{ "date_utc": "2026-09-29", "model": "openai/gpt-6-astra", "mode": "gpt_only_staged", "source_commit": "29f1758e03a819f885887c2c0c26a5256bdcf8a0", "summary": "代码控制 v31：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。", "撤回额外的直立抬升；对孔已按最新抓取变换计算手腕目标，只累加手腕跟踪造成的预计尖端误差，避免再次补偿夹爪内位移。原有滑移保护不变。" ], "rule_file": "insertion_control.py", "valid": false, "success": false, "termination_reason": "infrastructure_error", "native_steps": 244, "step_lim": 300, "planner_turns": 23, "elapsed_s": 808.7, "seed": 0, "layout_id": 0, "cost_usd": 1.8319455, "finding": "修复重复补偿后，最终尖端偏差从v29的9.63毫米降至4.43毫米；但抓取位移8.99毫米仍超过8毫米保护阈值，244步自动停止。钥匙仍在夹爪处，未下插。后续用单独标记的原生动作回放记录逐步位姿定位下滑。", "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 <7mm, upright <7deg, depth parameter 25mm, turned alignment <30deg; no native home stage.\n- phase: start default left pickup/right receiver, both currently empty.\n- blockers: v30 historical upright lift then alignment lost grasp; v31 removes proactive lift and fixes double correction, not yet proven.\nObserved key left of the slot and both hands open. Choose the default next stage to approach with the opposite arm from the slot.", "feedback": "key → grasp" }, { "native_step": 40, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup in progress; handover todo; insert todo; turn todo.\n- facts: v31 native25/300; key (-.1105,-.2191,.7706), slot (.1102,-.1977,.765); native xy<7mm upright<7deg turn<30deg, no final home.\n- phase: left TCP above blade at z .8146, open; right empty/home; controller grasp next.\n- blockers: none current; historical v30 lost key during alignment after extra lift; use v31 staged sequence.\nWrist view centers blade between open fingers. Descend and clamp through next grasp stage.", "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; insert todo; turn todo.\n- facts: v31 native40/300; key (-.110,-.2191,.7706), slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home.\n- phase: left jaws closed around blade, pickup unverified; right empty; verify_grasp next.\n- blockers: none current; v30 historical loss during alignment after extra lift.\nClosed fingers bracket the blade but key remains at table height. Run lift verification before presenting.", "feedback": "key → present" }, { "native_step": 71, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover in progress; insert todo; turn todo.\n- facts: v31 native46/300; left verified blade grasp with 20.3mm lift and 2.8mm translation error; slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home.\n- phase: left holds key; right empty; present next.\n- blockers: no current failure; historical v30 extra-lift alignment loss.\nWrist image shows key supported between left jaws. Advance paired presentation to position bow 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; insert todo; turn todo.\n- facts: v31 native71/300; left blade grasp stable at .75mm error; key (0,-.2082,.9291); slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home.\n- phase: presentation complete; left holds key, right empty; receiver_orient next.\n- blockers: first presentation candidate rejected in preflight; alternate -45deg tilt/-35deg yaw passed paired and entry reachability. Historical extra-lift grasp loss caution.\nThe left wrist image shows the exposed bow and the right jaws remain open. Orient the receiver perpendicular to the plate before approaching.", "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: v31 native90/300; key (-.0006,-.2085,.9248), slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home. Left holds blade; right flip verified with 1.76deg closing-normal error.\n- phase: right staged open; receive next to approach bow.\n- blockers: original presentation preflight rejected; alternate -45deg tilt/-35deg yaw passed. Historical extra-lift grasp loss caution.\nThe right wrist shows the bow unobstructed between the approaching jaws. Advance to the measured bow reception pose while left maintains support.", "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: v31 native105/300; key (-.001,-.2086,.9214), slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home. Left holds blade; right at bow with 1.2mm position residual and 1.68deg normal error.\n- phase: receiver_clamp next; verify right contact before releasing left.\n- blockers: original presentation rejected; alternate -45deg tilt/-35deg yaw passed. Avoid historical extra-lift grasp loss.\nWrist views show the right jaws surrounding the exposed bow and left still supporting the blade. Clamp the receiver now to secure the handover.", "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_v31 native116/300; key (-.0018,-.2089,.920), slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home. Left blade grasp stable; right bow clamp observed with finger positions .0037/.0047m, normal error .157deg.\n- phase: handover next; right clamped, left still holds; verify transfer after giver release.\n- blockers: original presentation rejected; alternate -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nRight wrist shows both jaws contacting the bow and controller confirms clamp. Execute giver release to transfer support to the right.", "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_v31 native126/300; key (-.0016,-.2091,.9183), slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home. Left open; right clamped bow with 1.6mm bow error.\n- phase: verify_transfer next; key supported by right, awaiting checked transfer.\n- blockers: original presentation rejected; alternate -45deg tilt/-35deg yaw passed. Avoid historical extra-lift grasp loss.