adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}

{
  "content": [
    {
      "text": "Goal: Classify the two types of objects on the table and place them into the two baskets.",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8013, 0.617, -0.3798, -0.0216, -0.0299, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.7709, 9.3333, 1.7998, -0.0171, 0.1099, -0.0562, -0.7726, -1.6479, 9.9077, 1.7167, -0.1001, 0.0073, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5fe74cb545306a845ef51a33f859d37261ada6c7e969d89fa627531bf6ad7f10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4f9cdd954ce445fedc6a78c1e9058bd28f8b20447912fb7b4e2d878320e955d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0e3dcc3107b52def4fb5d3eb5936713964fea8c3a905e674d9e22ba01c177bdf",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [],
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  "id": "rs_083c98d1100ce2b6016ab435113f1887d0854a4fc213f4807e",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.255,\"left_y\":-0.02,\"left_z\":0.135},\"note\":\"I see a gray plush near the left arm and several tan plush toys in the center, with two blue baskets at the back. I’ll position the left gripper above the gray toy to sort it into the left basket.\"}",
  "call_id": "call_M2Knlodm75skdMWbXb8op3yC",
  "id": "fc_083c98d1100ce2b6016ab43515ac1c87d0beffb5360bdabad6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_M2Knlodm75skdMWbXb8op3yC",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2306, 0.5671, 0.3824, -0.3885, -0.1688, -0.1307, 0.9996, -0.0154, 0.8028, 0.6086, -0.3779, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2554 left_y=-0.0258 left_z=0.1355 left_yaw=-0.0337 left_pitch=-0.0001 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2962 right_y=0.0012 right_z=0.1801 right_yaw=-0.0001 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 0.0068, 7.3231, 1.707, -0.1929, -0.0464, -0.0171, -0.2667, -1.6068, 7.2957, 1.8193, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077582a639dd724ee3dbc4fc697967a033bf6e522211f2cb51ad92433dfdf8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dad97e8ec8f7d3fcfcde0b7128efe919aa3a9e4228e6e2ea9ec0a990e5aa614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5f2b3dddb437aac8c92afd9a0aea547cd09323773129823d9264d00ec0c302",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 6 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8013, 0.617, -0.3798, -0.0216, -0.0299, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.7709, 9.3333, 1.7998, -0.0171, 0.1099, -0.0562, -0.7726, -1.6479, 9.9077, 1.7167, -0.1001, 0.0073, -0.0904]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2306, 0.5671, 0.3824, -0.3885, -0.1688, -0.1307, 0.9996, -0.0154, 0.8028, 0.6086, -0.3779, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2554 left_y=-0.0258 left_z=0.1355 left_yaw=-0.0337 left_pitch=-0.0001 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2962 right_y=0.0012 right_z=0.1801 right_yaw=-0.0001 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 0.0068, 7.3231, 1.707, -0.1929, -0.0464, -0.0171, -0.2667, -1.6068, 7.2957, 1.8193, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:077582a639dd724ee3dbc4fc697967a033bf6e522211f2cb51ad92433dfdf8e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3dad97e8ec8f7d3fcfcde0b7128efe919aa3a9e4228e6e2ea9ec0a990e5aa614",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d5f2b3dddb437aac8c92afd9a0aea547cd09323773129823d9264d00ec0c302",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUcxWGsubbthialvLPdbtj-_U9EBdKhf8z50NUKt8Y9huQowjqmG4tC62Tk8jkpnqasmGT8iG9pPshgyEsUMi-2uXSdis1RwajlmSl6Yv9890uztdq5zMbBUoihn2j29MYuuli3F9SxpUlngjOCRgId_96gY007lKoctmmDWlx7yhu8AndxQZIixsCoaoooeKjdaFuPyR0FwCxCN8QE0qHnEa7fOfYWUUM8hmKKaDpJEAX0_puijdRUE_1ElVenRqtk0XXixGEaBkJCFw0A1laXkwjlr6O7WIo8zwPlV6HPnXSjUHIEyFJowisjhKHSwilqANu3Enoc8tMPWcFP6rTlqYJL0Ydh2TDgZY5m9NWaKubra6R_oIRHnQ0viwxMsDkhKksg-_j5fQ9A1uz3KLY0r3VK2WHNLLsmw1ly1Hyfu5Q-vjMAQxkPFMEvW2LCM9efYYIbz-ZztBzJfkoJPPaNqreFGiFMIID-c_7MuQgEKnDU5lV__HYeza4uzqeyRE9BdYbNKO9XH4M3yZ_h2H0coE0YW6Qzd6IUwVsBMd495N_bKkEcRHIpCCPXkE-nOsViULswJrJJ-XezYa0P9y2Cq6aDbQgxp42l4s7BWTbETIQd9T8nKhr0dc-D4RvcKAQobbRRJ-paWY6FlCgr3f6OINKxo9KTGwln8aR7KUXCH8ZzwSO84KZjLJB7iZFWwfktBdGZ_NkCwkWCgEaXUywICggYPPr2bc6eze7aRttc8rOLCvYnn7uvrwVr3KJifrDEGTjqXa_RInvMPXWWhwP4tYMyjhVE8WjUMbWC_MyOLjE0qhJotbtvkaxDjEyayG3vAQ__Pafcu00OzdPyGTrB9QNxJPQU6HoyatGG5o6gVuS9GLJW6cfyudhehE-17ka2qFT4qIDSaSaoTA2aUgEJOyNlSsEIktKpO1ZPKv7q5ZyCYQlfECNwSWwh8iXVkC1lZ3iWalrFo_yVptsF_423p6Ed3bp3Mn_pI9Zte5jvAe7uXyPG9Fv4uP6SQEBFz3WLycaLlG7llMAuoMsrPniNgTeRWDWakZ6RUZrk05ClDcpwW_mPcaEGbYFMHKZLFSNEmg3MPEKneaEiifeIbvcX_KezWWwf3ZB7udtlmCCVrVoX4S2BFTI48QP61Tjz17VCIDk3dZ_UfUlg9twk5Vq5YKspuWeBYIAaIbqJMCIofhGPxajwqpF9xFgfEbzantXXBvp0zlaiP7E4K8h13MFpIl14W3DGyjZ72OTudz1nM22pEi9RUaJHnCxHvQr-7PwyhSgDA5Rhy30Z8d7l9mOZaf7L21au2DZgdlASvrSHpeNCbzOUPxucpzxbWxZ0VzWR3aIDS0dfPVvD4uKziJEKIo6I_vXYp7miF23dlcFFy4DQHkyXLnUTzKQCgfcmifJfyK9_3v13OiECcSES5xXp9rRuQHVO3WAJRRL2C8NCXn2ByoI3Fj5ME82ZAl9OnPnO3W7bl1OJbvATwSr6mqIJGDzXYcqVVOq7TRMRS1i_v0uG8IhwD-rDrT74MgIYFlBY4G6x4QEbk4shQpq78EAVyL4UkB7_b_5EtWGpR84CSjVFw16UIMjvJBL1JH5hMJ6tRJO8ALbQVNtA9BYc9Jvf2LhV5V_1Naet10SDEMvuiQ3VzXIis7LcAkij5jnKJjIgCGofKEjfrOU3UGw7hPXuut0X3SWAtWbmqn2raouUrGbALupxmlS9QmlYfWxIVy-ohvhV0pOLKWk-966uMwKTV2UKA2tKN15yU8yEBzdCbYEeq1KgAvLvDxomgg2IM04G-hdx-Ok_MoOc9rcEd4gA-eDta4igWq0rDAAvWu3syyTY1QFR5q_Ecftg1ed9RombEmhvMUr1BYVhK5oE3cWSKtG3vlZ8Ubzfr4N3e4DWYptPnhf3BjIfxbyrWC94AjnTRuMcob40sYjLz7FuFXSZWpaY1a19U1_ngEnehAR2Oesmpko3U_Xq-1I4r8htGBGurlkMQW0oErHowHQJ_OFT3H13os-94p3AJUqyibsGem04wljTEKPYpx_3UpxoYbHt8NBy6yLzaxcnvxkWwmnxKZLRF-2CAopjapDCSVL6rJqum6T_BIVLp04Kj2EdOQDC7V06Y-DiX0DSpUHMgwOlrxCS-2M6de-J8OlY-RZDcPbJWqi9fsBsVN-rxfrL2JgK-fxSXy4TgcUrHWYX9jGf-FF0xxHo8wlYv-np2NRxG2sOou39aGVTYnbYqdT2pa8G7vbBBAHfoISU2FjQQNEkkpeYXRWP-cr67Tl33WG4E-g7uP7WFD2mtV1FxWwzUVPWwUmct7HBW9hMzea8JeaCNno53eazY8u-C8Iz5LTQvBWYjdnHg7oDLQ1ABnLfcT6miOs-o0ISwnPD_fDKvJqxMaCFg8G3bjbWmz4N-hH5gEDLkueX4YTTgYeN749rFPd3xLaHgidFo4wqU7ozDwxit1oRKJ8mbC_FPM9Ug8wx0N_hdRwvbZIDvSrrsCXBfYGXFj0vTIpiFWC9NZrtmX8QFggPEPLeKgOnW2VZscOsxAvYesz2mohpCX-sz4k1_94j2IJZaK4aNaXn4q7Zauq8nsEGSmLMD3O_yqLm96g4UoGnJl75dbRFDezs6Y6RhnQ7d4fqEUdS0uwTwqqDnw-5NCy9JIid-Udz90CKOHHLWwcRLy-GVNGmrlKrpqIDpRGuSEoQm3f4Xp6SD4buyru80jiruB46AVkss2ecx9nlFYHHqwmQ2rGEBvjAKsX6fWRBFboRc2H_6VrJdr93WhBm4dJLCQsE5u2pVwvc9pjgZHKhy2EGWLiweYMxye391qemgKApJWi7_SOgLP7w9r7yZSiL2BGuqVcZn5jpDD19Hs8BK2WMDvo2tISu5OAaeVkZPMp_42Dx8BvYPVPgaLUG1xGTCsD7mVkWO8yWbctH0TWa2j0jNqFFpHc2GHhgNmO0",
  "id": "rs_083c98d1100ce2b6016ab435181abc87d0870bdd53f388608d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.245,\"left_y\":0.025,\"left_z\":0.075},\"note\":\"The gray toy is left of the jaw column in the wrist view and its body is close to the fingertips. I’ll shift the left gripper toward it and lower to the toy’s mid-height before closing.\"}",
  "call_id": "call_F0uHHbzxA0umavBN9assSPuz",
  "id": "fc_083c98d1100ce2b6016ab4351bf68487d0843b4995dba331ca",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_F0uHHbzxA0umavBN9assSPuz",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2604, 0.5346, 0.1425, -0.2146, 0.2188, 0.1211, 0.9995, -0.0151, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2423 left_y=0.0286 left_z=0.0702 left_yaw=-0.0041 left_pitch=-0.0264 left_roll=-0.0102 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.1436, 6.8308, 1.9023, 0.1978, 0.1343, -0.0171, -0.1299, -1.3744, 7.0769, 1.7607, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d680f312d4bb0580fa9083d22f28e5bf767679916f994ce2591a49693872bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f7a431fd9261d7d6b862fc7ba6aaa056588eb511ac4bcbf4097b8f305532e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda26e74b5902c21372ac23d79e2f8919e5e9f2e9dfeefe4d52441851ddb92e4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 10 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2306, 0.5671, 0.3824, -0.3885, -0.1688, -0.1307, 0.9996, -0.0154, 0.8028, 0.6086, -0.3779, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2554 left_y=-0.0258 left_z=0.1355 left_yaw=-0.0337 left_pitch=-0.0001 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2962 right_y=0.0012 right_z=0.1801 right_yaw=-0.0001 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 0.0068, 7.3231, 1.707, -0.1929, -0.0464, -0.0171, -0.2667, -1.6068, 7.2957, 1.8193, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2604, 0.5346, 0.1425, -0.2146, 0.2188, 0.1211, 0.9995, -0.0151, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2423 left_y=0.0286 left_z=0.0702 left_yaw=-0.0041 left_pitch=-0.0264 left_roll=-0.0102 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.1436, 6.8308, 1.9023, 0.1978, 0.1343, -0.0171, -0.1299, -1.3744, 7.0769, 1.7607, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47d680f312d4bb0580fa9083d22f28e5bf767679916f994ce2591a49693872bb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070f7a431fd9261d7d6b862fc7ba6aaa056588eb511ac4bcbf4097b8f305532e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eda26e74b5902c21372ac23d79e2f8919e5e9f2e9dfeefe4d52441851ddb92e4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUgR26gPlDcN8_9yuHuxLj18R17AphmZ9Z2w4v787lm2SS9eu6pe02V2tjYg_Xfk5wgcquvekqeDzjVtm32tCkfXeP7HOY66vtwXAV1MPRzlpCYjyJ_pFIIugt3S4CYBNYPcv7CGEFI8wgA261HnPB1ccOXHwh6pTLpMJXeDNcg8PHAgX1uCllyXnaXJ7YuRxpFU789IXozbvAxpe1NsUKv5jg7NaIlZ_0gxBhI22zM5PqrK0QxsoR7tuhxwX4rATuimgOSsWvjQvabaQyEEoahlfmEefIeW9Bmqgl1pOxATsb-STKlYdA9hZD6ety7XaktTPyTCz7FXcrwG4sLFJnLB2rRng1p7B8UNcaxP7n5JPQuNVNSr0Qta0vIvhRwgervM1-WsrZYbELimkLSgPye-3Dqz5AxEG8h6eAFq-zxtggMbEtISdcpYHID2SLYEx_nOids4MaCxPp4JhJP6-0Q7XHYt9sRV74atxbMsCEPhFU8O7IHLdca9eWn5kZEC8T65awsg0lcPw1nsPqm0vL498CN3TmJC9qOCTdFRUN_u4v_t-Y-V7F3VQI7CE8f7M82t0Yl-2lmYGmkuXFx1ANMu8m4-Se_IX6R-gAiQSoDonaFYLmmhDZ6OwJ9ySxvQPVxuszTavp-Gcdv88QH7RCkvjdUugk65Wi--HEd5OskJtIVP77p_oasN36rIPNTUEOxBEdnrSTyIjTaJ5LBJ5sUgXLV5FrOjUShe9JJbfsyPmpC7hWz7CJpFrgXymbN3_Pf_DVC6WSMeCG8LZt1g2JKJitRfvy7z9nNyPz9p2O6bHEpX3rW8wM2wkutJoQByjicCCR5kuTz6E3xkJoB7NZzofkeRLKmheLKhNDooc9NxvFUavs7GxWQktApNBoaExjJO_PRYP7UrNfbn47AwiBIuj4exDigpWTcSUWZKNFzluhAb7vnO-t5o6b4t4jVYbTSKn6SSG08RF7_9OokHvNrKjNpxah_wfTOdqlnzYtef1MP5PDxVUTxg_ueosRzOuddgf9CGWiryUx5d5pYzRNGHC703ERXK1fRSmzMFOwNsVVR7UDH6WjsApivYqgNI89rvmIMIQ3WOHOJKa2Gb6UsVtmq88aljICC2YTWhHFcfHLiTts5gWpIOoXTeC-v9etDwIPXqu-opUGLiwVsLC7BRRzIeHuH6DTvfqVA0ZyvGLZXAdkxBCiJuzofvY0lMjKJL6MQt-yENSqLKM8FmHYEtcis9pgbR7jNcjXNdmqq6XiXBdcz-d5qSpcxcSoEk2x5k7xcXerPtxAdknmsU1T5IPrx3CUaoK6NG19MzImb_v3rFwx3GKG5ktJVcH2nnB6oPRcBTwDnUMI0Y-hlPLiRxMjS4WITMQnMx1ABQJ7NdaFDYym5hBcrX0tK_T8UsgLdt1gU9SqiiBAq6i2CrvHJXsjDNVVqG1w2Y2U7P-xTxb9IU29Af_lJnBnFwFjNtvb8iwKDVs40sYz9FVkSwC7E0h3ts01LuK_9D2sW7qumd3o=",
  "id": "rs_083c98d1100ce2b6016ab4351f54a087d0a14ef1ab65953f3c",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The gray plush now fills the space between the left gripper jaws at about mid-body height. I’ll close the jaws to test whether I have a secure grasp.\"}",
  "call_id": "call_mdGE1SyYiIBBluPB7nFQQ0W8",
  "id": "fc_083c98d1100ce2b6016ab43520006887d0a9401fabe004d917",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mdGE1SyYiIBBluPB7nFQQ0W8",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2584, 0.535, 0.1421, -0.2119, 0.2211, 0.1188, 0.0339, -0.0151, 0.8043, 0.6086, -0.3851, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2427 left_y=0.0278 left_z=0.0705 left_yaw=-0.0067 left_pitch=-0.0242 left_roll=-0.0129 left_gripper=0.0339 right_x=0.2953 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0068, 0.3897, 7.2547, 1.6825, -0.0415, 0.0171, 1.0085, -0.3077, -1.306, 7.1316, 1.7558, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c646997ba67ae1e9db65abba48579c0de09cdc0cf2468b28af0cc176e6e1f165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3cf06ebb91f77ad2dd292dd6ef8d4a83ad0cbfd2fb16e4fadc77510b43a324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d346ec06d76d240bf4349e1c4d2ee9cc1f50e74e57fd635b72bb69a06328f8",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 2 changed as sent

message 10 changed as sent

message 14 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.0189, 0.8013, 0.617, -0.3798, -0.0216, -0.0299, 0.9996, -0.0154, 0.7986, 0.6109, -0.3737, -0.0128, -0.0158, 0.9993]\nstate[eef_state]: left_x=0.2969 left_y=0.0018 left_z=0.184 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2968 right_y=0.0013 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4171, -1.7709, 9.3333, 1.7998, -0.0171, 0.1099, -0.0562, -0.7726, -1.6479, 9.9077, 1.7167, -0.1001, 0.0073, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2604, 0.5346, 0.1425, -0.2146, 0.2188, 0.1211, 0.9995, -0.0151, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2423 left_y=0.0286 left_z=0.0702 left_yaw=-0.0041 left_pitch=-0.0264 left_roll=-0.0102 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.1436, 6.8308, 1.9023, 0.1978, 0.1343, -0.0171, -0.1299, -1.3744, 7.0769, 1.7607, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2584, 0.535, 0.1421, -0.2119, 0.2211, 0.1188, 0.0339, -0.0151, 0.8043, 0.6086, -0.3851, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2427 left_y=0.0278 left_z=0.0705 left_yaw=-0.0067 left_pitch=-0.0242 left_roll=-0.0129 left_gripper=0.0339 right_x=0.2953 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0068, 0.3897, 7.2547, 1.6825, -0.0415, 0.0171, 1.0085, -0.3077, -1.306, 7.1316, 1.7558, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c646997ba67ae1e9db65abba48579c0de09cdc0cf2468b28af0cc176e6e1f165",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff3cf06ebb91f77ad2dd292dd6ef8d4a83ad0cbfd2fb16e4fadc77510b43a324",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d346ec06d76d240bf4349e1c4d2ee9cc1f50e74e57fd635b72bb69a06328f8",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUjfJ_EJjJAIZIKzs3arNksnm0OzfDmAvY_EQtdpQP7XASB4vDjRVvQE6Ng79VRlyMO-4Zi536AWgPEZPJlht8Ls2rt75rao4X7a20bC3pJuQZI4Fb7fAW9AnUvi5-g1i_hxfhZAvDJB4tWz_tA9eDrjJE6mWwBLLmGZmlfSdGUI-t1ZXPfVenPucZns3KAm9r0Ao57GkdHbX1IQY-6oeiUq-RkjOLfR0PCqFasaYSoqZWj3-FLfEhjlUIlgEjB7noEDFwTrtdkqShsYeKhlhVLIOcXnhvnswKLqCcOdIID-GYY9EHE-JMaJvolSbTaJ_SBgi242wJqyyOJQhoD9XUmHNXjuR0KiDlPW4j00WD2Lo82P2OZYsNz84x1f3w3G7vvBgO73cEgODh_2rxqplDF381BlfjtNrNMJqd-M-MXbtGKdIT-IiU07LvGRjrpDzQ6VPv2mZTeJlnHKVOH6-NwuMrtwDSwO-0-edOD45u8XsTE6a36SuXkGIdSgn1flEtfO1HXzW3nTnKZUm2ArpoeeXW3UxE8usuyYzR4gy7YBmbl60qLCsfNB-awdwgBveqbxoRPgEMrlRfGvjlgoegf4B_SGoOsHB1n2g1-Atj3h0n864X64NTUJ16BGJM27mcJ3A7kQIBXbD4SJOGTUqhnHPTnsqPz5lVvQz2kpZ05zj5z6QYfOnqh8BsU1FiQAww5S9u2h2VclSpdC82KBXEL-jtvDvh58daOjlHoPJzHBERQ438Kww4ICGsN9JG8aC38QBwxQZdx5q3l0LjQxl8hSWIsg78tFzHZ2RP21q_cisSZWWbsXOL6yjsTo8dYSCGs9CO--S4T2ZCQPXT3e650Qx45SY--aGRAb4_DelFdM08VkQaCmTJw2io_TIxQ-bAMnGdYxikkhSEq12otyGKFcOjvgLa0f9dXULUMOTwSV7aVn3J0p1V98UNfgNmbg6lt7LKuMsMuc2e6e14sdQfkQeCIlu6fvWNZxNLxtkO3W0sBQH6OSnF-01h4-yf19QuMEcgNCJRNfmALoJTVGmkDIjBhbFywrIEnTs03Wg-I-iCISAdLiUQcoTGlaKJYJPpDdgUGwdTJq6IMP5H7nqXgVo3fipLBzQ5de9Nzcl-JbONK63KWecbYyesEQmEGHoZryFPFHw9JmT2mawHlp5fUxZxKDarl2_2ecxmtt1O7WTJFACafnkRIRJRQIclYmJmpEFzv_4mukwmeOaLXqOHGbHEPIp20OnDjvnp3M2fdtM1X4DE6iOl1p961ef0sC8HHQ8XHXyGOFTMoQAYUY4UpnBiWmXplpTyhduFPINE-WBZBBEMp2rLMFYfPLkZt8m6jGzh9xz8q53dTW2gbac1fvg==",
  "id": "rs_083c98d1100ce2b6016ab4352269bc87d0b772662a8852bbaa",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.135},\"note\":\"The gripper has nearly fully closed, which may mean it missed the soft toy. I’ll lift a short distance and check whether the gray plush rises with it.\"}",
  "call_id": "call_DXtIJRrrlcI9KOJLj7wQqDhc",
  "id": "fc_083c98d1100ce2b6016ab43522bc6887d0a3aa120b70f16aab",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DXtIJRrrlcI9KOJLj7wQqDhc",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2577, 0.5301, 0.3653, -0.4866, 0.2176, 0.1158, 0.0348, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2378 left_y=0.0269 left_z=0.1176 left_yaw=-0.0035 left_pitch=-0.0697 left_roll=-0.0255 left_gripper=0.0348 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.253, 9.8256, 1.7558, 0.0708, -0.0317, 1.0232, -0.212, -1.306, 7.0359, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e1f809e9a9eb25ad7bd11a300ee1bba2eb7ae9f2a3cc069bbeed604805d7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60254be7247f2443ed53d757aa6bb2b9bae206c966be8f9f973755418f5b35c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961e5cb10dd7d340faa7371ac37e31966572a6e6e5726fc7170da936f89b7682",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 6 changed as sent

