生 eval_success 为准。", "恢复时保留未完成交接的抓握语义；中等接触偏转需重新抬升验证，禁止未经验证就接受新抓取标定。", "优先倾斜呈递；接收手先尝试直接到达完整预备姿态，两种姿态均被规划拒绝且未运动时才尝试先平移再翻腕。呈递与未完成交接恢复使用一致的抓握判据。", "预备路径执行后，按实测位置和姿态最多纠偏三次；给出手保持闭合，误差不改善即停止。重复呈递保留首次成功的水平位置。", "优先由右手抓片身、左手接收钥匙柄；若较近的夹爪朝向被规划拒绝且没有运动，尝试等价半圈朝向。换手和原生成功仍须独立验证。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 167, "step_lim": 300, "planner_turns": 18, "elapsed_s": 191.9, "seed": 0, "layout_id": 0, "cost_usd": 1.304809, "finding": "右手抓起并独立抬升验证成功；但左接收手三次预备位姿纠偏仍未收敛，未完成交接。第167/300步、18个GPT回合后人工停止，原生成功false。交换双臂分工不足以解决问题，下一版继续调整呈递的水平方向。Tube已在v15获得一次原生成功，可从上方链接观看。", "commands": [ { "native_step": 0, "action": "reset", "args": {}, "note": "" }, { "native_step": 44, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next", "arm": "right" }, "note": "STATE\n- goal: pick up key in progress; hand over todo; insert into keyhole todo; turn todo.\n- facts: key (-0.1105,-0.2191,0.7706); slot (0.1102,-0.1977,0.765), yaw ~15°. Native xy <7 mm, upright <7°, turn alignment <30°, depth parameter 25 mm; no final home condition. Required index and v15 leaf read.\n- phase: begin checked right-giver pickup; arms currently empty and home.\n- blockers: v15 left-giver/right-receiver staging failed ~31–38 mm; no evidence of extra joint5 limit. Right-giver/left-receiver is the v16 experiment, not proven success.\nThe key lies flat left of the slot. Choose the reference-preferred right pickup, contingent on current reachability checks.", "feedback": "key → grasp" }, { "native_step": 59, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: v16 right approach passed at native44; right TCP (-0.1088,-0.2013,0.8145), open above blade. Key (-0.1105,-0.2191,0.7706); slot (0.1102,-0.1977,0.765), yaw15°. Native xy<7mm, upright<7°, turn<30°; no home condition. 256 steps remain.\n- phase: right blade grasp next; left empty at home; grasp not verified.\n- blockers: historical left-giver/right-receiver staging failed; current approach no failures.\nWrist view centers the blade between open fingers and approach residual is 0.1mm. Proceed with checked blade clamp.", "feedback": "key → verify_grasp" }, { "native_step": 65, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: v16 native59, 241 steps left. Right clamp closed to .021 around blade; key root (-.1115,-.2195,.7700), slot (.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, turn<30°, no home requirement.\n- phase: verify right grasp by lift; left empty at home.\n- blockers: historical opposite handover staging failed; no current rejection. Clamp alone is not verified holding.\nThe wrist image shows fingers straddling the blade, with the key still at table height. Lift verification will test whether it follows the right hand.", "feedback": "key → present" }, { "native_step": 96, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: physicalrsi_v16 native65, 235 steps left. Right blade grasp verified: lift21mm, error1.4mm/3.26°. Key (-.1113,-.2196,.791); slot (.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, turn<30°; no home requirement. Memory read, milestone draft saved.\n- phase: right holds blade, left empty; present for left bow pickup.\n- blockers: historical opposite handover staging failed; no current rejection; success false.\nThe right wrist view shows the key secured between jaws. Advance to paired-reachability presentation to prepare the receiving hand.", "feedback": "key → receiver_orient" }, { "native_step": 138, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: physicalrsi_v16 native96, 204 steps left. Right holds blade; key (-.0005,-.2085,.8891); slot (.1102,-.1977,.765), yaw15°. Paired presentation passed at tilt -45°, height .89. Grasp residual .8mm/1.73°. Native xy<7mm, upright<7°, turn<30°; no home requirement.\n- phase: receiver_orient; left empty will rotate jaws for bow grasp.\n- blockers: controller rejected initial presentation and one receiver orientation in preflight, selected reachable alternate; no executed failure. Native success false.\nImages show the elevated key securely held by right. Advance to the checked perpendicular receiver orientation before approaching its bow.", "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient" }, { "native_step": 142, "action": "insertion_stage", "args": { "object_id": "key", "stage": "recover" }, "note": "STATE\n- goal: pick up done; hand over in progress; insert todo; turn todo.\n- facts: physicalrsi_v16 native138, 162 steps left. Right holds blade, key (.0011,-.2096,.8834); left empty. Slot (.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, turn<30°; no home requirement.\n- phase: recover verified held key to change blocked handover staging.\n- blockers: receiver staging failed at 46mm/9.97°; correction worsened y residual to65mm. Native success false; unchanged retry prohibited.\nRight wrist image shows the key still between right jaws while left is distant. Request checked held-object recovery rather than repeating the failed staging geometry.", "feedback": "key → present" }, { "native_step": 143, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v16 native142,158 steps left. Right blade grasp verified; key (.001,-.2096,.9182). Left empty. Slot (.1102,-.1977,.765),yaw15°; native xy<7mm,upright<7°,turn<30°; no home rule.\n- phase: recovered held key upward35mm; controller phase present. Next verify revised presentation.\n- blockers: former receiver staging failed46mm/9.97°, correction y65mm. Recover changed height; native success false.