\nThe left jaws are now visibly clear and the key remains in the right jaws. Run the recorded transfer check before separating the arms.", "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_v31 native132/300. Right transfer verified: lift21.7mm, translation0.74mm, rotation4.17deg. Slot (.1102,-.1977,.765); xy<7mm upright<7deg turn<30deg; no final home.\n- phase: right holds bow; left open; separate next.\n- blockers: original presentation rejected; alternate -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nThe key remains supported by the right bow grasp with the left close beside it. Execute separation to clear the giver before orientation.", "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_v31 native152/300. Separation verified59.5mm, giver withdrawal120mm; right grasp error1.1mm/6.77deg. Key root(.0498,-.2393,.9514); slot(.1102,-.1977,.765). Native upright error85.32deg; xy<7mm upright<7deg turn<30deg required; no final home.\n- phase: right holds bow, left withdrawn/open; orient next.\n- blockers: original presentation rejected; -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nImages show the key retained between right jaws and giver clear. Execute recorded tip-down orientation to prepare slot alignment.", "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_v31 native163/300. Right holds bow; left open/withdrawn. Key(.0498,-.2393,.9427), slot(.1102,-.1977,.765). Upright error73.08deg; required xy<7mm upright<7deg turn<30deg, depth threshold25mm; no final home.\n- phase: segmented orientation underway; remaining100.41deg, grasp error1.05mm/7.52deg.\n- blockers: original presentation rejected; alternate -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nThe wrist image shows the key still clamped, and the first orientation segment reduced tilt. Continue the recorded bounded orientation, not a blocked motion.", "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_v31 native174/300. Right holds bow, left withdrawn/open. Key(.0492,-.2389,.9338); slot(.1102,-.1977,.765). Required depth25mm, xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: orientation progressing, remaining80.92deg; upright60.29deg; grasp error1.47mm/8.94deg.\n- blockers: original presentation rejected; -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nImages and transforms indicate retained bow grasp with decreasing upright error. Continue the next controlled 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_v31 native185/300. Right holds bow, left withdrawn/open. Key(.0494,-.2387,.9253), slot(.1102,-.1977,.765). Required depth25mm, xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: orientation remaining60.11deg; upright45.86deg; grasp error1.49mm/6.38deg.\n- blockers: original presentation rejected; alternate -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nRight wrist shows the bow still securely between jaws; orientation is steadily improving. Continue the next bounded 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_v31 native196/300. Right holds bow, left withdrawn/open. Key(.0495,-.2385,.9166), slot(.1102,-.1977,.765). Required depth25mm, xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: orientation remaining40.41deg; upright31.28deg; grasp error1.96mm/6.66deg.\n- blockers: original presentation rejected; -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nThe key remains clamped and upright error decreased another14.6 degrees. Continue controlled orientation toward entry pose.", "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_v31 native207/300. Right holds bow, left withdrawn/open. Key(.0493,-.2387,.9074), slot(.1102,-.1977,.765). Native depth25mm, xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: orientation remaining20.16deg; upright15.40deg; grasp error3.31mm/7.68deg.\n- blockers: original presentation rejected; -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nWrist image shows blade exposed and bow still clamped. Continue the final substantial orientation segment before alignment.", "feedback": "key → align" }, { "native_step": 244, "action": "insertion_stage", "args": { "object_id": "key", "stage": "next" }, "note": "STATE\n- goal: pickup done; handover done; insertion todo; turn todo.\n- facts: physicalrsi_v31 native218/300. Right holds bow; left clear/open. Key(.0498,-.2391,.8997), slot(.1102,-.1977,.765). Native depth25mm, xy<7mm, upright<7deg, turn<30deg; no final home.\n- phase: orientation completed, upright0.655deg; next align. Grasp error4.28mm/7.70deg.\n- blockers: original presentation rejected; -45deg tilt/-35deg yaw passed. Avoid extra-lift grasp loss.\nKey is upright but visibly offset from aperture. Advance to checked slot 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": 0.0006730750867064337, "unit": "m", "operator": "<", "threshold": 0.007, "satisfied": true, "object_xyz": [ 0.1105722039937973, -0.19714917242527008, 0.8743596076965332 ], "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": 4.718362271847197, "unit": "deg", "operator": "<", "threshold": 7.0, "satisfied": true, "reference_point": "root", "project_plane": null, "error_above_threshold": 0.0 } }, { "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": 60.02426079575275, "unit": "deg", "operator": "<", "threshold": 30.0, "satisfied": false, "reference_point": "root", "project_plane": null, "error_above_threshold": 30.024260795752753 } } ], "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": 0.28128864154593836, "rotation_error_deg": 106.98224590749572, "max_joint_error_rad": 2.0172288417791155, "at_home": false } }, "controller": "physicalrsi_v31", "memory_enabled": true, "interruption_label": "抓取失败后停止 · 无效" } ], "invalid_attempts": [] }