message 14 changed as sent

message 18 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2306, 0.5671, 0.3824, -0.3885, -0.1688, -0.1307, 0.9996, -0.0154, 0.8028, 0.6086, -0.3779, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2554 left_y=-0.0258 left_z=0.1355 left_yaw=-0.0337 left_pitch=-0.0001 left_roll=-0.0053 left_gripper=0.9996 right_x=0.2962 right_y=0.0012 right_z=0.1801 right_yaw=-0.0001 right_pitch=-0.0107 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.0205, 0.0068, 7.3231, 1.707, -0.1929, -0.0464, -0.0171, -0.2667, -1.6068, 7.2957, 1.8193, -0.0611, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2584, 0.535, 0.1421, -0.2119, 0.2211, 0.1188, 0.0339, -0.0151, 0.8043, 0.6086, -0.3851, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2427 left_y=0.0278 left_z=0.0705 left_yaw=-0.0067 left_pitch=-0.0242 left_roll=-0.0129 left_gripper=0.0339 right_x=0.2953 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0068, 0.3897, 7.2547, 1.6825, -0.0415, 0.0171, 1.0085, -0.3077, -1.306, 7.1316, 1.7558, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2577, 0.5301, 0.3653, -0.4866, 0.2176, 0.1158, 0.0348, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2378 left_y=0.0269 left_z=0.1176 left_yaw=-0.0035 left_pitch=-0.0697 left_roll=-0.0255 left_gripper=0.0348 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.253, 9.8256, 1.7558, 0.0708, -0.0317, 1.0232, -0.212, -1.306, 7.0359, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e1f809e9a9eb25ad7bd11a300ee1bba2eb7ae9f2a3cc069bbeed604805d7fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60254be7247f2443ed53d757aa6bb2b9bae206c966be8f9f973755418f5b35c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:961e5cb10dd7d340faa7371ac37e31966572a6e6e5726fc7170da936f89b7682",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDUy_0jY-rNZWLx6GLeBiGgiTkIEvWbyl7hg8Y0Qwd40WGmOEP2uUtKkfw1w_7MYZWm5m2IS1onI9n-GCr2BshRcfdoIDJ8rSCKQG1YsNOQaqeq4HFOQ6b3i001vCTg2AplHBmq1LLElpGrT1yoJIuLer7z5C_dvVxFmIR-h-Q4T-uQ2HakjMhZM5UWIOVogy1Mhj7sFD9uH02sgXwSZ_frjHCtI0oTnxylaLWZTOPEQPbQBIboimt2i48EMMfWyIEo-oC3ePn456GRF40IVxntuhdwChs6i_joVB5VVRhzv77F-5svsJS_cDfmcjpqwCxtBAiqUJuT3qEO-JCFev-DkKcEkvzgL7XnN2JuuU_MnKYceFtNuEC6wYhag1Empv5w7t1OevARbG_ztlCK3Jscb52LuW-3OJnHLFZCGWlgUrvNtlZeYpElvZ0SQkB8Sz_9qZ1k6iu2boSH3MBA14cCk5k3E38yBl1ITp6hDPzystAVe5ceUb64478Q0QnhSWkvdPPhH-goPh6wPcaUOuJaZtixNiGzin38oDMGBtUzEwsvN_FOphX-d0GBj2MBYpkKSkg5mi4_7-H5D1VlKn10mJ6v9HggrhpVvGOfxNpqiexRpsh9-jAcsnPIMuBE8MrKUGPuinKxrK4ZAbUdBOJYUFkXsDitj3QoiiSriQbHb9jLaAizm3o64UAoF03BXK2q1lS0-4SErMKAdUUJgMECRHbM1G-k0i6i0lcW-jz0k7RC7_4BPSseVHgpTrndp6T2TPTEfvCAprRc0iNjihpILN3AVg_MtpOtfpAWxnyKcjVCRYDkPlDqDPsZf2FTjp4cq6CsDdrvSUgQHjXs64XkaeCRQxncN48BNgOBruvpGVecLgZ8GXy9aCG9czxJXz-simLAJwThq9kEpfNTt9ZSGpf_2ty-6VLujVQDcnmzkcqRoraL98XGwvbOnrMUq4hCpVVWBQokynWl-aP9FOphFxWuG_PZ-2w1DfLbLnNya4XmHwx44Di9wKZqQ9HgVNRgWcJbQJIMrPlUFFiJTyCzRZRu60HxD6blUvQ7A8f35ixoxbnvS6_J9YHs9aR74SBmjarwtF0mLxI_Ek9jeMk8x2i-Aku3oB8hFCEgyOumnN7zK0GEbUWi363xhsvmT3rG9Ir-1TeXfDhVujfhDzvA4JeJJ1peZ9d_VyClhUYskyQvljIs7vdlHGFBclRpuPVJA9cAwsf9ufnqd2BWQdy3_cOgXJHV3c-omT2s8ql29YaqQd82aViFLFqONkKYrV_P6Ix2oEwI0LEcwJtZpRQynmHXmM4fxRqZFaONxOEA0t92DLQwr25j4lp-XFKgCIQEE5DZrv2RpIZIQFoes5sz4nZ5oovbWb-awBySZq4xYXjak6qUHId7tRkMoROV2oylGgRFzgeH5M-e59HWGzPRgOwh2AtksNVZTXQnK-F9qLurPQzMllHBteGmbrowY8bCE7sfqHv10Hv0s5YxvI-FiwrZCmxxendFs_XP_CK81TnceAdse61TNT9LzYoCqZZMF9cKL3dkzTx-wPObw7che4GfiOjff4-HfWd9dQOSKFtY_yAokkrwqCkgg9lQFzUnEhhWjl8LSNouGwGn1_tqVMFmFlVBxwsxk9dH85TABTCvhYOeAOPcfP2hR1SHx5QfemKpbyC9EcKSHd_ORFiiQbUnLv0vZRejD_faLx22Pp4uo2IXgEvo0uhVxuFXcroUYZa3yjsHU3zEA4l0ZlyI6MRM__551e_uKHFtzOjVDOpGqFzBGW2edtE6s4h5sv0qt4-uEelQZY6HD8EbRlNfHVJuI6lUpudS3j5SpZVEcyMZsR-B_gaZ-2r-vqMFUS1gdY5hDJiRNXN-uSzvC3joqjBmlzctfnh0LHpz4edxZL0RuKOGJj01_HjekrQkTwyEui4FkUQUfyUAMXgIpzvqozlP96htu0hXFtEVxvrdBapZdqc4n7sjuqxHlXMpj57_tCgoNjHHFEsD6er4bzDJhGp-wuHBGT4vADLowCNoE6lpT6nceg6aa0wvlcDqjQ8Dt-BuH8uik0qa_ITMlyzledbL9hXBi0704bhVZ5HA7V87l-iWDFWw3CUXldM3ZjpO73EtrmEFTV_54dzyIzDVPP2K1MGqRdP-NhxXPed3_DYAv_UNXkEQvT11XdGLfoZuRFfeStz39lbyiGGKdRTOgnh7HXfd_zOd-AhzMQSYKud76KPRYipaEN5mES1H0f_qRH0cjsITVBpUFGq-2-cw55C5jMOAcqANgBYFCvbO9qETwbHKTU2LkenGL0yOX2Rxp4wxNDxiNugpe86g8fhRWIVcl4U8DvaJHMa8ObvbpRByqqlQOZZbnzA_Cx6gXGKexJ10FAG7qpwvzPHGM5K_PwOEfogEiF2wK48JSV79GFHGwnJ9IS7gXQ-dRdkt4TapreEBrEMILkZzmcyxV-Ry6jc-vYm6c5zETVESMQctIbGACMdYrcMcKjbAGUzawpxXLXuYWbAFjynpU5bGLSnmX-fvIF3RyPVVrn7VKKuLJbMM_1bvUT2PvciEbD_HwUl83B4Snuv9UtY8oVC3JnlLAq7dmwbMfAIGFeU1dMqKqswRUW8TkfryPRsvjdrVXBW15UCXetWvziRES9w2PfCicIcvtpHsRwEdtBS6WeRyzabDXb76IS16nQ01PO9igna9nPy49GnRcaoZ1jbU1cFyy3sEr97F5UPxK8gDn-nYG59Eb-gk2DBrgd0qUpWfMLWmeeZkQNv3WnxgiFTdHgN4GVSgXjV-uQLJb0ji5tMwKf9ougdjixMYSxAbltKRLfvHlohNfqvU1qGTaEbngYLgXJyFwbvlMaDU_x12id4DBjj2wyejB4mEXdwq5lWTupwui8FB-rYNspn8H4gqTZpoqKE1TjuudpkuODN2OlPxqlNV0kY0oj-FfVgcSJkGQzSyZ5Op9uq-d6d-ULDJnAf8FqzmWU-EBvsHmFpGZ9CyU684k-6bDhMYgMrB7u6boW8GNks5l2fpA5YHGETI-n08S7K89tuqr8bxH9STsCa6ixtIBP9PSxLj7YrlmC30htQi6MN6TbUscHrU4HTl2LwnG-eAwWsMZ3VZNwD7W-E7eqf4RTe7IQOHeJWaFzCEJnO2wqZOt_z4giD3S5cyf6YMz4hjTuRn0UbwHVOlxS0bL5aEbCrlqIU1XiCN9Ozkuje5-FaMc3ECIBrYPpTD-tJs3O0ke8qzmcfHG7dqCMQVEG4zN_LtnCwSZwQTY_nbAOEvYHTzTko4_LGyuGOdBSmCLVrf54rPkI_3BWFrG0U2xiIYbH3V_QHRvIq-zIez_Zy865nHk7QTjww3RPdmAa9ExSAPU-OZB_jKELcl1FcxDdjpbi4kT8HyXL6nJMaTvrphsoxYsNOQaKNe00C_2I2tbgbQFy3mnxTWaWGxxYV3yaVfmLD6mx8xvJi4hdQjCn8Kr6uDjEDdlqJg8zEEHJ6MZ6zHCY_i7DFgvCZDPeBL7S6tAw3_Nuqaaos6Mir3PIkKXxPa72GJIr1r2Z29TLgTWtM14KL7pnubuJNMNkRPO15O5ZixnJA9d1cTO7rQd88ik",
  "id": "rs_083c98d1100ce2b6016ab43529320887d09200ba478de19481",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
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  "id": "rs_083c98d1100ce2b6016ab4352d6f5c87d09eff9c5644d2e3d3",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.295,\"left_y\":0.045,\"left_z\":0.068},\"note\":\"The gray plush stayed on the table, so that close was empty. I’ll reopen and move the fingertips forward onto its torso, with a small sideways correction, for one more grasp attempt.\"}",
  "call_id": "call_sl5JdlwWWteFPUcLg6UGHNpo",
  "id": "fc_083c98d1100ce2b6016ab4352ec8b887d0a928b41e05b0caf9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sl5JdlwWWteFPUcLg6UGHNpo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2699, 1.0336, 0.2844, 0.0681, 0.2184, 0.1204, 0.9988, -0.0151, 0.8078, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2923 left_y=0.0449 left_z=0.0633 left_yaw=0.0049 left_pitch=-0.0982 left_roll=-0.0301 left_gripper=0.9988 right_x=0.2955 right_y=0.0013 right_z=0.1771 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -2.1265, 6.0376, 1.7509, 0.1587, 0.0708, -0.1343, -0.0615, -1.5795, 7.0359, 1.7851, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2a1f19ac1c7106d8dce8ea0e5e0de3baa8bae12496abd84464b84b4fbb68d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e0a9eea97c64000a8d858ea60cc293f09c78d04683f06ca0e41c02b3690083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ff9bbe12dc8fb92ddb0598d09854638ca7c886753782d615cce3daf5bb4733",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 10 changed as sent

message 18 changed as sent

message 23 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2604, 0.5346, 0.1425, -0.2146, 0.2188, 0.1211, 0.9995, -0.0151, 0.8043, 0.6086, -0.3847, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2423 left_y=0.0286 left_z=0.0702 left_yaw=-0.0041 left_pitch=-0.0264 left_roll=-0.0102 left_gripper=0.9995 right_x=0.2954 right_y=0.0013 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0191 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -0.1436, 6.8308, 1.9023, 0.1978, 0.1343, -0.0171, -0.1299, -1.3744, 7.0769, 1.7607, -0.0415, -0.0757, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2577, 0.5301, 0.3653, -0.4866, 0.2176, 0.1158, 0.0348, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2378 left_y=0.0269 left_z=0.1176 left_yaw=-0.0035 left_pitch=-0.0697 left_roll=-0.0255 left_gripper=0.0348 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.253, 9.8256, 1.7558, 0.0708, -0.0317, 1.0232, -0.212, -1.306, 7.0359, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2699, 1.0336, 0.2844, 0.0681, 0.2184, 0.1204, 0.9988, -0.0151, 0.8078, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2923 left_y=0.0449 left_z=0.0633 left_yaw=0.0049 left_pitch=-0.0982 left_roll=-0.0301 left_gripper=0.9988 right_x=0.2955 right_y=0.0013 right_z=0.1771 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -2.1265, 6.0376, 1.7509, 0.1587, 0.0708, -0.1343, -0.0615, -1.5795, 7.0359, 1.7851, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ea2a1f19ac1c7106d8dce8ea0e5e0de3baa8bae12496abd84464b84b4fbb68d9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16e0a9eea97c64000a8d858ea60cc293f09c78d04683f06ca0e41c02b3690083",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:26ff9bbe12dc8fb92ddb0598d09854638ca7c886753782d615cce3daf5bb4733",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDU38NMIRBSdV-bab9RbHEAu7jM6veVfo83i89om-nPoPiBB9ecr4pEAyolGoNYArBYsF2QJeG-0j5a7AAIdlufiYoVcoKwFUrt3gqOm-e2rIuaRsHuY6dfjSPpBGNoE49HaJweiapUkiUsgU0dVRwXNSm28LE_JUQQSypZqGc0GxY1DqoqvPrUQGPtGySGAEXawgl6SQFSXH7yIH3Lux99Dwqdki3yG-WXc5tvy__7qevNc1L81zOgxkXiLljesdH8NzqlCxSnQ08CPOpztt1xcg3PuEF0GjIm7DqDJTAj8i0tL7vrl17zhjw2uD8B27ovAeA4DdcE4zayFqA1TJwuYEi4BkBsHyG1OMxZ2AY6JIY3Eg1Bz0dyRcQoVNv8oTIj6hK0L-merXxuychU7bzDqOVWStlcbBZYgXXg3qNGPuwNWtNH0Mrx8SijtOq6cUgNHhVvDBWKokuIN0t__8EoU2J2FKCotJ5ry3-mLnXOi0DNJeQjJrMWXi9Hp1OpuBjYpJ2LwRDJOvvz2-nQz1FYXdMnuiQJ5Cr0CYIBrIIL2q38454Dqjg9N7L9gBPUKeiRGwFwWhbmQivncqdbnUUcPXchPqUUKKwaKwid26oluwhOGosdtcDlKY3gYLxmo0aVmBflMQ15Ova5u9Uohme8y_9p7dHgHUcYZB2r8BUAjdkru0PS33wnE6RQfDx8tojJ1C43r40KMcESDI0pU8kR5PQVZglA4RBUFN_IX6ACo-Y0hvVUNfAGdJAin9g4Kzl9gYq0K8AkGsGv2RtLNh6n9hP453X4TeLYaa7YTuYrB8WFsfyyyHB9R6W1wj-sWblb6ZExe_U7BH2-BKMCL29yYHQGRtdXrdkZyC33jJkx92YsyJ4b42HR3jwLLq2oDa91rL33CmgDCbD6r1rV_d1RWcVfQw4Q2qVqDdY_RT0ZYwo5j1RA8vWa0qQ6cRQPencROoDk0Z5vQ6Xlh1I6Xswgp7BcjthzDpB02lQKOvUIe-gVAnfHcEqXFFRKNWZ4_0UCxCBRPiVC3U11oIdBRvJ_VrQlOnjga0-TP8dIYMkjrUbC1DQRHcdPLCT-wXdPPmU6deZBDXJ3hCLL0NGpRToNS0Vg7uWkkrwhvQyEhbCe7iFVtq0ce5E8YHqCnVQeMZRVap_cb-DZwW4lUSt_cy0DHEg0r75FWtMpYKMKrrG4cGITAztzqBCPW9qivASs1-ybLvWC5BbOJ7J7nvqK6kHKBySPd0ZMKKeIu0NwXAGxcapiJ5bRAqN4CQpnq_2ZoEmAEYwjWtTzI41Pvb7kO8Cy4srpN9uUBsx3yzKdX6H7-jDrSSyz2wtsh93iBiGlYv2D26uROfgIHBxhZ3oCFJo-SHdPmc2KzviwTyt2AwDbh6wPE--94oRte8ifrYMec-Tch",
  "id": "rs_083c98d1100ce2b6016ab43536c9a087d0849c035296e78dde",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After the correction, the gray plush’s torso is centered between the jaws at the fingertips. I’ll close again and check the resulting jaw spacing.\"}",
  "call_id": "call_lpp538DsRy4vhvD2Nczb7mrT",
  "id": "fc_083c98d1100ce2b6016ab43537518c87d09fc30c8ae39cac69",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_lpp538DsRy4vhvD2Nczb7mrT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2691, 1.0344, 0.284, 0.0761, 0.2108, 0.1165, 0.0098, -0.0147, 0.8139, 0.6075, -0.3923, -0.0113, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2932 left_y=0.0463 left_z=0.0643 left_yaw=0.0128 left_pitch=-0.0929 left_roll=-0.0267 left_gripper=0.0098 right_x=0.2948 right_y=0.0012 right_z=0.1736 right_yaw=-0.0003 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.812, 6.3932, 1.6679, 0.1343, 0.0366, 0.7155, -0.4034, -1.4017, 7.1179, 1.8339, 0.0073, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813c1ffc0e0749b36d3405ed3282a4d35304ff59d73c568f18eed473a5b67b31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6712ae778ea435ee92ea45ac030442e4b5b54369002075f8f570c05e48b8ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fcc20c9b6b5ab2574bba49efdac33caf9d311a2a2192cc3aea885141232bfc",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 14 changed as sent

message 23 changed as sent

message 27 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2584, 0.535, 0.1421, -0.2119, 0.2211, 0.1188, 0.0339, -0.0151, 0.8043, 0.6086, -0.3851, -0.0124, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2427 left_y=0.0278 left_z=0.0705 left_yaw=-0.0067 left_pitch=-0.0242 left_roll=-0.0129 left_gripper=0.0339 right_x=0.2953 right_y=0.0013 right_z=0.1782 right_yaw=0.0003 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [0.0068, 0.3897, 7.2547, 1.6825, -0.0415, 0.0171, 1.0085, -0.3077, -1.306, 7.1316, 1.7558, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2699, 1.0336, 0.2844, 0.0681, 0.2184, 0.1204, 0.9988, -0.0151, 0.8078, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2923 left_y=0.0449 left_z=0.0633 left_yaw=0.0049 left_pitch=-0.0982 left_roll=-0.0301 left_gripper=0.9988 right_x=0.2955 right_y=0.0013 right_z=0.1771 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -2.1265, 6.0376, 1.7509, 0.1587, 0.0708, -0.1343, -0.0615, -1.5795, 7.0359, 1.7851, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2691, 1.0344, 0.284, 0.0761, 0.2108, 0.1165, 0.0098, -0.0147, 0.8139, 0.6075, -0.3923, -0.0113, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2932 left_y=0.0463 left_z=0.0643 left_yaw=0.0128 left_pitch=-0.0929 left_roll=-0.0267 left_gripper=0.0098 right_x=0.2948 right_y=0.0012 right_z=0.1736 right_yaw=-0.0003 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.812, 6.3932, 1.6679, 0.1343, 0.0366, 0.7155, -0.4034, -1.4017, 7.1179, 1.8339, 0.0073, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:813c1ffc0e0749b36d3405ed3282a4d35304ff59d73c568f18eed473a5b67b31",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6712ae778ea435ee92ea45ac030442e4b5b54369002075f8f570c05e48b8ea4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3fcc20c9b6b5ab2574bba49efdac33caf9d311a2a2192cc3aea885141232bfc",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_083c98d1100ce2b6016ab43539a63087d084cda180aed41576",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.345,\"left_y\":0.045,\"left_z\":0.065},\"note\":\"The second close was empty too. In the overhead view the gray toy’s raised head is farther forward than the jaws, so I’ll reposition toward that thicker part rather than retry the same torso grasp.\"}",
  "call_id": "call_4hkvTRSh1ociAuXIW3SZajnT",
  "id": "fc_083c98d1100ce2b6016ab4353e663887d0af5033730f032d64",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4hkvTRSh1ociAuXIW3SZajnT",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2001, 1.2999, 0.411, 0.2161, 0.1604, 0.0708, 0.9952, -0.0147, 0.8165, 0.6067, -0.3931, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3397 left_y=0.0438 left_z=0.0618 left_yaw=0.0106 left_pitch=-0.0988 left_roll=-0.0319 left_gripper=0.9952 right_x=0.2948 right_y=0.0014 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0416 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -3.5214, 7.3915, 1.5604, -0.0122, 0.0366, -0.0952, -0.1436, -1.5795, 7.0769, 1.6679, -0.0122, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c4eab0b5046b6b3e6884766e52923053ffc003ea28bd97690cd0aab5585006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b373a7762d516ac13506a34c019d42eb1a5f1bd0f9ef02664a9931e02ec8e2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427e60e295391caa27497cd49aeef3d390636ed6c5562c5e0b51bfe15edd34df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 18 changed as sent

