{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "d1756c63505c84b666e6d4a8dfc7d0eb4623b7fb", "summary": "代码控制 v24：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。", "柄端TCP由局部Z12毫米深入到6毫米；实测双指均闭合到1毫米以内视为空夹，阻止给出手松开。取消撤离后的额外抬升；摆正时有限偏转仍须独立跟随验证才可重新标定。", "给出手抓点由刀尖附近回移到钥匙局部Z=-26毫米，与接收手Z=6毫米的名义纵向间距32毫米；仍须实测验证初始抓握和交接保持。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 65, "step_lim": 300, "planner_turns": 8, "elapsed_s": 280.8, "seed": 0, "layout_id": 0, "cost_usd": 0.4373655, "finding": "中间抓点在65步把钥匙抬起15.71mm，平移偏移6.72mm满足要求，但12.43°偏转超过10°门槛；手指仍有占用读数，不能直接认定掉落。人工停止，属无效试验。下一版对已抬起且偏转有限的情况做一次独立严格复核。", "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; handover todo; insert todo; turn todo.\n- facts: step 0; key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); native xy <7 mm, upright <7°, turn alignment <30°, depth threshold 25 mm. No final home condition. Memory read: V23 -32mm pickup failed; V24 -26mm pickup is a hypothesis; plate-normal receiver required.\n- phase: empty right giver and left receiver; begin checked pickup approach.\n- blockers: no current failures; closure alone cannot prove grasp.\nThe key is on the table left of the slot. I choose the preferred right giver with checked reachability and will inspect the returned geometry.", "feedback": "key → grasp" }, { "native_step": 59, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: V24 approach completed native 44; key remains (-.1105,-.2191,.7706), slot (.1102,-.1977,.765). Right open TCP (-.1079,-.1934,.8141); left home. Native xy <7mm, upright <7°, turned alignment <30°, depth threshold 25mm; no home requirement. 256 steps remain. Memory warns -32mm pickup failed and bow-edge receiving drops.\n- phase: right giver poised over blade; next close using stock grasp, then independent lift verification.\n- blockers: none live; closure is not grasp proof.\nThe wrist image shows blade centered between open fingers. Execute the checked grasp stage without altering accepted approach geometry.", "feedback": "key → verify_grasp" }, { "native_step": 65, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: V24 native 59; right closed around blade, key (-.1118,-.2193,.7706); slot (.1102,-.1977,.765). Native xy <7mm, upright <7°, turned alignment <30°, depth threshold 25mm; no home requirement. 241 steps remain. Historical -32mm pickup failed; receiver must clamp plate faces.\n- phase: right giver closure complete, left empty home; verify lift and held transform next.\n- blockers: no live failure; achieved descent was 9mm above target, so closure alone cannot establish pickup.\nThe blade appears between the fingers but key remains on the table. Use the verification lift to determine whether it follows the right hand.", "feedback": "阶段阻止：lift did not prove a stable object-to-wrist grasp; restart；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": 65 }, "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": 65 }, "native_evaluation_at_current_step": true, "measurement": { "available": true, "metric": "xy_distance", "value": 0.2228546749524384, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": false, "object_xyz": [ -0.1116168275475502, -0.2188708335161209, 0.7862959504127502 ], "target_xyz": [ 0.110232874751091, -0.19773045182228088, 0.7649999856948853 ], "frame": "env_origin", "metric_frame": "env_origin", "reference_point": "root", "error_above_threshold": 0.2158546749524384 } }, { "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": 99.07181274104246, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 92.07181274104246 } }, { "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": 38.745463419315485, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 8.745463419315485 } } ], "final_home_status": { "left": { "position_error_m": 0.0, "rotation_error_deg": 0.05013758770079888, "max_joint_error_rad": 7.379899382570221e-10, "at_home": true }, "right": { "position_error_m": 0.43831627121392386, "rotation_error_deg": 89.79929043165785, "max_joint_error_rad": 2.4864640235900892, "at_home": false } }, "controller": "physicalrsi_v24", "memory_enabled": true, "interruption_label": "人工停止试验 · 无效" } ], "invalid_attempts": [] }