\nRecovery retained grasp with .8mm/1.8° error and moved the key up. Advance from reset presentation to let the checked controller choose reachable handover geometry.", "feedback": "key → receiver_orient" }, { "native_step": 155, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v16 native143,157 steps left. Right blade grasp verified; key(-.0002,-.2088,.918). Left empty. Slot(.1102,-.1977,.765),yaw15°; native xy<7mm,upright<7°,turn<30°; no home rule.\n- phase: revised presentation at .9182m passed paired preflight; next receiver orientation.\n- blockers: previous .89m receiver staging failed46mm/9.97°, correction y65mm. New higher presentation differs; opposite giver orientation preflight rejected. Success false.\nThe raised key remains securely held and both receiver staging and contact poses passed preflight. Advance to orient left jaws perpendicular to the key plate.", "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient" }, { "native_step": 156, "action": "insertion_stage", "args": { "object_id": "key", "stage": "recover" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v16 native155/300; right verified blade grasp, key(.0001,-.2092,.9162). Left empty. Slot(.1102,-.1977,.765),yaw15°; native xy<7mm,upright<7°,turn<30°; no home rule.\n- phase: blocked receiver orientation; recover held key before revised presentation.\n- blockers: staging .89m failed46mm/9.97°; .9182m failed38.4mm/8.94°, correction worsened y residual58mm. Unchanged retries forbidden.\nThe right wrist view shows the key still between the jaws. Recover to change the held-object staging geometry rather than repeat the rejected receiver pose.", "feedback": "key → present" }, { "native_step": 157, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v16 native156/300; right holds blade verified, key(.0001,-.2093,.9194), left empty. Slot(.1102,-.1977,.765), yaw15°; native xy<7mm,upright<7°,turn<30°; no home rule.\n- phase: recover completed; present is next and will recompute paired reachability.\n- blockers: receiver staging at .89m failed46mm/9.97°; .9182m failed38.4mm/8.94°; previous correction worsened y residual58mm.\nRecovery raised the key only3.2mm, not the hypothesized35mm. Execute the revised presentation and inspect whether the controller supplies different feasible geometry.", "feedback": "key → receiver_orient" }, { "native_step": 167, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: physicalrsi_v16 native157/300; right blade grasp verified; key(-.0005,-.2088,.9192), left empty. Slot(.1102,-.1977,.765), yaw15°; native xy<7mm,upright<7°,turn<30°; no home rule.\n- phase: revised paired presentation passed; receiver orientation next.\n- blockers: .89m and .9182m receiver staging failed; correction worsened y residual58mm. Recovery now sets presentation .9194m and recomputes held transform; positive tilt preflight failed.\nBoth receiving preflights passed at the revised measured key transform. Check actual receiver tracking before allowing contact; if this remains blocked, repeated recovery of nearly identical geometry is not useful.", "feedback": "阶段阻止：receiver did not reach the clear staging point；key → receiver_orient" } ], "final_conditions": [ { "id": "c1", "predicate": "is_A_depth_in_B", "parameters": { "label_A": "key", "label_B": "slot", "z_threshold": 0.025 }, "last_native_evaluation": { "value": 0.0, "native_step": 167 }, "native_evaluation_at_current_step": true, "measurement": { "available": false, "reason": "numeric_measurement_not_supported" } }, { "id": "c2", "predicate": "is_AB_xy_distance_within_threshold", "parameters": { "label_A": "key", "label_B": "slot", "A_functional_point": null, "A_point_type": "passive", "threshold": 0.007, "axis": "world" }, "last_native_evaluation": { "value": 0.0, "native_step": 73 }, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "xy_distance", "value": 0.1109961695118129, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": false, "object_xyz": [ -0.0001876363530755043, -0.20902028679847717, 0.9177643060684204 ], "target_xyz": [ 0.110232874751091, -0.19773045182228088, 0.7649999856948853 ], "frame": "env_origin", "metric_frame": "env_origin", "reference_point": "root", "error_above_threshold": 0.1039961695118129 } }, { "id": "c3", "predicate": "is_axis_up", "parameters": { "label": "key", "axis": [ 0, 0, 1 ], "label_args": null, "threshold": 7 }, "last_native_evaluation": null, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 90.30162717699562, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 83.30162717699562 } }, { "id": "c4", "predicate": "is_axis_aligned", "parameters": { "label_A": "key", "label_B": "slot", "axis_A": [ 1, 0, 0 ], "axis_B": [ 0.5, -0.8660254037844386, 0.0 ], "world_axis": null, "align_threshold": 30, "functional_point_A": null, "functional_point_A_type": "passive", "functional_point_B": null, "functional_point_B_type": "passive", "project_plane": null }, "last_native_evaluation": null, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "axis_angle", "value": 59.74048983336157, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 29.740489833361572 } } ], "final_home_status": { "left": { "position_error_m": 0.16020872154317956, "rotation_error_deg": 90.8619108997824, "max_joint_error_rad": 1.5795986652374279, "at_home": false }, "right": { "position_error_m": 0.2931881446043603, "rotation_error_deg": 99.71898507659793, "max_joint_error_rad": 2.55183458327997, "at_home": false } }, "controller": "physicalrsi_v16", "memory_enabled": true, "interruption_label": "人工停止试验 · 无效" } ], "invalid_attempts": [] }