message 27 changed as sent

message 31 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2577, 0.5301, 0.3653, -0.4866, 0.2176, 0.1158, 0.0348, -0.0151, 0.8043, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2378 left_y=0.0269 left_z=0.1176 left_yaw=-0.0035 left_pitch=-0.0697 left_roll=-0.0255 left_gripper=0.0348 right_x=0.2953 right_y=0.0013 right_z=0.178 right_yaw=-0.0001 right_pitch=-0.0198 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, 0.253, 9.8256, 1.7558, 0.0708, -0.0317, 1.0232, -0.212, -1.306, 7.0359, 1.7265, -0.022, -0.0415, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2691, 1.0344, 0.284, 0.0761, 0.2108, 0.1165, 0.0098, -0.0147, 0.8139, 0.6075, -0.3923, -0.0113, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2932 left_y=0.0463 left_z=0.0643 left_yaw=0.0128 left_pitch=-0.0929 left_roll=-0.0267 left_gripper=0.0098 right_x=0.2948 right_y=0.0012 right_z=0.1736 right_yaw=-0.0003 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.812, 6.3932, 1.6679, 0.1343, 0.0366, 0.7155, -0.4034, -1.4017, 7.1179, 1.8339, 0.0073, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2001, 1.2999, 0.411, 0.2161, 0.1604, 0.0708, 0.9952, -0.0147, 0.8165, 0.6067, -0.3931, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3397 left_y=0.0438 left_z=0.0618 left_yaw=0.0106 left_pitch=-0.0988 left_roll=-0.0319 left_gripper=0.9952 right_x=0.2948 right_y=0.0014 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0416 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -3.5214, 7.3915, 1.5604, -0.0122, 0.0366, -0.0952, -0.1436, -1.5795, 7.0769, 1.6679, -0.0122, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4c4eab0b5046b6b3e6884766e52923053ffc003ea28bd97690cd0aab5585006",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b373a7762d516ac13506a34c019d42eb1a5f1bd0f9ef02664a9931e02ec8e2ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:427e60e295391caa27497cd49aeef3d390636ed6c5562c5e0b51bfe15edd34df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVGvqqjmP9wLFq9StUVnZoQaHeCTazqFFB_IZraS6_F48BcYzJPmL6IWYIK__VrWzcX3QcAAb5onf0VL-f9TpTrLMcUtBuaDk0SspYksdj-Ygy5StDub73dP3jvGU8AphcJ9CZyJYQUk2Oi-ZtGwwOhMxtiPtlvg5BC4J8R6OyklveoWffyUaxwbMp8vxsJhsgPgiQ1xnSVT1gzpPEVvbzVMZ2cBFw_Sgonykiz7SmjRsGTFK9jP58tqvtx2RZo4p9DDQMjutG34lreyiU71bD9O98VgY7OPia-6pF6lcDhc__g0gAkWBliCrbB7WggtEUcqvcFGgDmEKCXrFKsOM0j9q4jv-6zmIlueijs-zZru_s2ryLqgdhRL8bjrkGZtjIHeD4w5liLVhAIC8l2gogjXK9f35_WUN5B7uGfl3H4ZIf_UvlTeA8P4LLdmSkGFGWjQ7FcD-9KcOuR6SBystMjviZgUXCppsu8TSBybQA0uBvOJVRHCJbLgdFDYgQ3fhCGjfVvLt4f1UFj-ETSiT8ZwzW_Xob-Wkn521eqMCUVGzUgNjn91ogHI6yPOPuLnTtnNc1acFExNqau7iuUL_K3g48RoLDspTQihNYsZFCW3i-4pjAmzuQ2W79ipgOVYqvDhxSowBgAGrkXZCqZsKfFu_b0EewPbAv9-nQMi9EGPa6pT2hW-CfGtdw8_Bn8oAwD5qTWiiF9ywCELEddOuDSLJm4nytESHiicB_x3AXKACMaZFnlA8Xg8Zn3EvmL3Y9K-QdiDc7ByVMVBwVTHV4C06g1wsKwFbBdQqqttRq0hvvqurxrmD9NPkuJuYwuyLpX-wtnwIeBUjRO8GAnh-Uawds1OcbobByU2jroMu49yFEJbitzVMrXeQWm9UinAsEyC1eix4EpGlWmg9dW36fdgyws8-UKNcSJpTddUuZES1Eu2TRKeh4RSxUbkPiPIrhcF5z9C2bJmvNb-5nulLGYLtJfymjsI9Jp3HT7ZgrmH4mr7Inj70jeL54_HAEyK2yiJLAwP5_z5H8H0JelQ2KCCYM5N6hZ3c9ndjjV9Ewk44I_U0w2Z7YO0Dvql6ArFNiKpfj0z64yM6AW2gKACiPCi9tSYZzBwpk2Npi_7KbDvPu_f2x7fGz_LECFUJ5Hc8io2n_8PoK6nzVDf6BbGqs_hHs44Rc-Sv2eO02ihaWdxKxXqESaRkHTI_OHn-XCLGUKnE1iEguJBFF7-0w00YIJUutSNFJ87n0ar-40KyArR-Y85oAH9u2vT7MLLP7Ygmx7vDaKkKI7ZgHSNapeI9ju9U0lq5f97W3D3VncJ1cpCQwNijpWSJuIhd66Hi3W0HtiUEKK9rThJUdiFwb4gwxSgGlWuakvaumbY36d6zdgCa4se-gXDQWIbaPTK7AbBOpMc8_ZGS-NbhhBB6r0oPiELdnTbIwsN6ywB_g29HaxRqmEJYGfnR2cwiKWCLPxcwTzadRi9kn9s-A46kxemiLieYwd1zHR382YGJiEAjI-5Z3JtIvtOoclprh9Y5JdWHocnJj5oa89l4pVqwGciWquuF9sJUt58D6eodJTpycgCxpTJgyItqIiLeaUIUjaHZoixbcA8i4dJ8x-vaWNqqeWG2QGtAKDlcmzGh8eTEnEFfE86vb72rNWuChO_Ru49ZcjUDxjUAZa4D9pOnHpoYRmm6OW3eHkRzBNF9oRFnOildkAodIzj5pkPGaldIJ0kXON07tEvq1A616M-EnuusgJY9JkFohxlp6CgR4aCU2aF4Xg-_YN_JnztJ10xyRzLMKmq-3aL0NusCtwxI1E7L90IemQ0TZ88o44_uURxk7N8sdQVTeOhHwi-NRIppK9CGehK-oOhAu0KLVI6JYz6deOGQIDvc5I9Y2R1kKGvFbwbAueNprfaa0F1TnzgZ5b6SBylTxpjpXQJ7ObEL6DNJjjj1GtdrjiFLkGzhhonlvZMVz59cQCCPciDTZi-NgoQ_sUYi3wfEnjjzsG0IonLGm5uW1piABfniw2z_n9BMWVBgMG_J2m5Gij134vV3p9Vd88w2sVgSd6dpvTsJc1S_NCZ2nvsNeygdRdM7vFllIhGtZov9XToRIc3bOMMjYLnM_0mU6-rn9Bkd46-NIQCKDknRHL0b7pRf04u92DoTTI5m1H6agOaMHWEealBgVkofWRakB252IUTX-eYB-7DLDshHa-c8XQ74GE-4KHeVskpTtng-eKGrOkWGw4qf_bYnBI6-Vf8arinN6JkE8tj-L3CxjCKlCkk_AN32K3w3QZSKJk1GKYNL2qHt10z3iTeIzBnOuGLWlkhmRX-Xx__vrIYILU5qUFglNu54OPP1763U9oJpfYEOAo_KcH75NV5-E6_b3Nii0LkbdhMKHxVNdj7uVingi0HgyOb7ydECK-EatCwf05lI3kgmxi-M5FQRMqDTpf7VCoY1c_3gK3ZY5skUiLJ0d9YbF-dWfa_wzU7x0B78SbRvVORAy7ctc9ONq8C0kGLyj_8IYUZpEiVxHilkb2LZ2NOAzSJTrNG1oRQyQeFX7lrUV5BPfXm-updpQeYVkX5MgdvTRoTjIS2f6lsAl6BSXdrnRflKzavXKZVqfQZEoQgh8FO6ujXcLsaCsLEDW8FhxNYiQrEpzrwUwHT5176n0zzSNSbrj0UbHPsh2dWy4zkkfQ4DgEeohGGeP_0IJJQcaMMwq15gwdj5IlPjsK5aAU4y6tO5O3dXTLLlvTQRTv1eqF0oNr5tHcw57zCLpp-Cvmk5bVy3-HawRVbWIrOwMefqa-ac_-WPYKnp28ua5o2K6G0nxwhro8Lrlav6CKeuB6hFsimbPWXqd3joDBHxtF7GCJtxeTz24o5alffw1mTe3KBS2azj26ZwPtZJaHxsIcBwjfRJUO9OwFdDGFWVKkpzBRENI6ZKkFVzFbdbmtAsAU8TECdVDAknYYFnrvD5o-9vKgIvnB412AsH-3z-4VBaeUOulQ_IDU7YVmezfrI4I4brYuiUUqhivzbr_2R2jCg6O2XLmb1H-ziRXT33cIEirhecTDk0j-PUHZ1KFBD7BaSXY5CWPlnBNW3cM--BeNCcH7VyCGnvUH-LrDuahIG48hBZCjm4zemNo2LPd7f6WOU9stk8D0MfJOU-vyg2tdbm4z4ObHTkR5JL7Hb6T7ROBG2by1yCPXfFeO2nm9XoTnXOnNhYRQ_fNexvIcHQ5qwFm9s7RBlwN3CnbYSEwOK6su921kOSKY4tPG2liAhO3ahC4HSvyQfN_Zdp2Cv0qIHwlqVi8IivjXA8DWaaLeRfPQ-BNCphvU7YIZUUAaae0j79Q1ejsJFZus0gN9AP_CZw0gZ7rnr5b6Zey7q3-ehtigoGbkhzTM1-j8dXp4NAfAOkGqqw1CMxY3rojgoeaPZS-rkIKJ97rRaEa4UxHb_MgRxNn0ZCV6y1kay9pC_YTsLXG6OM_JppUvkA-W6huR0iYEF8MLsLg2XOeNRJNcfZxdphNwvSVfv40I60wokeyNywH7zce5Q5XJw7C7hdStmhn58OQNx4Nfj3Hjm-TL_TN4ALELhoU-pnH5mKuwzO-yp9uyKp_ntRAZjF4i4tJbRxtHtGR5GSypgxARG6o0Oi-XfSMAtQnNNy40wa0tkEIZ5mGqn2VQumJ4C8XrUtvcB2et13ml0o1wbsq71nThEiFkNzM9WuWsYYGzPxzFghthxspr_Fq-Z0pnGGeNMbse11T5d8cWXeBv6vhuoKXsnyVIUiJJoXYLrk2qqoA6YsbOgs2sYhhYsI7mpFQacpko6Qq0EZrl8TEGPWwdJSFhL9X11Mi_MczI-YmsMPClM5Eo3pmaGuQhUv1rDxI4PqJ7ys9ePXO0H4ihdf69DkUAZaSj9nQtpFcaTgRDx_kGj-yTJIQi7Agvo1N7YueKwlp4jqvLY77fyMDlBQ6lIBcDmefaIAbAlCk0GRCoHkKzcy8yZNXQAAWZo4SmtjkOt3dNLz2dVh287kLvh3BxvhLeKhdKhh66FGbzOXKnTBUfia78ugP3ThZrIVPLwwFUuYgPErnHmK0MV06IOQ==",
  "id": "rs_083c98d1100ce2b6016ab43540f03887d0be11bf0aad57556a",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVGfWqkIAQD637W6qY23aYcmkKQbm6LaxvgQvN8oHzitcf4haSsSAzgGEOwCxDUZff4NPVw8Yj_ef2R8zwc94vnzyhoh0ENG2XQJV2HV7VCZ7pTKuJydCMEB8vh1H41sl-85q6lgNdNDa_QSxXfOz1NrdV7m9Q7eoUOw4KpuZtWFXUHQ5QuJoOB-bU9kChpup4iiIV-YNMbY4VOspZc5rSMHMW7nzez9G3aRiUnIx_sl_yu0QLhhK4TnkYdCPMkSMjfNKn_Y0jxJ0-DqyhzDvJgiVJbasy5cLs2JXimmktsl2PMDHBNyFtUM7XQypUZ1YkMuCZKzrrtRo_Bq5qE1JwOmaj1g5fBTJ9Y28WccBd7DK6bvJ3voieu9xDjaP222I-hwK8rQY1s9s-t7ZSjVfhoaDBSByXZy8am93pFSlgrvNWCWl-jDDe7FMdFHy77whTPmvV3XAgoXI4VKVmbtSc3hbck31_C4Orvejsk5AdjMqTQUtgSC2t__VVv77kOEkwSEwhUPEy1ihy17Q_dCeEJ-KD5rSsbH27RQR2_7TmExnh7ei5AedG8JtOgtDoPqfCX9c4tgqYP3Pn-wDLQw7Gged0I8LdZf5dLOoZc7tMcvIZBLrXgWswluJ8Y0LHOFPkz2u3jf2LPL6ogvzNAypsad9IT2y6Z7nkiZxQ2J1PPXH1tE6_npxZzYGkI4QAGNagvwMXdKZvBRMnDqt2XA5wtT7sx5y4i_8KYK7hcQA1cKkWvuomUh-NsKVWX7j5j4rPy1afG-pHELCoAUucqj0lo5tDy_QEcwxmTQI9qPlxSI_dKE-Id_mwGWTU1Ig4rze7XMiVvl1MVIWFCELXRiRPephz4G631okx7-c02I1fzE4GISqxXWq6Mm5JbNj6l3p-s02cuh-_u-BrnZWYqK7HwLb9RydpEHq0Ohaek_qUxwtG8FU7vDNwzdx_D-DjErJHO0SCic8yS2VgXjdiJN8wThoRd5XXwr7yTwtHbmimvfSxRonMJiqFcJGed8EsESDQgxv4SphoH0V9YGypEzhAKivuA2fOFiX9a3-ZQtcmDRwG3jjLGZxJYmfAiDs2M0XyFh4xAiBqnti3Ct_E9Zwa7ddUMsvg3U0u5c5sEjmfisYkXNeQSCnAk_m9K_KtsyC502KnAFO8dDLXSvkSgnUxSdPSbBfOWTYr5TJU-6QxzitSp5NkVWPzbj_rJ6IIrdmBmkY1u8QB9BT-K-9woKpAFld9SpH04qIS0VA3jsF3ieEZQmOw4ZBjp_QIRGKCAvxTXteDZcQyobfNnIN9SiJ116w==",
  "id": "rs_083c98d1100ce2b6016ab43545c5ac87d08cf93d89ebe16738",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":1.3,\"left_z\":0.025},\"note\":\"The toy is against the left edge of the workspace, leaving little room for a side-to-side grip. I’ll turn the jaws so they close along the toy’s length and lower onto its raised body.\"}",
  "call_id": "call_OooseIShCFQcN7OjEfINtCUz",
  "id": "fc_083c98d1100ce2b6016ab43546098887d099d84a72d8a96605",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OooseIShCFQcN7OjEfINtCUz",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.297, 1.927, 1.0393, -0.6773, -0.9657, -1.5009, 0.9967, -0.0147, 0.8204, 0.6067, -0.4004, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3439 left_y=0.0505 left_z=0.0369 left_yaw=1.2209 left_pitch=-0.043 left_roll=0.0649 left_gripper=0.9967 right_x=0.294 right_y=0.0013 right_z=0.1698 right_yaw=0.0 right_pitch=-0.0526 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.4051, 5.0256, 0.4225, 0.0806, -0.4274, 0.1392, -0.1299, -1.6889, 7.0496, 1.8095, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6612a7f4007165b2e6bad8c0005c17191211f8d2d2a857570e377f78111b8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf3bcb4459a2e3e92ea20b0ddbe748b645bd8691de90eaa2591a6d8c9ad8899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac5bc0e3153a9add08c102cf0a32f811df2951394d362d530a814f943d59fc1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 23 changed as sent

message 31 changed as sent

message 36 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2699, 1.0336, 0.2844, 0.0681, 0.2184, 0.1204, 0.9988, -0.0151, 0.8078, 0.6083, -0.3851, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2923 left_y=0.0449 left_z=0.0633 left_yaw=0.0049 left_pitch=-0.0982 left_roll=-0.0301 left_gripper=0.9988 right_x=0.2955 right_y=0.0013 right_z=0.1771 right_yaw=-0.0001 right_pitch=-0.0233 right_roll=-0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.253, -2.1265, 6.0376, 1.7509, 0.1587, 0.0708, -0.1343, -0.0615, -1.5795, 7.0359, 1.7851, -0.0073, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2001, 1.2999, 0.411, 0.2161, 0.1604, 0.0708, 0.9952, -0.0147, 0.8165, 0.6067, -0.3931, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3397 left_y=0.0438 left_z=0.0618 left_yaw=0.0106 left_pitch=-0.0988 left_roll=-0.0319 left_gripper=0.9952 right_x=0.2948 right_y=0.0014 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0416 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -3.5214, 7.3915, 1.5604, -0.0122, 0.0366, -0.0952, -0.1436, -1.5795, 7.0769, 1.6679, -0.0122, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.297, 1.927, 1.0393, -0.6773, -0.9657, -1.5009, 0.9967, -0.0147, 0.8204, 0.6067, -0.4004, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3439 left_y=0.0505 left_z=0.0369 left_yaw=1.2209 left_pitch=-0.043 left_roll=0.0649 left_gripper=0.9967 right_x=0.294 right_y=0.0013 right_z=0.1698 right_yaw=0.0 right_pitch=-0.0526 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.4051, 5.0256, 0.4225, 0.0806, -0.4274, 0.1392, -0.1299, -1.6889, 7.0496, 1.8095, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6612a7f4007165b2e6bad8c0005c17191211f8d2d2a857570e377f78111b8ee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bf3bcb4459a2e3e92ea20b0ddbe748b645bd8691de90eaa2591a6d8c9ad8899",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ac5bc0e3153a9add08c102cf0a32f811df2951394d362d530a814f943d59fc1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVnvNVorh2Xte8TCvcHZS8lwfw0djaLV6l6dZ3us7uejSUjxyVjeSh0Y5oCs0dRJHZR8ArImRxn6GYepSpLGVCsrtkNHhbtduvWZpz4djOzqt8S-O8su-mOLH2CscI-DJkt2cwAfv_Ie7KHXosgvzVHcGIqVbI2xudwAQQAUwxphj2hE1oggf2K4vDpIf_LVMeTezZDXIM8ois9Mp5Xn1DB_XL-BaSyC5h3TSenKL38mt3ECHoxgY1NwP0NpOvLVotYZoNrxKQs4oLadB8RJXfzgqR1k5m1_skSKRg8gm1Usl70kousVHXSAGmf0Yp7J2ayCxBdoN8vZxnbQAN9NkCrYhuHPFC9fZJ5RMgO6GskZur9c_oAcy535lRAU3OvuIKiOzVufOYw4BC8NaMUXb5exeMw0eyBMNhhW1e7hndbmNoNW8wW44ttNW4UhDdiKtaDQCD-WZASSTusjJwzBdFQZvM6oT5WPOuvduZeKLkfLYK9F7uiF0JU_u5ie_7jNRPCSRrCmk3Hb5nx-uL6wDlPuOQiYRf-E4Qdd5OE2gpFOvdodWJ6l0f79WzcTma8W9FaYeBaESKUoiCqbmLz7ErA2ixetc14KTe0_2Ora-PZBv2Uh1pw0rFjaYBEzqHSE-H92eFfthfyVAwehPpF9U2veMU5OZg-DlnudC78fVOuWzY69ZN8crZ4fAmnkjVWdLkkz-R12SD_5_bec0YJeZtNCvHnPXOL2I4mq3tKKccSORDPf36tzpEvwCaWVX5Q2rdKS3GscJE0kJA_lJXbYo9RSGBZlssWfUYZwdh0ZdBu_1bBzKyocpcqAArdcwlSxCHxUtbEGLTJ9gg4Aq2i9waOhSp1mHoY9TRETPclfav26ihOBQgdCMnEhhevPGTPWgIJiBN8YQU68dRYVUF68WPZkuAxG378EFEiRubu1O9K0QjUaG1ntCRVGqcCF3vpYplhvuDYE38RDq6WvftI409Yt7A39bXEUhNGHsVN0tHXfqT74bDFNvyfqSvJBaSUNtdvyLsfy5Bk3TnWCzNdsmmQbjAn_oMIevaGwSOc-t8Tz8Maa7LwOj1ASEmih7jElEqxcnC01oeqrUj1tLlCd-pJZeRc-N4a08csm1gk0T9dPUstcbULWRRjXQSJES5WRWhxjxPWHUnReyahHbeUcVV7WhGOvg1yjd5YQHtNZXMGYVQK8poQ95uJSeR-G6GVSEvkpsFIlYO9mHK1TEPx57rE3yBf5jtUzweODf-czXzvJuZO-vaePSbQal3m87Ds7wyE",
  "id": "rs_083c98d1100ce2b6016ab4355144ac87d08ca315775f7dfc79",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"With the jaws rotated, the gray plush now spans the opening near the fingertips. I’ll close along its length and look for a nonzero jaw gap.\"}",
  "call_id": "call_8sV2gs8gB4NgWb5veK9n6Bmp",
  "id": "fc_083c98d1100ce2b6016ab4355211cc87d0b5675e184aa97cf7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8sV2gs8gB4NgWb5veK9n6Bmp",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2977, 1.927, 1.0397, -0.6979, -1.0138, -1.4899, 0.1128, -0.0143, 0.8211, 0.6067, -0.408, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3421 left_y=0.0556 left_z=0.0441 left_yaw=1.2145 left_pitch=0.0033 left_roll=0.097 left_gripper=0.1128 right_x=0.2929 right_y=0.0015 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.061 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.3487, 4.9299, 0.4567, -0.0464, -0.149, 1.033, -0.0889, -1.265, 7.1863, 1.7753, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2439d69138f78f46847bcf6b448121bfa6910e2a94d4c7941bc3e35648458124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c7d00f9a471fd5c0a3dafb7b27c7ec279eb089f324d8b87a0625ea71afbd8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b4a2b53e5ff79c03e13f1c9c998d8b727226be47f8156cf26efc3cc8b24489",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 27 changed as sent

message 36 changed as sent

message 40 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2691, 1.0344, 0.284, 0.0761, 0.2108, 0.1165, 0.0098, -0.0147, 0.8139, 0.6075, -0.3923, -0.0113, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.2932 left_y=0.0463 left_z=0.0643 left_yaw=0.0128 left_pitch=-0.0929 left_roll=-0.0267 left_gripper=0.0098 right_x=0.2948 right_y=0.0012 right_z=0.1736 right_yaw=-0.0003 right_pitch=-0.0374 right_roll=-0.0006 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.812, 6.3932, 1.6679, 0.1343, 0.0366, 0.7155, -0.4034, -1.4017, 7.1179, 1.8339, 0.0073, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.297, 1.927, 1.0393, -0.6773, -0.9657, -1.5009, 0.9967, -0.0147, 0.8204, 0.6067, -0.4004, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3439 left_y=0.0505 left_z=0.0369 left_yaw=1.2209 left_pitch=-0.043 left_roll=0.0649 left_gripper=0.9967 right_x=0.294 right_y=0.0013 right_z=0.1698 right_yaw=0.0 right_pitch=-0.0526 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.4051, 5.0256, 0.4225, 0.0806, -0.4274, 0.1392, -0.1299, -1.6889, 7.0496, 1.8095, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2977, 1.927, 1.0397, -0.6979, -1.0138, -1.4899, 0.1128, -0.0143, 0.8211, 0.6067, -0.408, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3421 left_y=0.0556 left_z=0.0441 left_yaw=1.2145 left_pitch=0.0033 left_roll=0.097 left_gripper=0.1128 right_x=0.2929 right_y=0.0015 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.061 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.3487, 4.9299, 0.4567, -0.0464, -0.149, 1.033, -0.0889, -1.265, 7.1863, 1.7753, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2439d69138f78f46847bcf6b448121bfa6910e2a94d4c7941bc3e35648458124",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84c7d00f9a471fd5c0a3dafb7b27c7ec279eb089f324d8b87a0625ea71afbd8c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1b4a2b53e5ff79c03e13f1c9c998d8b727226be47f8156cf26efc3cc8b24489",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDVviHEJ8EdCk41qfLJgSZRVK66mUxXVlh6WgRy6IwFzhwdbxOMNWgTAfbSNszMZsMnWdJtnJW6cJnOd3v88cchWb6CJOOzg0FLq-wxbH14VY_0nHw307SJiv01D9-hMMLTZhia-tmeiluChVIWqP7a-vMIt0mCSPcjipy5DJfyp8XfMQNy3NoQYR8b5rqVYv21DzLg5fRk7BUilKoHgTN08o54m3bbi-eQ1pqZa8RCi8NAPLrD8lPw6g545BG1tXRJ7nRW1fhN94sILtcxqbCYnsxcY8JHC6y7yydJaaYnlcg6x2-eIGYYSIHgA2r-PjhfVD19lhfl5dwAJC3Kz8C9GEggaSks-6eFatP59r60qP3kVUsRWJgsMX3UKkybgaKENQPe1ph_78EIe3zbvZtjirn50RDfaDOoKnAMUZRq5g1-2zLW_naSS2dOodpw7Vb8aCPRDKrSVuKsLOxatTI1hYDZxGuDiMvwZfepP0qaOGr7-o5fFxaU3q2guWkHtMeM2OBFoUpUF-3nS8dR5VrDbGhznzReIyytNmCkPtcxEPViF8839Z7StX7vk9QfAOns5oB_3krbvnpBuADlmHPUkjdec65BCg6c83IbJAV3hFvxEuPOd1m3nNKzwNnTULN5wxVn5e1wcZ0jyXyOCmKQkQ13HYE6gJsOH9rnZzTiIVP2o8UbSGblCbypgXD3iP-43s33r93vqy56IgDfdoAGAHgTygXNNBrMKIi4Kz7shz-97jBu-cn_UIBjg4krBKI9_zZEWXJ77xU1fx30xsZCufxMnbpHwxeE3aI76QmUZZVm38AHCyzPPG3TFiCUvj6dOM2CxYBnFZRGR37ZWsqozHty8fADmMK1FJE41oqW15ZzDE2GUpL9pQypu_fJ26ibzGEnIY9lTZH2TFR89kbca6H1OybVskgFvJQIHRR7gaXgHr1xpFaMx5QM3wtnD70NO7v6JMGjNlF5Lo7SWYEB5NIrH_teXHBjQBMaljK_MlWYZlJWlcEr_R_NR_aK7FJoO5LdmgBejTzUVvL3A-wUwzmtrN0Kak3hlEIU4OPiWAdLO6COY_u4IDooVILEe5wVrukfl9r2pGv3LySdfuJ7aWRCchEL_E56y9JfCkT7QMB7uaDCLkbRCvQArsPPuWajaBjpgRgFKstegHEFo6-W13jpLK-D3xTJtbOXAwGv-_s-qQsK24Y_KlRz8jeGfchGN3rF83cxedQqwf6ag3EttZg==",
  "id": "rs_083c98d1100ce2b6016ab4356f00a487d08a855b6f7c9f91ab",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.145},\"note\":\"The jaws stopped with about a centimetre of separation, suggesting they caught the plush. I’ll lift it and confirm in the overhead view that the gray object comes off the table.\"}",
  "call_id": "call_aL9HthEvJQ8kODBM9Bomu1rY",
  "id": "fc_083c98d1100ce2b6016ab4356f419887d09936e60f8f35344b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_aL9HthEvJQ8kODBM9Bomu1rY",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.8004, 1.2591, -1.092, -0.9878, -1.5269, 0.1148, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3418 left_y=0.0477 left_z=0.1275 left_yaw=1.2188 left_pitch=-0.0226 left_roll=0.1126 left_gripper=0.1148 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -10.5915, 7.2, -0.1001, -0.8132, 0.022, 0.6618, -0.1026, -1.4154, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39573b1c653b317777764d2f6fab98e58976730c9ad08db4393b469e374c91e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191e9998d85cbc3641767e9fc79614e4037fc33e70f291b3f28665388c5d2f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6fa6f028087bf0611c6a7f00925b8e1d41b198ee1b0639cd1fa18930233e2b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 31 changed as sent

message 40 changed as sent

message 44 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [0.2001, 1.2999, 0.411, 0.2161, 0.1604, 0.0708, 0.9952, -0.0147, 0.8165, 0.6067, -0.3931, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3397 left_y=0.0438 left_z=0.0618 left_yaw=0.0106 left_pitch=-0.0988 left_roll=-0.0319 left_gripper=0.9952 right_x=0.2948 right_y=0.0014 right_z=0.1723 right_yaw=0.0003 right_pitch=-0.0416 right_roll=-0.0001 right_gripper=0.9993\nstate[joint_eff]: [-0.5128, -3.5214, 7.3915, 1.5604, -0.0122, 0.0366, -0.0952, -0.1436, -1.5795, 7.0769, 1.6679, -0.0122, -0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2977, 1.927, 1.0397, -0.6979, -1.0138, -1.4899, 0.1128, -0.0143, 0.8211, 0.6067, -0.408, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3421 left_y=0.0556 left_z=0.0441 left_yaw=1.2145 left_pitch=0.0033 left_roll=0.097 left_gripper=0.1128 right_x=0.2929 right_y=0.0015 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.061 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.3487, 4.9299, 0.4567, -0.0464, -0.149, 1.033, -0.0889, -1.265, 7.1863, 1.7753, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.8004, 1.2591, -1.092, -0.9878, -1.5269, 0.1148, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3418 left_y=0.0477 left_z=0.1275 left_yaw=1.2188 left_pitch=-0.0226 left_roll=0.1126 left_gripper=0.1148 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -10.5915, 7.2, -0.1001, -0.8132, 0.022, 0.6618, -0.1026, -1.4154, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:39573b1c653b317777764d2f6fab98e58976730c9ad08db4393b469e374c91e9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:191e9998d85cbc3641767e9fc79614e4037fc33e70f291b3f28665388c5d2f2f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ff6fa6f028087bf0611c6a7f00925b8e1d41b198ee1b0639cd1fa18930233e2b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDV3LlzbpNCiHvZx3--XYCiILN2CIQhPqi5q4lVuoTHmLGLzI5JFi-MIP1MWu6GuXcBx963kzeXX3m4iVKphucq6P7_PR2fXSvOfD_jt9xdvNEFUd0ie0JRphXk69BLHtnSKljjv8n5lXGM2jnHgngfTKZwIEuJn3PXXizdzQRAlTcK5b0HeoJCgnyJ2XNJLId-R7hO3w4fTULHHpoUUToPssw684elr9OfbAIqjCp4P28upJEY3oPZww9cL3kCYwU3E8wHBFHWv31CpzozmbAPkGpp85Da3Mk9lzQxX_Qg7RiNu45ETZRs4hdA7KVgfYgGVIS1kadRkxlLme5D33poOB6Gw0Q9D2ZggWB4hBkmNhG-SOuIdv0JYF3U-cgnYcfBtAjtl8PPVFzBMaYUhH7k10CnoOlR3ZM3-gA-pid45BesWcT-91RvS5AWg6YTSLVEVcv5YZ57Sbgwb2MhydJ6tlpLUiPBll7ivLpJj7W3vMH5ff7xLs1a-ptnZZXEXnyhWYMB1bOyIk0FWdnicEksCi4USrL7RObNkxk8EX6F7fjIvu_IhObh_WpOYtJjm399ldyqNbqmApCtsqFL9TMZi5OxTZXkvyFcFkKAiz6A83rD692VHNu9dKc4Uq28lYaUf5LfjEISd9BteU5JSZVMkhq2knvLCg39y01BAW1qll3-IcgnhA9JtWnk404hZxgbCKkHYyexT-PNv6xszRg9MWq9KzUzZxspzWmuK6CmDzHL5pIcg3eOMdFzisO0VzP3y4U-kItfxtBk9VNKUbZr04hjrSXPS5EEOsTpV4vgdC6Zk3tliuywO8ZJIO-MgOhtIPEOgVSplKlnge0ZJe4KSBrVUTvYZsZ13Ex_4axWhzwvJzF-O-zwibvtvwHwLsVehGFH9WHpxLUsXHLN6U8WHce00eNgBv1ZA5xRT2HIYGAmW1O8Gv_I6u-TWPF7cGQioKUppzqEXej5ZbkoZWXkcmVGTF-wNyODQcnqSia5CMnESq2yS8j7AMV3OHNWHwjpvPY6RFz5a954szzHAiX_uVVHzBEseima1B1mxG2hatd9uNhIPmlzQJwnmWjaBMnt48R_6YfAZPlpTUn-F6EpmSghq4qu9ZRMrw-kpL7KWgZnxTdFpJqa7n0O7hogIBos3rji5-qfm7EbKRdM8dRK1Wpisvvscodt6CDMiSfH7GlVUZkEiGzdqcg8Ab3aFoGUuTqUhXD5z57rjB_E9cZlXZ9098whXYpZx26XlQDoJyzG30BRi7cPsnj8pMK2MQ6lukIdtt8oKHvnLyok-3ycDKjO3jCJrTUFlsrdq02fhTHtPVAAb_3oRJ2hWtMbLSVZ1PnPVPLtH47pwhfohWO-WSPHC9aYtck_l7WIM6HQukVM9iVupSZfHD9D0NRZIWxfTyD0BCtM6l-Q8LxCkeL2VKt51blxunKfJVo0WiCeflgvnFcCNutAqcesSlkLDTqqnGQfMyD5nPv7obXtP_dpDwCe0A8SjZbF1ZIX6Btd11A8Py56ZcWbJv3LMn00fpMpl96J7uGy99LDfB9Ij8I_WZ53kz8zShBL6vSFLVR6ujPbpOPsFwalS0cxqIAZ5--AXNiN2akD_KYSDs9s6e_2pmK2tAdjzeYVUvz4TEkgUCpTGp81BOET7k9M47u4GF77yVFQ2p6BQuJ4eduttvqvrFOuDQenYHVZE4XK2H8xfrfazStn4bEJE5rsTFXjCot9DKpGlfnkMtaKL0g2TE7ybgtGoeiN1rRdv4yFRVENMfYVuHhEpI2-sG5sn1r5nRoeUl60wH1g7O-ePgj1mGuGNw3y_JaXXgWnW40_H59g4U_hVqaft8ToxUmjR0X7s1QA6Ly_4NT8XKzgbW6LDQUqYJnQqcuvLnclexCsKFdzeBR5BBivYnd8TP8bg0eRP_8u1mRcxGEE0HszkSU0JwQ0qbFuxHWuOOpwoOgo63yoc3CPtpLopkphoGMX6pyoEFUoZ-wIA1Gj3zRLUuEEX4siUCJKb6DouINwiSA3ziWBnKE36BABtuwqKTyowhp4ZOF5kl2w7P9xh7gvkxcukNJDcmVAjsWpVdLuXlQhGQKi4zvq0LDgpG1nhOzuH-e4fTqKr0GNRr9GkdBopWXg28W_wipVmqTztGiAi6hqol04C_yAyllMp9vXgoNrnuQF-SQ39D7NSV2TdXBtJvqf5JCA-mbe46Zp-FFqgSUpAhH476AEWErC-doMpfrfoSHVNlwIYh3okRpyQV2v8PW69btLAkCVWJGNhyvaH3c5He8b3RJBZWJWHJ1cJr7hN9e-tz3grewbSrYrAMLA1Yc0xZj2NdgzgBh2EGJ8dujI2w5b1qv2--OwwF1dLw3KtVAbk__sygM1Wx3Fn7Gp0aNgoew9qmViKxLvlIoDKO7ILRbg6sM99CDwXCyeNHDElnq0mpNkmQVpSo3P5o9sjZ97CmuXQXMZzfrCr7gu3SBifTLYRwN-gEOqwTcKARzbvsE-RDD3P7e5BTiMqEBm87tMF46aQDQ==",
  "id": "rs_083c98d1100ce2b6016ab43574124487d0b746ef89b81db831",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.035,\"left_z\":0.19},\"note\":\"The gray plush has shifted toward the basket with the gripper, though the arm still partly hides it overhead. I’ll carry the grasp over the left basket while watching whether the toy follows.\"}",
  "call_id": "call_J6Wm3c6yTo3Bo3ZT9oinERuP",
  "id": "fc_083c98d1100ce2b6016ab43576712c87d0a63b7f5d8e6f2368",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_J6Wm3c6yTo3Bo3ZT9oinERuP",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 2.2581, 2.0987, -1.5562, -0.9493, -1.6497, 0.117, -0.0147, 0.8249, 0.6067, -0.4091, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4388 left_y=-0.0172 left_z=0.1655 left_yaw=1.2249 left_pitch=-0.0537 left_roll=0.0937 left_gripper=0.117 right_x=0.2929 right_y=0.0013 right_z=0.1668 right_yaw=0.0 right_pitch=-0.066 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -11.2615, 7.7333, -0.105, -0.862, 0.1685, 0.6911, -0.212, -1.5658, 7.0085, 1.6825, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b13f901314cca879a7eb0faaa0b690481fba315cfd79c6d85de1be69c391742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420d4361d4faae918d395f8285e780e481dc58b31aace1c88687de4f6529ee82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e070e9739cb006279a26e817100bc9e52c775e59601069a0c39793be79c23195",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 36 changed as sent

message 44 changed as sent

message 48 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.297, 1.927, 1.0393, -0.6773, -0.9657, -1.5009, 0.9967, -0.0147, 0.8204, 0.6067, -0.4004, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3439 left_y=0.0505 left_z=0.0369 left_yaw=1.2209 left_pitch=-0.043 left_roll=0.0649 left_gripper=0.9967 right_x=0.294 right_y=0.0013 right_z=0.1698 right_yaw=0.0 right_pitch=-0.0526 right_roll=-0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.5949, -7.4051, 5.0256, 0.4225, 0.0806, -0.4274, 0.1392, -0.1299, -1.6889, 7.0496, 1.8095, -0.022, -0.022, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.8004, 1.2591, -1.092, -0.9878, -1.5269, 0.1148, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3418 left_y=0.0477 left_z=0.1275 left_yaw=1.2188 left_pitch=-0.0226 left_roll=0.1126 left_gripper=0.1148 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -10.5915, 7.2, -0.1001, -0.8132, 0.022, 0.6618, -0.1026, -1.4154, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 2.2581, 2.0987, -1.5562, -0.9493, -1.6497, 0.117, -0.0147, 0.8249, 0.6067, -0.4091, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4388 left_y=-0.0172 left_z=0.1655 left_yaw=1.2249 left_pitch=-0.0537 left_roll=0.0937 left_gripper=0.117 right_x=0.2929 right_y=0.0013 right_z=0.1668 right_yaw=0.0 right_pitch=-0.066 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -11.2615, 7.7333, -0.105, -0.862, 0.1685, 0.6911, -0.212, -1.5658, 7.0085, 1.6825, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b13f901314cca879a7eb0faaa0b690481fba315cfd79c6d85de1be69c391742",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:420d4361d4faae918d395f8285e780e481dc58b31aace1c88687de4f6529ee82",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e070e9739cb006279a26e817100bc9e52c775e59601069a0c39793be79c23195",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWBhgpfNqGGGGXd3GVVTd_umzbtHoLqoouLV1PPg02ThzKM2OUKAh_wL6gBNU6RoUtj0NgHumJLpb6FxHToAYfgeQ_IjKGfbuMqxuJrdXloPaajGXxvwUHrbOb6Hr3hkKk1GptT4MwJa7eulRtXPIWGhVvY7qMTU05dzz3l6e9ks0NVGzn_Lwqd0BeDFoQA5WmIFSSM22t3BnD2q2xngNZz7ti6X4ap2x_ZJgGVFz9UHIf8w4iBwyjd52qvqRuVC3jwQ0VRHchnGA4PaQPZjg87A_F-_wrtmCBRn5E0M-3H0jwOaR72HzO-edhF2ebYeQPxKLLvBE9ev6EE5C3PoUbnwgEGWsiJWrVmsH2vdyBfvNm_pq7b9sg30sfPiqpKHtJI1752p1dIo0o6-vNBy2dPKcDbBRvQ0vcAlMbNKsKufcMt29lHDpUYbbKPuP-AxOmew0EH0v1U_HeL88O_v46yBc9zkZoj6nnCdWDlgGKJ-aLrUS78PAjsu2hIEvkIvpKbtLk5bLg62mjqyVXuK2k62k95xODI8Q0jsxgjzqYv8ttM959wM31VS3H_IveCI4FNzRrR4zeSZIwsGWjXLthKuoOvCZCoxtSvSl7EsDBfPq5eag-U-R4N8Q4G6t45sTrTMvHMcULP8lfCoIQ7fiQRFrjmlKbGi18A6RFuvyXCDVYu74OnWl0JM9pcnQIn5y2TG--fTG4tuyaYkCd6W6PgAPcqVgHhnzo9nqdfvyLiNtKb4SS_OUokngyMb0g3Tw7K9TvmVwzKVe4K619LhbdSU6VYvnEoIDr6UhkzRziELlYFDKvS1jqdhdwbZ5kL9mgvJOkaANVYFLuqy3ueXYBSdzGKkJz0d6T-V9l_4jswNSzwy7nOyfLZiDNFSv8o6I7Q2KbWR_NlYHT4IbBCNBovulDWFt9093E91Alwv4BMP5OrYjI_XXth5_AcmXA2hOUOolWhv9gWtoTIJYV11yjoiUDZaxGlRp4amyqsnIevHmSUTBcXqe3U1ASu4mfZBjIgIuNL9gtm2DFS_IwDIFVIRtil9iwpI3T5aUYiLDScJPUtsgiu2fjDANxGkYhUW0qcC9ndlDLHEJfLJYG1piXvqA6P6UeGh-0IQgmZfA4nhwNb-8XxwnS6t7n-88h9a9fxK_0KIkzEESZOtdH4q6pPsVl2K2RFQ9CgsyPHyDtZRnpQ49LtJd6USGN6l4A2CsczIXnPg-pOEPrjo19pGiP3tMzvYL5QCJZm09oNICWIoO_mQVa-9UiO2KA284tRuXm3H5gse7p9QyQ-YjwzzEb_1QEbeTs6RHSFE8TzMKXd5gfswHBGJNcI6ckvSyZgs13j23B_jmTTzTkukLRKxBKuzdfhAXZKQpeJypQOhYOuwshRwWuWsZ6zI_REdoOOYPt82lLkLj3qfX055TkqsLS3qq9ngGj1H0AH-nP_7APMvgqO7wq5g3pPSJBGbsYEH4F8J-9SEU5fQKacVpoWUYCI-W8GuroJ703eqWmwirguTUUgDNuuYcbHDY3p1m7aVzffFGPxPBGBCR5lawBmGelPboTqL4lS9O1FicEwsJE1-vYq4arEPeipOfTzwAoGT9vBsNbdk0IHYU5roMnUmf5Gw58DATbM9PqhZWTzlW8svaBQZTi3oaoRd3LMTHc6GstMHIckEWDhIV40UC1P4AItSiuUFhMx_10aCyWZTcl-Mkql6ZJ3QfiR6MNHfPbaHTzXGKUjdp1oYN32JSijNJsZlZFOacBNhyqbYqBGsxZ7BHh6oI-NkI9l55ucUWPHGDSEqZ5TQrivgK508MtZbYgYFXW-okSdB8WjkphYYELmuPlTF6IA1aSqyY9prUgCN4gbcRxqM8USplGxgosBq8l103ZtFxCShqmfmIRn7freYFS9vGIe1TxkepN0eEBsRKSiQ8z0J1l8lD2UH0mXcNPB301urTsdvGhFoHnh7EaTOzT732BGyWIxBgiEXNpno2R3SszZY8RrOu0EoHuzKdFQHkoeZr2PjPp19izEB63KiXu4x7tlHEFYImbvnJUbHrHnT5s703H1NrZz-Z5uO3CT-twpxiIvoG8TfAap1vKscOxCDJXZI-G9pZbWEyRrJsssumoO7Ddd4pY9xSez8Lx7FNMnZ6pm13WIzuzp80AsGf9-_5wiXjtjNUIFkTB6ztioAJJ7LqZKakQbaMOrF-aP9uGSw76U3AuXD9DBOZEhmQa0dzCAZ5DEZGwacXelX7rWQlMXzUM7cktCy0-RUpLFNcAtF8REqfQfgAhd4WnjkGvqxWANm6CIW8-BWWOHx3EAfkn1k1F_pvNRQRke9--Mm3p7ui_no2OFca0J_c9MCECE75GMUxcIGldvGtwvp3RGTOBOnq4W_k2QKW3VV8MKHxL8EJlHzEvbml_iurhgzQ-xa5-JeUCPvUmjnOoqvc1wedP7mKNZMuDYg4u9YVH-9_oBLZlxFd5pYWHIt4AE5V8wrzmi8j9a0qFfgr6i4JBHRkNTxoJxll1xTsT4quRsIPvHiYCqntzRTyNpsoZv4E4=",
  "id": "rs_083c98d1100ce2b6016ab4357e025087d08f9aafc494104f6a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.505,\"left_y\":-0.055,\"left_z\":0.215},\"note\":\"The gray plush is still moving with the gripper, but it hangs behind the grasp point and has not cleared the basket rim yet. I’ll lift and advance it farther over the left basket before releasing.\"}",
  "call_id": "call_NsrYXEErMiPxgCGYm1fg2Pvo",
  "id": "fc_083c98d1100ce2b6016ab43580c5cc87d0940fa33c6ae7b420",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_NsrYXEErMiPxgCGYm1fg2Pvo",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3408, 2.3665, 2.3039, -1.5772, -0.9199, -1.5776, 0.1171, -0.0147, 0.8268, 0.6067, -0.4099, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.467 left_y=-0.0127 left_z=0.1648 left_yaw=1.2242 left_pitch=-0.0877 left_roll=0.0763 left_gripper=0.1171 right_x=0.2929 right_y=0.0014 right_z=0.1661 right_yaw=0.0004 right_pitch=-0.0687 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -11.9453, 7.9521, 0.1832, -0.8962, 0.3199, 0.7253, -0.1162, -0.9915, 7.0359, 1.6581, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b5dada8db6707e79db8c94bc0615a3a15f7d11d71e12772bd66545b0b6a661",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246da066a9f91531c1b9268b426bcb89c2ae49e93ecf2e1face8407c356a51be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acda60dd856248d062769ef87defc9c3225e8ddca14797431365fa16da2ade5",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 40 changed as sent

message 48 changed as sent

message 52 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2977, 1.927, 1.0397, -0.6979, -1.0138, -1.4899, 0.1128, -0.0143, 0.8211, 0.6067, -0.408, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3421 left_y=0.0556 left_z=0.0441 left_yaw=1.2145 left_pitch=0.0033 left_roll=0.097 left_gripper=0.1128 right_x=0.2929 right_y=0.0015 right_z=0.1681 right_yaw=0.0007 right_pitch=-0.061 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.3761, -8.3487, 4.9299, 0.4567, -0.0464, -0.149, 1.033, -0.0889, -1.265, 7.1863, 1.7753, -0.022, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 2.2581, 2.0987, -1.5562, -0.9493, -1.6497, 0.117, -0.0147, 0.8249, 0.6067, -0.4091, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4388 left_y=-0.0172 left_z=0.1655 left_yaw=1.2249 left_pitch=-0.0537 left_roll=0.0937 left_gripper=0.117 right_x=0.2929 right_y=0.0013 right_z=0.1668 right_yaw=0.0 right_pitch=-0.066 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -11.2615, 7.7333, -0.105, -0.862, 0.1685, 0.6911, -0.212, -1.5658, 7.0085, 1.6825, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3408, 2.3665, 2.3039, -1.5772, -0.9199, -1.5776, 0.1171, -0.0147, 0.8268, 0.6067, -0.4099, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.467 left_y=-0.0127 left_z=0.1648 left_yaw=1.2242 left_pitch=-0.0877 left_roll=0.0763 left_gripper=0.1171 right_x=0.2929 right_y=0.0014 right_z=0.1661 right_yaw=0.0004 right_pitch=-0.0687 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -11.9453, 7.9521, 0.1832, -0.8962, 0.3199, 0.7253, -0.1162, -0.9915, 7.0359, 1.6581, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99b5dada8db6707e79db8c94bc0615a3a15f7d11d71e12772bd66545b0b6a661",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:246da066a9f91531c1b9268b426bcb89c2ae49e93ecf2e1face8407c356a51be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3acda60dd856248d062769ef87defc9c3225e8ddca14797431365fa16da2ade5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWHfd_PI-n9FiOfXWbW7DpfRuDBeLEvuNrzkyWIVbLcZGbn4vrcOAw2zjHdLHJbMm_YrAu5vUVYPucJk8FfC1GUIYgJdhtdC0-yGFYUcbQRZl5KZDRjNb_RvaA8-W_fWWOJ9p1TuzLj-LaaCzh9bugOfGkG9MPS30zQRn2lDsEdmmQHRZ0yuLwZeF5dYWcqtUoSIq3yYTAJRu99DjI5_k4Qsi1_J-U3PHdRSQDL2UF_6Xo7Tec9qOV5tX4pFC62xUt71XoNMZOR9G1AX1LhmKrYPgPkqsIzI1CiXTQH4Oittr3mvhuzmrWYwTn1Z8RjFa4edB8vpIIM2fE7Q93ScRNHIs7IFVx1qb1o-Y4gZKnkd5tJkDVa3qVlTRX82Brq6keVFUJD0Mc2B03ztTLwuRIGM-mTx8uvdTQppo1YZQo8l6VtIb-u5i-wqLa654RQZk-qZqnp9W-xRuApxEn3WuYGyIU4SD_DI2Bf9fzKFRrWKenJWPGxMBHE3TcEAjM1fivn6y6LM3CdKno3PE-qVuj4ZPhAFj5_obzgpcXZRlJKPyH2_bKHUv7_tGrb7EeZX6srPl1k5vMWDpnmWduz0R7KA-1XostCttGz2uW6n1OWsHR3ZmpRzZa0ngQcBCOvDjNUlrSzKKKslxHHXm5dfxIXa2U3Co82KNZB3rrbMaQPV_8yWeCYfOkoDpGC_iekQ668hHyklamANaAXekbGzqwiO6Nd1_Y4nhVondzkf-SmAfcunjVqZ7pTpO3_YTdubaIJmWx0tTtYI5FIgVJJPGha1pbSIXte8pE-8_sz2ftZJaBz1m--WsyW6HOYF-gWT8bKT76gXWqbsm1PbU4uJCBRtQ1-tAODHz7yDWyApaNydn6m5iHGurNXk5GWOOCL4FNkpfxEyWsoYQuUiPhPeyzxrcgq6OwD9PoYo4lAUSy_hSmbQ85ctVfHMDY5m0mMYCQ08732TyhmSlBeMMZj_bhUmQwvDuvSMQbM_VZ2N8j4i4czkrAKZ9VJLjz-gENzv8Q-pxQExsePDv0CZiWEzjg-Jp-i1wLMg7ySeycnLluOSJYSmibSNpQr9Fkk2AhDZ_OHq9UjZFlh-WLX8yfBeJNSF2KX3174Ia3qiNMcb-cSR45vKWvHT7Y2T-XyBvwi2lBuEaruaOT1HVphqS7jWYkSgPqFl4JH5FANAJ8xOrCeC9_eXRmOQ4zmzeFqlOPoWpRt-PBPahaZwQ6RgO0AyJYgeDkIPl-JHTatDbaiwrO5sNtkLExSkcZoYVJKmpf-l2O2Mq_UPwITj9ccHYGJGtoqVQcGQonQiDBTmi-quCag7iRNEfD5vxLqxF8MjfgqJGj2Wg95oVfIT5oG2zR6O37_9Wn9WaXNtu3HF9HqG9EaVim6vH3qtiU5s5s9iirFIVfMwCDmaZvKnRNov6jP3_Jzs2PdzsX9ha_iqROKM-ai44Rptz_maaAq2F5c5gQOL-AEyQ-maqJpZMQBJ0zXe9FWlQnKBgzLrj31vnaIZrxuP2h4H9oqgJ07Y7rCr7iF8shhZjIrPgsp3XlOy_wL0_KszHYzYJ9oZPkXcfM6f6qiRAGXZrarPZrb8VlNPVQQOm-MfFGyBdcyuOg5TVbLSMocJ82kaqgqXEv88cblQzibjwBtvEGds75qTGx9XK4khjs7910nYvcfDF8BKlmgcuZrowYbo9xnrVrp0RjTJgBTJOCu5UYeI-O1szkdMcrV0S2fGis-0Bnjji6sOjtWIXxhDAkVCg4Wnug4fI4CegMD2EdcDoxrOrhIB9Vuz3YQcX1xLi4xqZvBbVxBO7osjOMfQ7IDu2uve4XHm_O_JljbI-MiqA_2fKSXy4ttfhXc8i3GmlPr1Y0jbJLfjbJqWDEUfKuVCSHzihym7Lg81sa7TaAsPAo4iKpgBP4ind2ET33GhY0hn5KbkxKOthQ8BkDvj6aNwxXNHi2pTMEuqfSoLQN1pMfCudLzwQJquTWi7q5FLcFC2gO_qJ8pk8dOeD7jyi3vPAGskempJqD-KB_r4gWIKRLZwiCI652AMNM823ag",
  "id": "rs_083c98d1100ce2b6016ab43584bb6087d0a4f0362e6a945634",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.055,\"left_z\":0.18,\"left_yaw\":0.35},\"note\":\"The arm stopped short of the farther target, leaving the toy at the near edge of the left basket. I’ll reduce the wrist twist and try a slightly closer placement pose that may be easier for the arm to reach.\"}",
  "call_id": "call_nmJXJ9Vk666rVSkrHKPvvsUU",
  "id": "fc_083c98d1100ce2b6016ab43586c3fc87d08691bdedf9dd57b7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nmJXJ9Vk666rVSkrHKPvvsUU",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3244, 1.7786, 1.4189, -0.7136, -0.6621, -0.6605, 0.1194, -0.0147, 0.8307, 0.6025, -0.4099, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4384 left_y=-0.0291 left_z=0.1563 left_yaw=0.5798 left_pitch=-0.211 left_roll=0.1477 left_gripper=0.1194 right_x=0.2925 right_y=0.0014 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0767 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -10.6188, 8.0342, 1.58, -0.3199, 0.1245, 0.5495, -0.3487, -1.6205, 7.3231, 1.6825, -0.0366, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984826898e2b64d1bb04d60af545cb48f754a4554e353940cd6c9536b147c16b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c01fcc4345dd091609798ac2e1a2afd030061f860449154987c5728b2973714",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622f78d5f4a51a2aa48cef31964cdc1ca5fbc6acd9a74766ddc596629e59802b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 44 changed as sent

message 52 changed as sent

message 56 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3145, 1.8004, 1.2591, -1.092, -0.9878, -1.5269, 0.1148, -0.0147, 0.8211, 0.6067, -0.4088, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.3418 left_y=0.0477 left_z=0.1275 left_yaw=1.2188 left_pitch=-0.0226 left_roll=0.1126 left_gripper=0.1148 right_x=0.2928 right_y=0.0014 right_z=0.1679 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.0002 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -10.5915, 7.2, -0.1001, -0.8132, 0.022, 0.6618, -0.1026, -1.4154, 7.0222, 1.7216, -0.0317, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3408, 2.3665, 2.3039, -1.5772, -0.9199, -1.5776, 0.1171, -0.0147, 0.8268, 0.6067, -0.4099, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.467 left_y=-0.0127 left_z=0.1648 left_yaw=1.2242 left_pitch=-0.0877 left_roll=0.0763 left_gripper=0.1171 right_x=0.2929 right_y=0.0014 right_z=0.1661 right_yaw=0.0004 right_pitch=-0.0687 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -11.9453, 7.9521, 0.1832, -0.8962, 0.3199, 0.7253, -0.1162, -0.9915, 7.0359, 1.6581, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3244, 1.7786, 1.4189, -0.7136, -0.6621, -0.6605, 0.1194, -0.0147, 0.8307, 0.6025, -0.4099, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4384 left_y=-0.0291 left_z=0.1563 left_yaw=0.5798 left_pitch=-0.211 left_roll=0.1477 left_gripper=0.1194 right_x=0.2925 right_y=0.0014 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0767 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -10.6188, 8.0342, 1.58, -0.3199, 0.1245, 0.5495, -0.3487, -1.6205, 7.3231, 1.6825, -0.0366, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:984826898e2b64d1bb04d60af545cb48f754a4554e353940cd6c9536b147c16b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c01fcc4345dd091609798ac2e1a2afd030061f860449154987c5728b2973714",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:622f78d5f4a51a2aa48cef31964cdc1ca5fbc6acd9a74766ddc596629e59802b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWMemOCm7EsFKFNxbOYKNhYlsqeJnPjSfiKGOGtVr8EbyLg1KJ26Z3_LWjmhvAVVAU0uI9R8kbwrAus-SkQHO1R2dAAhgjWS1RdqLQJ-DlSjcRtdAWhAQa_Durki1uS4G4uK4me5PgU87b-EMefL2cUQH0GZ_p_PCWsyIYcdc8Z_A9-_C2xgCrerOyc2wV7xlkyxOGWo2yMsnuV6FxNc0yZE32eYA4OD6xCpNToMNfsqlFdLz47GBES1iUUROMjOwoLepT554xJvinxmPmL8xohlUJmqtgg46T_EbQX6ZfudaF_bMCHzbZ5iYIakgql1NBvgjO8LtnhLP1yGMHyGkGqKk-3hENEBbZ_I0AYjVxIFvzXyrGyiOu4Ay_7X3sow_ELcNnHVqq_Re0M4L4mNpZIUPNqcKoBBZlN5YmL2rtFU3m5ZLOYYS1qJh9tqmXRpB5I7mKAogdCQ51-S2nW5F_b7DJ4FYKFMJuEt_garLibol4qLfw98IttQlQsHqc7oiSOV6hZr7rMVgQl6RHYJX9bDxpjLr8YS7BVByHb_sUiYYoO95QT1z4ZeVMn2emjMkYFzPE5aXkJeAfYA-yr0jgy0JMwipsUMbS6vqBx8HXGlFs5NqeV2Ctyqg-SmwFODVbRa1dQiyN0KOuo_7GCPdaN1u64se3LtlOyNE2nbNnWZJIYbMCwrU4clL1yHlzskrfrsTGHdOi5BnAx5AmASjFpemgC_UfVYMj1fK5FcQ3edAlGjNu9ROGWQP7J43TRD0wWjEOF_vEnx06aHw-Yp0v9jn6DR2SLLvhuyO4IDMr7B_qzaVnJM3spny44YXEQE8FVkgqtxiZqzCaoLBGnlb7v3f6eeoz16faMrGE9GDTjqneHpGzdAevUdSKg5cJE53NjZU0J_rDRfFnbApGp8ZMydJhf0vy_Lnr3WT_AisFWHMBc1b8XWNYlXpG0nJdcF_nPjbvYGSEU1QFAoKDPcTDmHIp8dYrnGk3eKb7saGf1HUVKa_AAwLix-4uhvwZJidVpSpF_a1SCkV2rJZZLnPiz9_uk7OQ9zArwA3GDYyNTv_xC4dbuNS565tGC0NrV1xZMpGieb5sZSC0ZLTBC9D5_8t8Uf3j3U3xzCPKT29US5bTpeqIUM1JrU_gzR-Oif0d-3Mi5v_thmFO8fJ-S0_GT_NWTHQDNo_CFK7fmNxcITHxOz1bCsP4s_cPVoT0YxNj6PEzu-srWvCkbEUJgSXhjSjZ-ps5lrNAc9WyMddhBP3FBFTLh8bCDudyYBRnr0tXA42pfjPLe76KX48_S2jgfy50iqZaAooslp4dEQytFv29hOYmiJnAFKgEKfWhNk0j8cr59er9PRHKXjRnW9sVWyvWGQjO436kUjP4_f263lz_QLDhA7sESnn8Z0_9stoSIVNBs-bxBdICVM1EaFu2BPB31D1Lqq1GjJgVePIoTAwsl5mcaFThfyYXOcdvV8rloaiPZld6XypEsljUbeF1WJDD0k65gqp6g4Fs8xkI6ZK2uBvKm_JhPSYDUwfbJRc7AzPZS57ETMNGum1scICc6I8bEcbyHp-A45HVCXtu4FGoqiT7tImHqLOtoCq3Z3ODVSMnAB51peC4i6MBAILGPM8YjeikzpjgcQOkiQuc1IIWni1fyhVMMh3RnsnO9UI0k9ipoe8sPhd-Q_jt2JNfTvNXAikm_ztf3UdGjsYLZijzrtH9VqjZX0h2EWqtlwdnkVt4EF1Qx8QYoeLWR4WcHZAFq43_ONpxm42wBPWj1D-DLptTpnKG3USHKsJ8M3pnpiJm5Gfss7seRAK6_EMUJrOhNGTzhtvc4Rv7NoUaC1WAM6ibSQR2sfCYA8vu3EoHpUH9ze2U4QHcuhbfju96s-Gl3nRgMiDGzBMXbVWskkoDDJGFwV2GjTZbrkFNS8dQ3yvvJlZDapOu0e-gfPww_wvLZbugkSpTwYxz5L6sAGhNLDr1NUFXiHgDKG1lk4w8AZ7-opmc5LTol8i6VD5zIuLyPMGWJpUpZ6vIMQlnMTupQMOb3K9HxYQDKlswf9Jzoar4irqPYP2yWEOvi6EunEMmepXjPbIN8c-jSd2cXigMblwdmgeYqwKza-K8PRp16ITOWnuy3qvmzn5ygzWjOYYnzp0NzxcB_LfPO5yPezHfIatA_cQrEhcCuB87ujLRxPKwylh8f4g9UvxqUb8oAEYJhKdozm3MQMM5SWmqxwh-a-F5LzPQFyeY7NPLa1oCTNvKIcqTsayno2ZkVuXdHWkeelJSlgBnQk4pZvVc4FTw=",
  "id": "rs_083c98d1100ce2b6016ab435896d6c87d091e7473697ed0acc",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.07,\"left_z\":0.12,\"left_yaw\":1.1},\"note\":\"The toy remains held just behind the near rim. Lowering the arm should improve its forward reach, so I’ll move the toy into the basket opening and then release it.\"}",
  "call_id": "call_VP9Y36GuH7O0Sv5ERbM8sIMm",
  "id": "fc_083c98d1100ce2b6016ab4358bfc0087d0a1b1cfbc9e33cfe8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VP9Y36GuH7O0Sv5ERbM8sIMm",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 2.3955, 2.0434, -1.0271, -0.7982, -0.9592, 0.1215, -0.0147, 0.836, 0.5983, -0.4118, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5117 left_y=-0.0795 left_z=0.0734 left_yaw=0.777 left_pitch=-0.2187 left_roll=0.2669 left_gripper=0.1215 right_x=0.2919 right_y=0.0014 right_z=0.1595 right_yaw=0.0004 right_pitch=-0.0881 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.7726, -12.5197, 4.4923, 0.4762, 0.0269, -0.7937, 0.1978, -0.3761, -1.2923, 7.4462, 1.7607, -0.0366, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc819106a08cfbdb7466817af4e4661118bc7bf7248c24d107034b40266cf783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a02668951cdea4b4a80b163fd90a3efde821d8ee881106bb8d417819fa7bb6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a38a5d9469da679f5861e7d63029a6b75935425e2dd585f05a0b9bafe6c735",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 48 changed as sent

message 56 changed as sent

message 60 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3809, 2.2581, 2.0987, -1.5562, -0.9493, -1.6497, 0.117, -0.0147, 0.8249, 0.6067, -0.4091, -0.0116, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4388 left_y=-0.0172 left_z=0.1655 left_yaw=1.2249 left_pitch=-0.0537 left_roll=0.0937 left_gripper=0.117 right_x=0.2929 right_y=0.0013 right_z=0.1668 right_yaw=0.0 right_pitch=-0.066 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -11.2615, 7.7333, -0.105, -0.862, 0.1685, 0.6911, -0.212, -1.5658, 7.0085, 1.6825, -0.0513, -0.0562, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3244, 1.7786, 1.4189, -0.7136, -0.6621, -0.6605, 0.1194, -0.0147, 0.8307, 0.6025, -0.4099, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4384 left_y=-0.0291 left_z=0.1563 left_yaw=0.5798 left_pitch=-0.211 left_roll=0.1477 left_gripper=0.1194 right_x=0.2925 right_y=0.0014 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0767 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -10.6188, 8.0342, 1.58, -0.3199, 0.1245, 0.5495, -0.3487, -1.6205, 7.3231, 1.6825, -0.0366, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 2.3955, 2.0434, -1.0271, -0.7982, -0.9592, 0.1215, -0.0147, 0.836, 0.5983, -0.4118, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5117 left_y=-0.0795 left_z=0.0734 left_yaw=0.777 left_pitch=-0.2187 left_roll=0.2669 left_gripper=0.1215 right_x=0.2919 right_y=0.0014 right_z=0.1595 right_yaw=0.0004 right_pitch=-0.0881 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.7726, -12.5197, 4.4923, 0.4762, 0.0269, -0.7937, 0.1978, -0.3761, -1.2923, 7.4462, 1.7607, -0.0366, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc819106a08cfbdb7466817af4e4661118bc7bf7248c24d107034b40266cf783",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a02668951cdea4b4a80b163fd90a3efde821d8ee881106bb8d417819fa7bb6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:19a38a5d9469da679f5861e7d63029a6b75935425e2dd585f05a0b9bafe6c735",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWP5Fzk5k3nggrzF9-khKvsGlJEVE2Os5IZadLVxMHDxgxOFF7xfXebmrLkB94-zaG75oEY8TCMArKCcWjl__QoUTCpJ_DzoSlyd4S-RJgf98dZn14okCRBDlxdyMm3KqjpD4uO-sCPlXf0af45X-9N4ksfgohXB86AeeLooC6rvLrpUVzv299cpH7YYtHWR-X0gTqJUnSpaEp8CMjLK1WpObiMoK8ohatHA5Lkkffb3SQAc52HftQLSWUSX3NawX4spVhTLseI_VXFbIofN9XjaHQkjTLaprK0OeJW6V0JPV44AGZCQlM1vRqPQmsXSOPnd3xa9EVJCQVknQ6i5TGWoTSk5DkEGu7SLDYdPew8i_OK1aZFWCpdMTJkXbkPmUY1E-n4KhAgvdjNkdsvcEg4GCCX1z3pjTTNmUlNe1I1mxuBqYgZw7X0Fk_S6_h-CrJGIG-mAegy5QmwyDqB0Xp0GaZttqGIUR9RTpmH7pgTzCaNEJr1yaGXBcnbaRYPCnUYigQdm6a7wJFh1qvE7JE5r_ap4pCHUVAQfSVVUu-_xBerZDyik9TnHmzISNhNGPEDRObZIkyY94kK0eZdvDdrFlpsE12jWCy6GlRlhNPoEIOFcL4fgtJkfutVdEoengiZGEe8uLSn0sVh6MWlzKGdXl6Ldm07XBWOlqvVoCvIw15mAjRuEFAD2QMzrMG4fYDEXiaZjlx4K8WfJpO6YBrir04ICwAEUzZBpdnvYm-unUXHoSTimyaozLmMKtQxnXNCNNUgkL0uNarPy3Lqm4-nOjO6xn1ikhJI0VAEM-E-gTzy6u5IjGGass2S7_ZArRegEU62ZcUj8-X8VsgW_eV5em0G-x6cwaXHMvBZvaKM02pAxVU3Comgc8A_-XDCmRUOq9kycH8-Gw4hFUEffj8ar6bTwLQFaJy39KpmaVnp6u8gwm7dZ7XE_KFpSbQJ0hBVVMGEJciAnkV_eEAlMYB9XgTa2H9AYNi5gyFObgNNha62wRsL-AdvzMgpEULzrhRj9mZBxRWGXEugq229NbM3jxXfI3M-AepiB2U118sJkEx_hVMhto72pP7LVc_ZVLPPvYVvwnOadMbXPcAlWj9AiRFvlQ8E7PS2slJzUBVUIBq9Fyq-KEl0dASRJvgdnidq0woEBNXYk8fVrHBkgURb23ieT0298GT5FIyv9muCdvjx6yo6tWYEsCV7G1AohLLn7WTrXLjmM68WezFgyrAg4HD8Gf5bf4ASDPJnzf3zBmhaJI5FKS0YiFMAIK-j0KX_Swvaaw6QhKsVyJclBuRcPw==",
  "id": "rs_083c98d1100ce2b6016ab4358ec06887d0a9a94e46f392b3d1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The gray plush is over the inside of the left blue basket, and the fingertips are low in its opening. I’ll open the gripper to drop it there.\"}",
  "call_id": "call_T3K96fgnsYbLJGRn5IiYFx6b",
  "id": "fc_083c98d1100ce2b6016ab4358f104887d0945351f2c551c384",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_T3K96fgnsYbLJGRn5IiYFx6b",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4042, 2.4439, 2.0457, -1.0512, -0.7906, -0.9913, 0.9938, -0.0147, 0.8364, 0.5972, -0.4107, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.0758 left_z=0.0492 left_yaw=0.8113 left_pitch=-0.2462 left_roll=0.3081 left_gripper=0.9938 right_x=0.2919 right_y=0.0014 right_z=0.1591 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -17.4154, 5.6957, 0.7253, -0.5153, 0.315, -0.2613, -0.1573, -1.306, 7.1043, 1.6484, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bb733ba875aefaabfd7710dd31c21eac73b104f99608d14d499c372aedd8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb00c4017f781738c3fa8f9da1b4969dac8853fdcb4461ceaa698b5b9e89df0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1967541c5a898cccdf47ed6647dd899763d5dc5c5a7f8de39caf0b5c1ab348",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 52 changed as sent

message 60 changed as sent

message 64 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3408, 2.3665, 2.3039, -1.5772, -0.9199, -1.5776, 0.1171, -0.0147, 0.8268, 0.6067, -0.4099, -0.012, -0.0162, 0.9992]\nstate[eef_state]: left_x=0.467 left_y=-0.0127 left_z=0.1648 left_yaw=1.2242 left_pitch=-0.0877 left_roll=0.0763 left_gripper=0.1171 right_x=0.2929 right_y=0.0014 right_z=0.1661 right_yaw=0.0004 right_pitch=-0.0687 right_roll=0.0003 right_gripper=0.9992\nstate[joint_eff]: [0.3624, -11.9453, 7.9521, 0.1832, -0.8962, 0.3199, 0.7253, -0.1162, -0.9915, 7.0359, 1.6581, -0.0464, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 2.3955, 2.0434, -1.0271, -0.7982, -0.9592, 0.1215, -0.0147, 0.836, 0.5983, -0.4118, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5117 left_y=-0.0795 left_z=0.0734 left_yaw=0.777 left_pitch=-0.2187 left_roll=0.2669 left_gripper=0.1215 right_x=0.2919 right_y=0.0014 right_z=0.1595 right_yaw=0.0004 right_pitch=-0.0881 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.7726, -12.5197, 4.4923, 0.4762, 0.0269, -0.7937, 0.1978, -0.3761, -1.2923, 7.4462, 1.7607, -0.0366, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4042, 2.4439, 2.0457, -1.0512, -0.7906, -0.9913, 0.9938, -0.0147, 0.8364, 0.5972, -0.4107, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.0758 left_z=0.0492 left_yaw=0.8113 left_pitch=-0.2462 left_roll=0.3081 left_gripper=0.9938 right_x=0.2919 right_y=0.0014 right_z=0.1591 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -17.4154, 5.6957, 0.7253, -0.5153, 0.315, -0.2613, -0.1573, -1.306, 7.1043, 1.6484, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7bb733ba875aefaabfd7710dd31c21eac73b104f99608d14d499c372aedd8a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bb00c4017f781738c3fa8f9da1b4969dac8853fdcb4461ceaa698b5b9e89df0a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f1967541c5a898cccdf47ed6647dd899763d5dc5c5a7f8de39caf0b5c1ab348",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWWkIvwqjrZjBTCVnSSD6ra1ccPPqWpFOs0Ui9FXbxDtZ4kQIM_JGd5-xw7-AzylGDiqZk7J6-oHJs4Kz8cW-8dwaGLjik2Ix6Thse3N4782V62ptXgIdexO3wobTLeyv8kR6ob14cBjReYP0e4dfFPJh7Wd5qnGbcprRlRgxBcp9o5arawaZxmAX2XOazKicXQrF_4goXaliNE4SFl1i3a_izS0Syuc3GJ6xAncOulTIh9Bceq1gDZD7xaMPG5ns6ZOQM-Tz_US_xCCC-eGzfNKmf_eM7VpqbDQaUDeZqjAsEoQRrelQQxD1xeQTtDzu4O_W_Uu0rTxSW9g4wcE7cc6e_y5i4WGPQDdjB2r54NuSYIMN2FZcXo8vsnSsqe92fjtisZs1VI-RC2N-OFRLrd44kDc9_PfdaAwJI5MIFZ1JnAKWULe1kCcgyp7EpqWj7fu0We-Xh14jVGVxZCKwEWU-8FwQASR0nVF2HhGMiCRofgCfyXCgMLqchNwifWgDnEXj6bM5-1eI7jERba-rWBgRmc3-SheZYGj50Kep1i-NU8wQCVIz399bi-3Xs0rzw99zaXcTdHfUdcfKHMaF7gZU4L68aETgaTPu38eNLx5gr2dttsccd8aJNu9HnntMkuhydcEn1mCuuje7eB_efWR31jhO94d0rvI-wu4uIdZxStiVGfFycrUF2vqU5rILmNoFhCvVjgOUxiITMR_JSxwr2_XdEfPL9AnZLPPcTE8jr2XeGRubsP_a9KHCSWGKKCVtBXjQ9M7-phdt7UyBxnWxXSeMdEw5anPnEIDUQKoHOQqQc_9goP2bEf8b97hOhDP-UWJ_iNQUTyx_t1iGpinLLJEvnEZiH8b0R_nD39MfD-ucmnajKm9X8TwgapvbIuzMvOhKGNdI-u2rdIF7pikaDZ6VcCal_RNhVGnFfxs5Pu5NIufgBfSPWgdJ-o0CDObOGhR80xfq5GgfjJl4e6k8NoumewyYJ2ZFcqPu4gpYTqYINHkTjRYRqnPLOj5qiRTXx0lBvaClQDp_py90InalHE6kCFUZl5gXJQCdz3IkK8NGyTWmIwr2aoqQats_nhaRrXsEGR_VC9THAW2uQElrr3UAr8GIMR2try04N4UIS2jkVyWuy3XYwUPFSbUNyO-jLyotUeHXpyDL7PJtDIIBlQ4cfcLqutGuMxhwgKo-aJm15kehbt2pzo6TsIzSKAxLbfJQdgItVYsTmcGmL3nmsQUBPbNFjRY297I7yOQ32KpQdFHf8uv_s1JO_4nRpoX3UZphmKvdgmGkoCHZ7bScbPaD1XkqsO3hEn0zwtFjHY2VK3Slwm5AkpVbkuCItQ8IB53pgm2q3LWby2wwTtI-FyjpqIeBBscVwt5WVSRyEGjX2vQ5cfajJrsJYk27st3lT6qugXn2HxETHLEJ7nwT8cPioiWSlFzkB2igJDYndZXxzAUHqnTdGWIv7_FE-_hc7tAqFXt-DKfBrQam2LSrok_GGYVLUvKRptjeZpIUN_O8ZZWV1DX4sWD6NtS_xH8PYEdgy5jdX3tnWkWffLmGsS8wiMxs2CbCaJbZH9suxCOi5sqohNhyuLr2dJ2PvQE3CVR59pjwVXRp6erML16CyEhQcY7G63L2owIVlRIS5YzWYXgQMsgsmYUrXO_9xB7ty9eRWQVn_xpyKQZTMo3tmZWIpJaq4FlFWQhCrD0jYX6RsvYf3wqthTPaW0qNp3qg45oY4_0BIj0xmZNWtpuq-UU8RH5sFjIfCvqrwfKiJxY8a8LQq2bhNRS0TOMCjhgwQUKv2R_GKtgXOZTinl-Eos9CQmbemi-uhmNZZrkIZ-ino8f6bNp8phgUurMY98Js77T2j8hutdiTKOgfTc5Tx_WDJThKgW1GMbbQQQu9XkSmQ4Jm4rVYqoaRV9cwN5U147HJeZB6CMplCtlhjrGNB1kA-IkvmDZk5iEDX4KAy9HKJEDKgtjSSQo0q568cXy-OUcm3FeBa5wzb6-rfcTp3HEKKxdtJ330ZLqeR0YiaQ79kb80hAqHR54ceTGmxHohQeg-hMCOG18_WGLovMdTWoTYY_J3Qk5LgzYqKAM0WUec4_Oeg74VpKw4QRs03mk5XN5hmwTjFauklJlEz9-sZ-45dJAn_VTaTTLsZmFyr23LTEyLFM74PRO4ercdir8eBvOjN8imr6mig-c-ad2wXnL8cHI8nwzV2Mu0IqLt73TIouNL3i3bLGLokvBZb3D2piuq1A4GaCK7N82nZRNrVOqRFAjZkXPwfXkqMiYa1y8Knd7vdQ6U8nE0g16hWg-4wR5ACGD3Ccqf0fYtfxW19yTD01uueW5s_aUh-GG-xb8gEWX3_3Da67RVpIegXVwqxl1uqtctO011kGsdTG5sB0Ie6W5qWeGz3_fBD07zKxYodYAH4NuUlw7aUM28CCXxq5RDKd8e-EOh9okA-bPSNZthDN1z2yl1I6gD9poEa9GN3FEn1bGUpocjjkolT5bDzwhfBwiI6DnxdPO9sQtE3mq5UOlXVKkrT5vg6ZxXnc-5znRCwFhik9OrZvO5M6Ge_XOcDJlloBFoQ-z0_uBJNCkFTUDIsMfHzJIjG1lLfNWGKcC3GsYO-QJi6rDCUOm8Whx1uZ63hZvxE-2KktAcjXneQyE7xB-X2Eyhf2CigYXvRZx3ptgd5PGygONNiVcER2T4Swpl_sgXGi8_bxO4nbKH6-U28XtXeWQ5_yit_TU9jp2g4odWJ5E7iRiJjiQO3FdjvnD9ZxT9vPKNHkIiVU8KUB8IMpXXgFl1VxJ3JBhWHVYDTXfFasB3jzlTddElLvq0mdsheM7CNWiKZ1a3XKLaCnHq1ojft800vWIwWxt5tBFnFe2WBHoGr2_rKYkp493DCNaKd0iRaVru_YXSLSNhxdWxUcCU0vl5mqA3bX5ysxMLCyKGZsi8usXpzLhvgMxHh2rD1bJ3WEWlXUXJh5VoBSs7lo0qkw2W2mwoU=",
  "id": "rs_083c98d1100ce2b6016ab43591982887d0be822b8abdcfc2ec",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.285,\"left_y\":-0.01,\"left_z\":0.19,\"left_yaw\":0,\"right_x\":0.25,\"right_y\":0.32,\"right_z\":0.15},\"note\":\"The gray toy has been released in the left basket. I’ll clear the left arm from the view and bring the right arm above the tan plush toys for sorting into the right basket.\"}",
  "call_id": "call_WRQYpBrVD1aFtkP1tzjQNdZi",
  "id": "fc_083c98d1100ce2b6016ab43594f3bc87d086f68d632a15d389",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WRQYpBrVD1aFtkP1tzjQNdZi",
  "output": [
    {
      "text": "executing move_to over 27 steps (2.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 0.9928, 0.8845, -0.7017, -0.3866, -0.0063, 0.9933, 1.2167, 1.7199, 1.2453, -0.6785, 0.8124, 0.9909, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=-0.0084 left_z=0.1971 left_yaw=0.0511 left_pitch=-0.2033 left_roll=0.2885 left_gripper=0.9933 right_x=0.2494 right_y=0.3153 right_z=0.1395 right_yaw=0.0258 right_pitch=-0.1186 right_roll=-0.0182 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -2.5368, 5.5863, 1.4823, -0.105, 0.1099, -0.0659, 0.7453, -8.3487, 8.2667, 0.6227, 0.7497, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d6d8e75c9da9d5808e25172ebc567a68ced90aaea18c8698651062520fbae6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087b4fb25728266987431fba0b589da0e6dc2ba60ea54d8e246126d4bea7624d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed9c125aee99e4e923662347118ebefa4b8492823590d00af1f3b4b1eec97ad",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 56 changed as sent

message 64 changed as sent

message 68 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.3244, 1.7786, 1.4189, -0.7136, -0.6621, -0.6605, 0.1194, -0.0147, 0.8307, 0.6025, -0.4099, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.4384 left_y=-0.0291 left_z=0.1563 left_yaw=0.5798 left_pitch=-0.211 left_roll=0.1477 left_gripper=0.1194 right_x=0.2925 right_y=0.0014 right_z=0.1632 right_yaw=0.0004 right_pitch=-0.0767 right_roll=0.0004 right_gripper=0.9993\nstate[joint_eff]: [0.1299, -10.6188, 8.0342, 1.58, -0.3199, 0.1245, 0.5495, -0.3487, -1.6205, 7.3231, 1.6825, -0.0366, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4042, 2.4439, 2.0457, -1.0512, -0.7906, -0.9913, 0.9938, -0.0147, 0.8364, 0.5972, -0.4107, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.0758 left_z=0.0492 left_yaw=0.8113 left_pitch=-0.2462 left_roll=0.3081 left_gripper=0.9938 right_x=0.2919 right_y=0.0014 right_z=0.1591 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -17.4154, 5.6957, 0.7253, -0.5153, 0.315, -0.2613, -0.1573, -1.306, 7.1043, 1.6484, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 0.9928, 0.8845, -0.7017, -0.3866, -0.0063, 0.9933, 1.2167, 1.7199, 1.2453, -0.6785, 0.8124, 0.9909, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=-0.0084 left_z=0.1971 left_yaw=0.0511 left_pitch=-0.2033 left_roll=0.2885 left_gripper=0.9933 right_x=0.2494 right_y=0.3153 right_z=0.1395 right_yaw=0.0258 right_pitch=-0.1186 right_roll=-0.0182 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -2.5368, 5.5863, 1.4823, -0.105, 0.1099, -0.0659, 0.7453, -8.3487, 8.2667, 0.6227, 0.7497, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:37d6d8e75c9da9d5808e25172ebc567a68ced90aaea18c8698651062520fbae6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:087b4fb25728266987431fba0b589da0e6dc2ba60ea54d8e246126d4bea7624d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed9c125aee99e4e923662347118ebefa4b8492823590d00af1f3b4b1eec97ad",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWbjX-EWjS6ZGnK8VTjwIB4DY22KbYkmAkuss2Ip6nXgdJYRs-N885VirpH2Om3ap5qCOfJ5sAl-3B18WusREdtq169Bu8zzkQiEZnsV4rvOJhKwPea_7rp3FlyGrcDM-REErUkZ-avXR6CItavXjHspOEoFpCZSwH26QHNEhcLL-6v1Fh3ISYm0Nv5mRMjIGjfEaO7YTpYqer-AXUF7PhoI6Cc63B8kPYzxnxylfxBEXw7iYuhAtshSsW66cyZbrqVJXM3my-u4AQ23Mjpc4XjOyUDLoN_RC7JUaILAiC5jEhdRTD4tLTAr5pCzZtlHI_Qtmzhv_xQfjl6JaXfPegjowa9_A6rl2FlP7C0ngDsJlN6QKKmrlWhJdSCtUeA0JupN0qQpj6dCwzlZ0A49X4C2YvqNlFWELiRAk4ESjsDWcqkJc33JYnGAf-pOLyZqRflRGtcAZsCH0mP8xqKjuqjEHD5fRuuI4XhsdCD5RC4xywzS7T-krr7ORHM6p1Uy5oK0HkyaATv_pFalrAVuN-VxwqBylYR6NMD4IJqN_4PxrID2M3u_R4RvhYP_bg4ArapGZOdjlLZSBdfybCjLAJVxoQP00ygSfxh6txpXvwMEA9FkmMd-54gVBJIvDZvi8H2f2MAtGHY3P9HUeZmbhHQGil2Wm_VrzjCI5YVrqabALYz5siuwPk1WhZycNbMriwNLsvZkcWy7nVSk-wslO_BdtRiWLs8CI1m5riTQn585BELZyPZ3UIDQOhXkTFEhvw5Vz0mB7riEL93Jn34CF4W5cgK4S55YRSDhLZOOijYlgrSPWvK_xAagZYcblnUor_ssG1-5XJHtolwsOoTgwXE6Naj-vedC43JrIB8ag53q_8TUHwbHN5Pb13yatrpIEO3VR0kfrrK33o5ISgIKebYFeOHuROOzDGWMA6tgW0ERmW4BJDD5VSTcgujF0e6KXrVk2tKKovw36hRGrtiIVNbCiaB6hmb57h8XD8Ffsh5OfnTK6cy2LBqh8Gbt9En_wyM29ZCT6OBUUAQhvjJxEYdYFu4e9sTi0KW1sXFHM3sbrSH2rMwHHEZ1U8e6I9SnESRnYm4Yzv1eSUxrHIz0UcDRHpdNV_Mm1HlawdghI_NAs_JRczt30vTLucfszDBv91O_FV4MSgL4aakegmP9jAXd2ptUjHnkNE7hKPlm0etg0AvpHTQytXo43pP7y2-gtilXd9e5KyeoHN_2Hv-E4EYJ7EtxJ8AyuX9bv_9Y1ROVr5oyJjXs-bk5EluuJFuS_sLWmjTL2OW-ooPvBL_1RdCRQ0AimhliOSd2i_E_P599gAmd_21e4jWQb71hZmWn5qY7HwI8h3n8z9A_15QtAjyZ2KXJHFQL9c10S2oohYXfJ64NhEvZF9uH9Q1PbEmTciBrt_TZToGjj7DtMd7jRg9OMzTBfwckCbZiGdz9Cz91ZNFZ26jurqle-yQh1h765zjUJY6kLrCONm3kdiR_nzxVtkmfqgW-a5VUiUE6eoVRi_e08VFZ6avpd_-mK8-G3SyVqy1CY2vuB8DBRi3-g-bz4hMBx-KWIjlZZMlSwAcOt47s9KuOY4I1ZX5_Ha1Swep-VUk_ASGI36_bOZ6P8u19qHDO28x3UTkYCILWcGlf2u5aK-wvOL9hiy_Y0QVUUw0BltWQbJnF_yjJGPk-hwa96ZJVtthXDwMk8ZDVBMUZyKbdtUHXR22qG0ssEeLKNTOd8UdAKXInSJtQ1b0H0gz5jV1oGhECEDm5leyOBY3daKLEHKTus8_cYgh9qA420PRJtI-5RjWIqrto3RdltHHjzqhUpoBeedwIp0HXWZnyGvHZLtF1c2xNJSftSh2TNmHGkODPW4BbloACKrpJW7WOXHc3cHLY4cgH0E6cW9NWSnItz8Rj2dgdb3P-emzfS4jb6ArH4wblnaQ9R3oMAaxQw==",
  "id": "rs_083c98d1100ce2b6016ab43599c8c087d0b55e53968c64adf8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.055},\"note\":\"The right wrist camera shows a tan plush centered on the jaw column, with another tan toy just behind it. I’ll lower onto the nearer toy’s body before closing.\"}",
  "call_id": "call_ElfVXSCa6Kd05MNzr2fbi3fC",
  "id": "fc_083c98d1100ce2b6016ab4359b4e2c87d0bdd9de824a896c68",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ElfVXSCa6Kd05MNzr2fbi3fC",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2661, 0.9966, 0.8841, -0.7116, -0.3698, -0.0006, 0.9933, 1.2171, 1.824, 1.0611, -0.3794, 0.8009, 0.9993, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=-0.0102 left_z=0.1936 left_yaw=0.0373 left_pitch=-0.2213 left_roll=0.2852 left_gripper=0.9933 right_x=0.2489 right_y=0.3183 right_z=0.0662 right_yaw=0.028 right_pitch=-0.1243 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -2.5915, 6.7624, 1.5849, -0.3541, -0.0708, -0.022, -0.1436, -7.2274, 4.7795, 0.6471, 0.4127, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93017feb68b01956fcc9a880438da3e461b4e73ad02454e5e7025abd7f0f5b74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c41017097caccfedf8d8882b8da3e65f196cc779a8f3f6a4527136d4053c24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7365ac6e743113c01319a87dbd713fdad2945c43a4420bb283476951f0ba0fe",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 60 changed as sent

message 68 changed as sent

message 72 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.408, 2.3955, 2.0434, -1.0271, -0.7982, -0.9592, 0.1215, -0.0147, 0.836, 0.5983, -0.4118, -0.012, -0.0162, 0.9993]\nstate[eef_state]: left_x=0.5117 left_y=-0.0795 left_z=0.0734 left_yaw=0.777 left_pitch=-0.2187 left_roll=0.2669 left_gripper=0.1215 right_x=0.2919 right_y=0.0014 right_z=0.1595 right_yaw=0.0004 right_pitch=-0.0881 right_roll=0.0006 right_gripper=0.9993\nstate[joint_eff]: [0.7726, -12.5197, 4.4923, 0.4762, 0.0269, -0.7937, 0.1978, -0.3761, -1.2923, 7.4462, 1.7607, -0.0366, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 0.9928, 0.8845, -0.7017, -0.3866, -0.0063, 0.9933, 1.2167, 1.7199, 1.2453, -0.6785, 0.8124, 0.9909, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=-0.0084 left_z=0.1971 left_yaw=0.0511 left_pitch=-0.2033 left_roll=0.2885 left_gripper=0.9933 right_x=0.2494 right_y=0.3153 right_z=0.1395 right_yaw=0.0258 right_pitch=-0.1186 right_roll=-0.0182 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -2.5368, 5.5863, 1.4823, -0.105, 0.1099, -0.0659, 0.7453, -8.3487, 8.2667, 0.6227, 0.7497, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2661, 0.9966, 0.8841, -0.7116, -0.3698, -0.0006, 0.9933, 1.2171, 1.824, 1.0611, -0.3794, 0.8009, 0.9993, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=-0.0102 left_z=0.1936 left_yaw=0.0373 left_pitch=-0.2213 left_roll=0.2852 left_gripper=0.9933 right_x=0.2489 right_y=0.3183 right_z=0.0662 right_yaw=0.028 right_pitch=-0.1243 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -2.5915, 6.7624, 1.5849, -0.3541, -0.0708, -0.022, -0.1436, -7.2274, 4.7795, 0.6471, 0.4127, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93017feb68b01956fcc9a880438da3e461b4e73ad02454e5e7025abd7f0f5b74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25c41017097caccfedf8d8882b8da3e65f196cc779a8f3f6a4527136d4053c24",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7365ac6e743113c01319a87dbd713fdad2945c43a4420bb283476951f0ba0fe",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWeRwqkVaKG45tQtGJI_XW3EJ6Fc8zxjDF_bh0VoAhpVMq_A4zvzPhyKlFZkx_ypYsfMETd4k49YtZ6-2xG2euAtrCmZTB0tI2m2tyP6lhhYxFPrZzA0aKqxHOQJlV2Wbnbz1qxQeBUaSuS1dOYu1Oio3hjZgcXi_0mHida-8rs6hVhWgfZUUJHp_5VehXWIF5gFR2vv0IAOCblraOSqMNDHJAHiGzq7iOdPmxD--4yVMPtVu4_tXUnKp-iqK-HeltYYAQ5DphLwokbi8vOUWkk8l6rOaMCz7s810c7cyiOsXtVWq0uEY9nOw2TmQxqPdJgEHb28FFJJUdqk1PtzptkQn5I-AfWa1op6nVsvDBVfIw3unhW7qW-wxvxzS8eY85xRAqTkxqXRe8vtl09sAEctyW9PexdIMEPjJt2zoIdTFemQKkp11ORal79_axmx56w0LDbetFw473SV_9UMb2eRJA1GzU-1JF_yVkH1d3PB9SXAxTXsKle_KmI_K2em0VX6dXKlqCIrywK50GixiLBG3jWFYpojNC15cQZ_-eQZsyVNEWp72jLvpGkBI_bTwCPseNXsX9LhkpgfpN75Cht20OvzvffkAUMDHp8U6NAP6K2m2dc98-H0Mkb1LuXbY9GThtTHjcCeW63VKV6o-yat-hEkFOUCluHYbJKy176W3StaRWiJCc4C8IuvRVHkzabcqVwZgjO4RJIfzp6Qw14RkCOCxaLrnAJFSrYiCnHXMS8HUcZkC0GlNf3t6I36cYJXiyzrX7_FgC8Ahyba-AqPejCDkpCt-ZVMD3d6NEw6Lbgsbv0eZzDI6ULhz_JlNzhqMPB-qXgAyWaI9_M9dHyDQfd7NbWicVKr0Ri7-FI0xR7NXPEgPR4CgRfPwSjZaYHZK4z8uriIGRFIGjgdHA_vX3N5KvLUHz3B7LEPP2jy-HzFt0mvrR4PGLxxoo_2bJyffk_lT9Mu6nOhI_qvGDEIZQb6RceCsmljCSjhtoXSP4w_demFd0jMtpQPDlGwuhjGu9tgpXcRtd9qloYvfAITszfHMb3kJId3Rx5dE78lvo5QG3yHi82osZbg0269vY5uVWYf4MaGvsvOAgjBvqJyoML0o_haeyu8TQ03f40BcmmDtCC1H8zWJnVkekmtxqIipmJQYBlo7_6o9gDIKXGOT9eGJ7kJ8nIu8sgR0dBIChtKjzuWqlYTudRPLIXyjJd-kJ34Rxfr6Cnsg4pUxIaV79CBKjPmafRoTZwObDQreohqFFRmU--tWU92p-S3oYpgwX6U_-SvAQI14YtIFYamv6tNUa_MmBafQfiJacEjc8178K0I_I_EiPhI6G-kGD42vPoH6swBNmcAo2ty7xhveuJipUI6CVjJSN6-Ql2s5JpHms_PkcPuRY_gKGL5IKWeW_wX-z9DZQrWVKgCisC22XRzcVOlAMO9ub0J96Eg0rKJNZwFQn5VhxxZAcf_1I_Zl8o5q4j9XChMBgC-9z2LBkyt_eR4o5hCkspwEHNv6A=",
  "id": "rs_083c98d1100ce2b6016ab4359d994887d0aa8e17bf4d83a44a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"At this height, the tan plush’s torso lies between the right jaws. I’ll close and check whether the gripper catches it.\"}",
  "call_id": "call_fKSxBzdYlOPdbYj1mz9PoFId",
  "id": "fc_083c98d1100ce2b6016ab4359e4ec887d0a1001d547c25d174",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fKSxBzdYlOPdbYj1mz9PoFId",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 0.9997, 0.8845, -0.7143, -0.3691, 0.0006, 0.9933, 1.2171, 1.8324, 1.0519, -0.35, 0.8005, 0.9916, 0.1967]\nstate[eef_state]: left_x=0.2938 left_y=-0.0102 left_z=0.1925 left_yaw=0.0368 left_pitch=-0.2268 left_roll=0.2872 left_gripper=0.9933 right_x=0.2496 right_y=0.3202 right_z=0.0627 right_yaw=0.0336 right_pitch=-0.1202 right_roll=0.0075 right_gripper=0.1967\nstate[joint_eff]: [-0.1846, -2.5504, 6.735, 1.5214, -0.1929, -0.0415, -0.022, -0.0615, -9.4701, 6.5299, 0.6764, 0.3101, 0.0317, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d130a4300d05bee955c75eeca341bda1412f98d12995f3a5e58e8df5ab0538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68cb884464041d6db803aaf579e7a0fd177a99e37aed28b6132d01a9446a6e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df68f3e12e037fbc5369a8da33d27876ed21dd921e61979d0d52fc1045724002",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 64 changed as sent

message 72 changed as sent

message 76 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.4042, 2.4439, 2.0457, -1.0512, -0.7906, -0.9913, 0.9938, -0.0147, 0.8364, 0.5972, -0.4107, -0.012, -0.0166, 0.9993]\nstate[eef_state]: left_x=0.5057 left_y=-0.0758 left_z=0.0492 left_yaw=0.8113 left_pitch=-0.2462 left_roll=0.3081 left_gripper=0.9938 right_x=0.2919 right_y=0.0014 right_z=0.1591 right_yaw=0.0006 right_pitch=-0.0885 right_roll=0.0003 right_gripper=0.9993\nstate[joint_eff]: [-0.4718, -17.4154, 5.6957, 0.7253, -0.5153, 0.315, -0.2613, -0.1573, -1.306, 7.1043, 1.6484, -0.0269, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2661, 0.9966, 0.8841, -0.7116, -0.3698, -0.0006, 0.9933, 1.2171, 1.824, 1.0611, -0.3794, 0.8009, 0.9993, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=-0.0102 left_z=0.1936 left_yaw=0.0373 left_pitch=-0.2213 left_roll=0.2852 left_gripper=0.9933 right_x=0.2489 right_y=0.3183 right_z=0.0662 right_yaw=0.028 right_pitch=-0.1243 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -2.5915, 6.7624, 1.5849, -0.3541, -0.0708, -0.022, -0.1436, -7.2274, 4.7795, 0.6471, 0.4127, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 0.9997, 0.8845, -0.7143, -0.3691, 0.0006, 0.9933, 1.2171, 1.8324, 1.0519, -0.35, 0.8005, 0.9916, 0.1967]\nstate[eef_state]: left_x=0.2938 left_y=-0.0102 left_z=0.1925 left_yaw=0.0368 left_pitch=-0.2268 left_roll=0.2872 left_gripper=0.9933 right_x=0.2496 right_y=0.3202 right_z=0.0627 right_yaw=0.0336 right_pitch=-0.1202 right_roll=0.0075 right_gripper=0.1967\nstate[joint_eff]: [-0.1846, -2.5504, 6.735, 1.5214, -0.1929, -0.0415, -0.022, -0.0615, -9.4701, 6.5299, 0.6764, 0.3101, 0.0317, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:77d130a4300d05bee955c75eeca341bda1412f98d12995f3a5e58e8df5ab0538",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c68cb884464041d6db803aaf579e7a0fd177a99e37aed28b6132d01a9446a6e7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:df68f3e12e037fbc5369a8da33d27876ed21dd921e61979d0d52fc1045724002",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWi-w-PYixvNU45x2rVPG5XksEmfISPL3RUddwg6wsU7hZnv3WHBPob8N3_VQPWXv27IUsTHIVNyJN7WRGPNmpRsgv6AtAlqStwjAuf9G8_5rB5qsSqIjkg7xKAPNxMh6e4-nCieljljA7yAfSIPGVCWrNx5WB3ZxRVNsrzEHB6EFl0rztT8DA9FifBLpoKmDH4LGz-r0XVttAQu8zOLKAlJENskCk8R9puvh7byoWJjILgY-EnBSwcA3hIPIhkEyxtjulIdhRBPoEhh4OPOevdO4eh7EM2PhGUa4pWMPb7FZYeVJ9AM_3mCPHL_ong8MBautKuqVzByCXAriryurtpPHR2W0O8ZYJXukxb_yCaKmSCesZ_LBprBMFIbi6VceS0Ifm8fAwTVumnxuOEn_9t2M3DgSZ_vuaYq9vJXZJUi-3cTTFC4oX8isGrioQXzAGDnw2W2yAusJFaw08YbHvu1vto9Wbz85WznaUdXqMi8OgFmHv97bWL7Yh9Akchj7RWTE7mTaFicFNxrF1xBJsiciu3PndqdH8naIdETp2-eU36Lg5yWs9pTzhvtQhd6kGxTcoy1slI5pmYN_BZ8NLgT7M8jeVNql61NqSxEovdAT8Eq1wwF56IBH-e30AV9GP6KJDfng5LFDefO4A-O2NjY9rarkj_X6cberBxhDc79fjWzQUOCXfmgm1wkyv4wRmJUGlQHMTDocDKRoGRHoM52f-jY4bjqjH_KCrQtqDFsAvS9O-ThkGBn5TnU3vkOsP_-9LWb3APd4K78aBmDJMaJm0imIhv86zU2Lt5wA9_ziu1XoEUJFiEzx1TlPQ2SiCaiHzBRn3xXqO0xs7BAomagmdi6dAOGL0cqzOUxst3CZ4eRSUxJbogwyThA7Uk5v6boj5GWTVoD1x2B5ikfdl2vPdVKciYbHB5Cf2MO1uU0cguGybJlh02fxdVvfORM7H6PhqXWgRdVdqM4cAkQYCgdrOv6PotByeCC8M8ImefZ5GlNQ_5IDD4DOlFcQKQRNPwMO4LTryAkjpwJFR_UYN7UgjVOAqOnAR63B-YfipoZzSkG7YGdhNhsQwy35O26kkuH6kNTSLxL3lGvYGCI9XiMOY7h_L-XksYbimkH-2QiL-BhHEREsznPHddMii0bPMI87KUYSjz5iw4LmZJa9t7zD1nefjc70UOOdkKr2-Gd6x7Do0Jw2s_Sz4JQC1cyU-zP4VuO9T4fZazXrozdPEQtkha4tj2epR97MC9ibmLf60=",
  "id": "rs_083c98d1100ce2b6016ab435a0cb8087d0997ff71f244e611b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.16},\"note\":\"The right jaws stopped with a roughly two-centimetre gap around the tan plush. I’ll lift it to verify that the toy leaves the table before transporting it.\"}",
  "call_id": "call_VTO456xP3ZJH20xeTuCI1Et0",
  "id": "fc_083c98d1100ce2b6016ab435a0e44887d0bd45a8c3af943e2c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_VTO456xP3ZJH20xeTuCI1Et0",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0004, 0.8845, -0.7143, -0.3691, -0.0002, 0.9932, 1.2171, 1.7454, 1.2606, -0.6708, 0.7742, 0.9878, 0.1986]\nstate[eef_state]: left_x=0.2939 left_y=-0.0102 left_z=0.1923 left_yaw=0.0373 left_pitch=-0.2274 left_roll=0.2868 left_gripper=0.9932 right_x=0.2475 right_y=0.3241 right_z=0.1313 right_yaw=0.0447 right_pitch=-0.1519 right_roll=-0.0097 right_gripper=0.1986\nstate[joint_eff]: [-0.1983, -2.3726, 6.7897, 1.4579, -0.1929, -0.022, -0.022, -0.0752, -10.988, 8.9368, 0.8278, 0.6716, -0.0024, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed7f1664ff4caf59a7acd0cd00230a95580fc2093dacfd7fdc772c2dca41215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca4bf27e1e1509d949241813e1ff7a486937856ee57c23cc39d475d27ae125f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692e95f4dafd1cbce9df04cc6b85167f672440efa0dee4dc04fa0e2189a7a417",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 68 changed as sent

message 76 changed as sent

message 80 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2684, 0.9928, 0.8845, -0.7017, -0.3866, -0.0063, 0.9933, 1.2167, 1.7199, 1.2453, -0.6785, 0.8124, 0.9909, 0.9992]\nstate[eef_state]: left_x=0.2953 left_y=-0.0084 left_z=0.1971 left_yaw=0.0511 left_pitch=-0.2033 left_roll=0.2885 left_gripper=0.9933 right_x=0.2494 right_y=0.3153 right_z=0.1395 right_yaw=0.0258 right_pitch=-0.1186 right_roll=-0.0182 right_gripper=0.9992\nstate[joint_eff]: [0.2803, -2.5368, 5.5863, 1.4823, -0.105, 0.1099, -0.0659, 0.7453, -8.3487, 8.2667, 0.6227, 0.7497, 0.1929, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 0.9997, 0.8845, -0.7143, -0.3691, 0.0006, 0.9933, 1.2171, 1.8324, 1.0519, -0.35, 0.8005, 0.9916, 0.1967]\nstate[eef_state]: left_x=0.2938 left_y=-0.0102 left_z=0.1925 left_yaw=0.0368 left_pitch=-0.2268 left_roll=0.2872 left_gripper=0.9933 right_x=0.2496 right_y=0.3202 right_z=0.0627 right_yaw=0.0336 right_pitch=-0.1202 right_roll=0.0075 right_gripper=0.1967\nstate[joint_eff]: [-0.1846, -2.5504, 6.735, 1.5214, -0.1929, -0.0415, -0.022, -0.0615, -9.4701, 6.5299, 0.6764, 0.3101, 0.0317, 0.6764]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0004, 0.8845, -0.7143, -0.3691, -0.0002, 0.9932, 1.2171, 1.7454, 1.2606, -0.6708, 0.7742, 0.9878, 0.1986]\nstate[eef_state]: left_x=0.2939 left_y=-0.0102 left_z=0.1923 left_yaw=0.0373 left_pitch=-0.2274 left_roll=0.2868 left_gripper=0.9932 right_x=0.2475 right_y=0.3241 right_z=0.1313 right_yaw=0.0447 right_pitch=-0.1519 right_roll=-0.0097 right_gripper=0.1986\nstate[joint_eff]: [-0.1983, -2.3726, 6.7897, 1.4579, -0.1929, -0.022, -0.022, -0.0752, -10.988, 8.9368, 0.8278, 0.6716, -0.0024, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed7f1664ff4caf59a7acd0cd00230a95580fc2093dacfd7fdc772c2dca41215",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1ca4bf27e1e1509d949241813e1ff7a486937856ee57c23cc39d475d27ae125f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:692e95f4dafd1cbce9df04cc6b85167f672440efa0dee4dc04fa0e2189a7a417",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWnOcdA8ti79vf9Yzjo4S-jLt2ETPZ5m6Q20vIdcDt_l9EgtiPvHwhSRU-G9bYj1sSL-yS4vPP7eB--8YIRVzTJnQxvDTKDdKv3TlhlhXqWH1ONdnMLsmCl3bV5Ake0IvY1VNdz4v0oj5240vQLPQSd7BqQ__Gc_fF7EHMF6kFzOEgImq_CkhEOY5F7ON4pqY7B6uTTpOTgYLi3AL17KpCfYgLaX2jtLauRfAqbdt9Rdv9Ptt7FB3fzn45iqdmCegH0ZXLlAG9E4jYqTSPmCu7KeOwezxTw_7O9o3BeBzLyq-qo5NiBNQVVL11-v3WJ6XlfEfzfwqDoPGp9vbe8jt1amip73HWvNHx820wCtIhoInDjofvdQXMvRY-4nEvfe5MZzGz8SPTDVKu2k2m_iGIwUGcezDqfQYlSLX9heOV3c0-O-cpWbrFSM8iXDh-66flQqobMzPzHuG7IFSH4g5Exh1D_YdDd62Uk1CeKfMXTETLwarRcZw6OFzGK1kAJUTlV6nPDtIhEns38WQC1m4ZooAKEyqPxtJvzN6gHm9HFhLmLNnywM6FXg9Ehp9Uhx1htwDx0dH7s4hsnqJR_Kh4_ZKhpdKWZn4TdgQGwvDadxZIIUqe_rPm61DxNEuHVDo2VMWJOF3gz2-2ixyHtCEW8nIFGlVZZWg6lKNM-tAjilxzNTWUdiSIhnxhs0-tylxKfEia4dURkcsMnenVCmNn1eGKl4o7nOJkzY1GCE-Hf84x07uiZVD1Jmw1-sYgoBxSqEBXwBXQEnMfZo0Yp9j82SGWeTGYPVbWVCd994TUwF6uVO-F8mFUiDIgD2NlkF-UBQwg0cH1IQShVOgB8NFwWe0gN3D2CSjbqMMlGJwWNkDsWh_AswP-WD2FnNHQsVCVy4oR19MvmRNA5g5I-tnRVGKTQJkRi-YRBcVYO1Tdn6d9L_z6zLvpNDqXwnDc9lyIz1jGodB8X94pcbSikGQ7yhjjMHkbfndYsRpkZqlO7d14HEJZy3YrJBvy4mP-Vf-kL-TnJZ4Fto5Y-9NivmezAFsoGmkDqzKFTn_bfc89ghevIKkuyPOxERfIPSrIoxXL55C1Nbe-KPAJ0maO3g6xD8un-Z9VnSEg3eFARihU2f9thpKVeAH9Xl12otxmRcJ1BMdJPTi7GVcg0cmlDbP62In66Y-QbyAf15369D0JBZ2Kt6g7p5VE4yGpxnMkIZDjGntMyIpu-FqiV3J5n2frOEEZ_DemgnGE-k9Sx-Q2TY-Nfvh9YMBY6Z-0sc9txbXpMLk_iy-whxh2WiDYhzYNgryhR0xw0O-dlIvMbv3S2-FXz3T--yIwOfHhIqfLNgCuclD5CNORctxNlIMmsk41dQ5Rr1e41Rr1M3YPTlPhFzoeFqRNOmE8zLsAcyawdCtgCVSiRZnZmfuHlggh8VBBAzvjOn0BnaBWZF7QUYQ7qXob6K4qIl2ew20-yVL7vsjW2wi0PHs7V2nOChaMEHSo4QlYRIHRQ7Z9Nc-1llxjIXAYbER9idrOXGbrRA0wmu6ncZhjTPYFut9YcUwefWVEh-orXtTqp6d-tMqTngg-AfUrDYfzhrkn5K8KN9YtPFRu9gZhrcXEATByp-_uZI5SqHLV7LiLF_2nZII6dsGym3OOX1y5GDNX8HhRih26hQcaVPbnxmyMrzZYqOYmlqP_ED60jxxvzzJSRFxDzt0Gb-TdTBi1GFhmyyFiMWRKO1NvjnOnM1dbx7Svyld46auhbxJN1fWljzrinYlpSh-M7kf7kRADoTpO0zMNb2HocMLvAiHzCZ6jIf6S7516F2stnZ32xR_gDO_Nee2IIgEki1a1Y-dzbBJzzpclwDu0_RAe1tgQVYzdZYKVzA7-tUTufA6Xj0PYPL7UhBnosMfn86f6HQ3pp8plIRj67b3diNNVYqEp5U32di9V5gTvPPjv_SX3vSg--ZOANqrmVj_EzgsVRmZ3lW7_BxKM2zSbSL1X6sJPna2PbHUgm6zUj719ehboJfcIqMojesSjTAB42S0qwoeNaHulz9TWXMwiYNIoAdmSrTiu1bToFa_w6DUQGkMVRUw4tAUSsWZ3PjxOH-R7_Voe9yU3tT944qXkrqSryiQwL_QQBQZ8v4uivF8GPTcETYuL_K47umPiialP2DlI5iLtoIDAzZU0p4xDlH5ZaKeLXvXzLMBrfF2oERPxYPlb4r00Utz5Of5eV-kafLNL2BMR9P46Bkub9V49ju2pkXRG-HqatyhpUpXAo5_1a6IuHMPXZY8jHXC3amz90BhwAGWUjIhEGuTDj60CiTGagugdrPvetETQOMxux-wRyUbmEkbafFLpmZd0liQEYGwjfGwgV7I6PhWm0mOcEMIrWOoN8WfEoLWBQl1kZHNpLMFWOH0v6nYrn3TmGSpK6kLqYmSZvJ2zyT7f-AiXF9Wzvlsd0AzJ3Qj2i1AOFipM6S0GYslHA1_n1xcNxfDYZpF8isOmaAjHIPLYpZL3LTykCHnyv334EcgBsYYPX9RIDnOUNcBo8SSa7HJf3DtxBMlYvbBtxZgjlz65KQDm0s0j5aAG40BOk8jE-KEDwsyB2rQ==",
  "id": "rs_083c98d1100ce2b6016ab435a3940887d0bb130fc716835806",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.23,\"right_z\":0.21},\"note\":\"The tan plush appears to rise with the right gripper, and the right basket is ahead and slightly to its right. I’ll carry it high toward the basket opening.\"}",
  "call_id": "call_SZqJFwZ4YKAwkh1Ktul8HOgn",
  "id": "fc_083c98d1100ce2b6016ab435a6631087d0b2b16843b071b5f2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_SZqJFwZ4YKAwkh1Ktul8HOgn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0042, 0.8845, -0.7174, -0.3691, -0.0002, 0.9932, 0.6323, 1.8084, 1.5486, -0.6033, 0.4324, 0.4072, 0.2005]\nstate[eef_state]: left_x=0.2937 left_y=-0.0101 left_z=0.1908 left_yaw=0.0378 left_pitch=-0.2339 left_roll=0.2889 left_gripper=0.9932 right_x=0.4322 right_y=0.2293 right_z=0.1887 right_yaw=0.0372 right_pitch=-0.2004 right_roll=-0.0298 right_gripper=0.2005\nstate[joint_eff]: [-0.0068, -2.6325, 6.8855, 1.4286, -0.2271, 0.0024, -0.0073, -0.4034, -9.6479, 9.935, 1.4774, 0.2369, -0.0171, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a0f47b1c4c18c2a55406f8b071ede8ba14beb60245d2eeaf648c80874b1b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bcc33e31e248dfa0bc50d8ae4955a72fe7ab61cec5750b2b51f08df05ceb8de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fd872f92575f6630c498d71f199215301ada887859494d6c27df4cf925e6bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 72 changed as sent

message 80 changed as sent

message 84 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2661, 0.9966, 0.8841, -0.7116, -0.3698, -0.0006, 0.9933, 1.2171, 1.824, 1.0611, -0.3794, 0.8009, 0.9993, 0.9992]\nstate[eef_state]: left_x=0.294 left_y=-0.0102 left_z=0.1936 left_yaw=0.0373 left_pitch=-0.2213 left_roll=0.2852 left_gripper=0.9933 right_x=0.2489 right_y=0.3183 right_z=0.0662 right_yaw=0.028 right_pitch=-0.1243 right_roll=0.0023 right_gripper=0.9992\nstate[joint_eff]: [-0.335, -2.5915, 6.7624, 1.5849, -0.3541, -0.0708, -0.022, -0.1436, -7.2274, 4.7795, 0.6471, 0.4127, -0.1392, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0004, 0.8845, -0.7143, -0.3691, -0.0002, 0.9932, 1.2171, 1.7454, 1.2606, -0.6708, 0.7742, 0.9878, 0.1986]\nstate[eef_state]: left_x=0.2939 left_y=-0.0102 left_z=0.1923 left_yaw=0.0373 left_pitch=-0.2274 left_roll=0.2868 left_gripper=0.9932 right_x=0.2475 right_y=0.3241 right_z=0.1313 right_yaw=0.0447 right_pitch=-0.1519 right_roll=-0.0097 right_gripper=0.1986\nstate[joint_eff]: [-0.1983, -2.3726, 6.7897, 1.4579, -0.1929, -0.022, -0.022, -0.0752, -10.988, 8.9368, 0.8278, 0.6716, -0.0024, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0042, 0.8845, -0.7174, -0.3691, -0.0002, 0.9932, 0.6323, 1.8084, 1.5486, -0.6033, 0.4324, 0.4072, 0.2005]\nstate[eef_state]: left_x=0.2937 left_y=-0.0101 left_z=0.1908 left_yaw=0.0378 left_pitch=-0.2339 left_roll=0.2889 left_gripper=0.9932 right_x=0.4322 right_y=0.2293 right_z=0.1887 right_yaw=0.0372 right_pitch=-0.2004 right_roll=-0.0298 right_gripper=0.2005\nstate[joint_eff]: [-0.0068, -2.6325, 6.8855, 1.4286, -0.2271, 0.0024, -0.0073, -0.4034, -9.6479, 9.935, 1.4774, 0.2369, -0.0171, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30a0f47b1c4c18c2a55406f8b071ede8ba14beb60245d2eeaf648c80874b1b5f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6bcc33e31e248dfa0bc50d8ae4955a72fe7ab61cec5750b2b51f08df05ceb8de",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e9fd872f92575f6630c498d71f199215301ada887859494d6c27df4cf925e6bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWsxDaX9WSLiPcKgdVNcWkxD-Q8HC4RpG3y7R0SwVYnnZIasMBVsgYPSdaG0d82srZJws_3cJqbK5uOfUd38ahTeR1EhoMN4o8jzgP4LZap--rqLwzC8pYDTnAmDxicyxFDTM05QkgORNW3gqmXhrsh-hIfZ-cdJRPuq80yTIfMTC-OfzKDX2wXjRtCFF7CaUz5HQXHmq20rTPoqgpjxOsqwp6CMdN7VKyjxl1TQ7M0jdae4aiDpT2PxEHsA3_qoSllie2fXld1DZUT9ufz1Ilui3-57t0jaP9c2fuQSakPjp17OwtP0uJzJM1yt2FqSti1lUeKG5eRFijdukA3CbZJCqjJKCpfQSimsvQZOadQ9LYf5iiJOfCwMRg2AU5lqO2cF3h0rgsKJoAuN3cVo4EVdNfRjMd4uPonA3ShOGvzmVm9n4q1L4FwwDLIZMJpslDfH_TdKmH5jif3F4sD52JFjv0o5qXEbNU71N0h_DCYZ9_xueprvxGVuQfWyETBnQALQhEo9Wq0-3sLUIgHsnt5jKU-olMxPXmdQTpn3-bOUbouFzBmiSoQeYcWgivJGGtdMpyEg1FQoVHVw2blo2Pz7XYkjrot6zTwyJ6jId0sbbauzpNI29KIh7XxD1HpyxQeqXZe39wJMLDgJ_ijbvu2STHfp1UHaHC1AXXR70B0Brcz0A2o-kALWmDIISmjFKurh8wzYNUMwegHzAx8QClf8jbv5s1xhIqux7xgo91xA1vcmXkt1d-yCerkdORZAJyoVdTj8W5YP9cPaZcKXe-wq4WVpYdrzz6c9MF-1tgu5R9zVdDu4nltpYgjDEOONV7W6TFQubAz4s6OcD0uhiK30TZPZTJdrJ5X9r8s8DYFHCBWFXNdYN0y7EvBSxBGea8WLps-z3_2l16otcCVpT5Ay_T33o8snLxYR7-OwY7Q717Xytx_xP-IfhOjLZamK4WcmtvVavqRT3gN4i2G8xxfCbBnRqGMgDihFmXoOLlANY0M3QqMhfcmXudUPnmaxgvIMazDqSZHyjAUwtQrm7_C1bcUbHZQE1_GVAYtvH16tkDnCCEf8aPhwo7IYdRaOQvJbx6K0UYPnw4swzM3cC_FU7uAi5N07uetHzD02xjdcC0Yky03qxm9Bwr1caHepYzPG_uiwI7vtvYRAclGvG3d1h2sE7hiILkZEMZ6VWl9er_whinrZpxUPO3oFxDVkNTcluORKhj7Cd_DSu6RZVYUAW11B88sfMFswVCTrHuRtCSSRrgqA_iQMYjB71PsmPh3ZoYxguHDfb-wqXT3FkQn51IagSX4_v2EhK8fwFBNJbDXRdHFPUpP0VoSeoQDQ85lePWGNfAKI_x_vYMxdokwfeGr0NowmmsR--Ec7NRDAVgquDDPC9Fe2r_rLHEiQdn6lUSWmoX8_Nu4dXIN5fvf7mko2lkD2-kolLggh-dKCasX554FERkT0aFUAeFqkmq8LsNFcKYalcoSvm36wbwEXTxOalugl_usTS_GMEku0UzIpDBAK35viBY8FVe7cHZGAcTs9C2yVAqNLk6GDjIurTH8oyl0r8sOXPqWyJoUbv9r1xmKEM-FAEytk3TgYX7tWA2gmgvt8wy22ACAkDhKalLxKlMup5PnwSVQ04TfHiYyBZwgb5rctnwe_gTHeOLXIiYsCIWTHHc4RSkm3NFWvRPYTjYF3KA9BANYrASCaTk7UMSG4f_VTCvLYhLIvoX6qcWqcOaLAyoExwUmfQrOhUJQoUCf7N9YFj0VwPuT7t6Vc3LD658S_7fKtOk5iGkeus-ru8xvM_pVI9IUshor8skWXw1HmHSNTvDijjoXK2GsMXzUbWz4sqpOEAkj7YJOwynTJbX2Gsx9suvkhBwXPJR-PAi4esD7a6ruuFFbL6ZmF8LhX2vNJU_VSOUN9WpcSFqAjyxkJWpPKaKHG62it0IQuRgaE73amZdQzvwrSVtMh2xlnh1GCVF4He-Ab7Tv_msQc9nj8Hugj1saFRF8OV2-ddV4BRBiyUF-gF0HC3ukQv6wM3Yw6kuNcGnGvflklYbZOYANNbaR4mD3UVi42g==",
  "id": "rs_083c98d1100ce2b6016ab435a9a3dc87d084290a62717581e1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.155,\"right_z\":0.18},\"note\":\"The held tan toy hangs to the left and behind the right gripper, near the basket’s left rim. I’ll shift the gripper right and slightly forward so the toy itself lands inside the basket.\"}",
  "call_id": "call_tsQj03r6mLbkW6PCSbm0CObV",
  "id": "fc_083c98d1100ce2b6016ab435ab5f8487d0806c5961ca6339f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_tsQj03r6mLbkW6PCSbm0CObV",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8841, -0.7174, -0.3687, 0.0002, 0.9932, 0.4282, 1.8141, 1.4918, -0.5266, 0.2836, 0.2523, 0.2021]\nstate[eef_state]: left_x=0.2938 left_y=-0.01 left_z=0.1898 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.4679 right_y=0.1632 right_z=0.1678 right_yaw=0.0392 right_pitch=-0.2438 right_roll=-0.0339 right_gripper=0.2021\nstate[joint_eff]: [-0.253, -2.5094, 6.8991, 1.4432, -0.2027, -0.0073, -0.0073, -0.8957, -11.2205, 6.3658, 1.707, 0.3004, -0.0171, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75adaef02a48fbe6afa162dbedc698704e1d6eee5f65a1b318ce61a26bbc9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4be074a14e7fdd584f12cdcd050801aeb21d56a05611785ab618006e1a1c3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8619d7faef8d8ff15edeab3d4dd72eb1dd68a45a6580ab9778dc67adbf7c0e0b",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 76 changed as sent

message 84 changed as sent

message 88 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 0.9997, 0.8845, -0.7143, -0.3691, 0.0006, 0.9933, 1.2171, 1.8324, 1.0519, -0.35, 0.8005, 0.9916, 0.1967]\nstate[eef_state]: left_x=0.2938 left_y=-0.0102 left_z=0.1925 left_yaw=0.0368 left_pitch=-0.2268 left_roll=0.2872 left_gripper=0.9933 right_x=0.2496 right_y=0.3202 right_z=0.0627 right_yaw=0.0336 right_pitch=-0.1202 right_roll=0.0075 right_gripper=0.1967\nstate[joint_eff]: [-0.1846, -2.5504, 6.735, 1.5214, -0.1929, -0.0415, -0.022, -0.0615, -9.4701, 6.5299, 0.6764, 0.3101, 0.0317, 0.6764]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0042, 0.8845, -0.7174, -0.3691, -0.0002, 0.9932, 0.6323, 1.8084, 1.5486, -0.6033, 0.4324, 0.4072, 0.2005]\nstate[eef_state]: left_x=0.2937 left_y=-0.0101 left_z=0.1908 left_yaw=0.0378 left_pitch=-0.2339 left_roll=0.2889 left_gripper=0.9932 right_x=0.4322 right_y=0.2293 right_z=0.1887 right_yaw=0.0372 right_pitch=-0.2004 right_roll=-0.0298 right_gripper=0.2005\nstate[joint_eff]: [-0.0068, -2.6325, 6.8855, 1.4286, -0.2271, 0.0024, -0.0073, -0.4034, -9.6479, 9.935, 1.4774, 0.2369, -0.0171, 0.1929]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8841, -0.7174, -0.3687, 0.0002, 0.9932, 0.4282, 1.8141, 1.4918, -0.5266, 0.2836, 0.2523, 0.2021]\nstate[eef_state]: left_x=0.2938 left_y=-0.01 left_z=0.1898 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.4679 right_y=0.1632 right_z=0.1678 right_yaw=0.0392 right_pitch=-0.2438 right_roll=-0.0339 right_gripper=0.2021\nstate[joint_eff]: [-0.253, -2.5094, 6.8991, 1.4432, -0.2027, -0.0073, -0.0073, -0.8957, -11.2205, 6.3658, 1.707, 0.3004, -0.0171, 0.149]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c75adaef02a48fbe6afa162dbedc698704e1d6eee5f65a1b318ce61a26bbc9a2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2a4be074a14e7fdd584f12cdcd050801aeb21d56a05611785ab618006e1a1c3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8619d7faef8d8ff15edeab3d4dd72eb1dd68a45a6580ab9778dc67adbf7c0e0b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWwV5MIdknc7DmbXX3S_V7tHog4RaGVHYldMC9QNM3zmGqXrAzNvYZoXTP9W4PK_YxA6YoNn5v63uUUQqtfwrxpax-B8XOBRmAMYBY5y1K8dvQe_PmmtOk88I3jzac0z73WcNR16kd5R9AiRE1JkubevYScsHF6YJ3FhC716XtitttdTealTD-bUArCsdD_zexD1LkfoD18L7_Jrvoz4nkFQvlSFhJZx1vYxTXC2W2nnPGrchwoANsJ8wviojPiXZGCD5EdIlBZduuf3oit089RJzQ-UiRGPG_Klm4k1i2DfyLtg1_zUX1DaWB3rjhZaIipqISELYBXkKEfSpr9TVlDh2FjUJrg37s13OXbfzkUaDcC51xxfnNe3aGhoY2nTMpPUVURf3RFrtyFAZZnpAUlBtaZwLH9V39SG0lvtzxbeMAH3r7-5O_oWxQfPDL4UhvL37jTEbZeElE7XxXJBmWBnXpVFKknQJugkAmEc5dsqLkuiaTigA1gQgL5C2uGnWlye6ocowloajWNyGAdia509-Nswy_bQ3G7WVopRRxEHQDxbjmYbL0hmSCiRqJkJVZgm_tEl-SusYDdXwrvGdvCKdWWkzrNnxzAYnYRYQXBXGq2h2dE_E_tUtRw21Nf0xHl5NV-qwenFfGYDd87aARmbER_MAOy5VlERgJpAmVJCY0Ooh_qvNmR-Jh1djlVc5ThNC70JNylJR5Ohjo0kfzwz6H1N4DKqUmdVx0XCTww7ak0XUETtDcB4xIuKzWmmLg0-z9J7A1yOY-8LdlujmxqVcoCQmXdDj8IE5qXOb74y8oaAzPQxARZVFdJCZHjjQhpEf3YwTl-Wxqf-MpDdoahn5EwZKQMT8B2WBRyo_iOrFg10R9LxMXOmODNIabejtrMrlW3pl23ZyPxRkOkgCOu6UODrMdCR6bDB_FUljS4Zekhbml9W3Q5THTE0etHHt-2iLlJeD7BOtRtz1MXDtKx_QPvWqAg5DV8O-G_NBO1I8nZdkVG6gOgaLHnp7fkOTrsyOcQcUBNTfb6mtlaS3KP8XNcP5uQw91SdERZFzHEaHkdpi-FujcePmaQEwfyu6AEyLLLuLrlBLXxch5jStbS4-4Cri2318LUc26rvUfEWQvdJrR-Hch3btuzZ0e1oVs4D50k4Oq8IQyul7M6y3hB1Q9yANvbyrHyrCNywXSMWVSbkO4Fe5aIuiDuWKN2m0Ru5zTAjob04F4BqNfog2BSlwPiEefc8cXM1xIQ5c5xhNI1sZUtXPRWQjcTOJLPwFlTBux6urnJCTLy8_mfL-Kgn5O-J-jDxtCfziPvhxozKXUeCgoX50T4hIiXJ7whslRMT68sSf0iROf1eNS32C92U-_4QW4xYOyCsvc5X_m-lUoi5ObmqLqXMK8SUxDVS1elRyHzMqS_UuiTdBRddNTKXdGMcMoxdFrjw_1KuqbFA3wg_NbtQ6mO4RQ6LW0ftJF4ZdNrxEBAx1UjdzZOm4bMHxnrLLtI8qF-NvRyMJh42HveWskECSG0Uf1i6MZIlAkrv2YGJEyYMH6ekftYIQXTrL841yvbYRaLt9lIbtd8hbrjB2Me-l7ohUemOYGb5tR_z0d1UE7sBPuAOcxzH3pUGp0plFiQ7OVaBPYo7hum06-poczheNaCZMH_JLw8767DILmbOOa8Yt0ULNFTv9gW799ZAKsklJWUpxmVhzQhNClXRwjdQe31k-JTXeL9clEtnZROVyBDnlvo68qeO2riUgnyhj1CcPSa82fQHQKM_tm-J-lsg-URP6aDClPiM76X5RdvEf5VDQ_f7GObutFSD7eGSWeBdEiI5mSUhw67bEB09AEpg7Uen7WdNmq96SyDqYrdGcDBbqGQAUMcPCPVxxDYENuC7fpE1c7Qfw2zRQ9A-KmXdc8cmLAlBGW9IIIzYDRwNbiLUTA3bIkNkuxSOWR922KwD1JgL5QpMZLNUGtxr7cdET8uGjC6MZ-ss1nlKNpr9ZLgSxO4gS5_re4ynQQzH3XjDtbhWJpzJyS1TAcYROmKPMr7EF54tujPb8nHm6Hmojohsahay5D0jx_pMQ==",
  "id": "rs_083c98d1100ce2b6016ab435ae2ed487d091d53fcf6099e7c2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.095},\"note\":\"The tan toy now overlaps the interior of the right basket in the overhead view. I’ll lower it into the basket before opening the gripper.\"}",
  "call_id": "call_pwcuCcTa5nF2xL1YhSffGdz5",
  "id": "fc_083c98d1100ce2b6016ab435afd6f887d0be037d318e363c1e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_pwcuCcTa5nF2xL1YhSffGdz5",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.717, -0.3687, -0.0002, 0.9932, 0.432, 1.8339, 1.3033, -0.2993, 0.2844, 0.2409, 0.2035]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.19 left_yaw=0.0384 left_pitch=-0.2366 left_roll=0.2895 left_gripper=0.9932 right_x=0.4662 right_y=0.1643 right_z=0.118 right_yaw=0.0504 right_pitch=-0.2262 right_roll=-0.0353 right_gripper=0.2035\nstate[joint_eff]: [-0.1436, -2.441, 6.7077, 1.4725, -0.2125, -0.0317, -0.0073, -0.0752, -6.653, 5.8462, 1.6923, 0.105, 0.0855, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e994dda48deb990ca5039462c770ab2ced15519bff09dccdf738ea3b1c5458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51f5c02b7eb7f1470a5de13379c85c201a1aef3d507a441d528f145e3b4394a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2ebc6e1c93a1876d0d89a2241f332b91f0ea0663e44564908e3da2114e17c9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 80 changed as sent

message 88 changed as sent

message 92 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0004, 0.8845, -0.7143, -0.3691, -0.0002, 0.9932, 1.2171, 1.7454, 1.2606, -0.6708, 0.7742, 0.9878, 0.1986]\nstate[eef_state]: left_x=0.2939 left_y=-0.0102 left_z=0.1923 left_yaw=0.0373 left_pitch=-0.2274 left_roll=0.2868 left_gripper=0.9932 right_x=0.2475 right_y=0.3241 right_z=0.1313 right_yaw=0.0447 right_pitch=-0.1519 right_roll=-0.0097 right_gripper=0.1986\nstate[joint_eff]: [-0.1983, -2.3726, 6.7897, 1.4579, -0.1929, -0.022, -0.022, -0.0752, -10.988, 8.9368, 0.8278, 0.6716, -0.0024, 0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8841, -0.7174, -0.3687, 0.0002, 0.9932, 0.4282, 1.8141, 1.4918, -0.5266, 0.2836, 0.2523, 0.2021]\nstate[eef_state]: left_x=0.2938 left_y=-0.01 left_z=0.1898 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.4679 right_y=0.1632 right_z=0.1678 right_yaw=0.0392 right_pitch=-0.2438 right_roll=-0.0339 right_gripper=0.2021\nstate[joint_eff]: [-0.253, -2.5094, 6.8991, 1.4432, -0.2027, -0.0073, -0.0073, -0.8957, -11.2205, 6.3658, 1.707, 0.3004, -0.0171, 0.149]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.717, -0.3687, -0.0002, 0.9932, 0.432, 1.8339, 1.3033, -0.2993, 0.2844, 0.2409, 0.2035]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.19 left_yaw=0.0384 left_pitch=-0.2366 left_roll=0.2895 left_gripper=0.9932 right_x=0.4662 right_y=0.1643 right_z=0.118 right_yaw=0.0504 right_pitch=-0.2262 right_roll=-0.0353 right_gripper=0.2035\nstate[joint_eff]: [-0.1436, -2.441, 6.7077, 1.4725, -0.2125, -0.0317, -0.0073, -0.0752, -6.653, 5.8462, 1.6923, 0.105, 0.0855, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09e994dda48deb990ca5039462c770ab2ced15519bff09dccdf738ea3b1c5458",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e51f5c02b7eb7f1470a5de13379c85c201a1aef3d507a441d528f145e3b4394a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9f2ebc6e1c93a1876d0d89a2241f332b91f0ea0663e44564908e3da2114e17c9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDWzS99d0ukHW7bHxskjpqqd9ZMzk36VYsXtG2pbxNOuV0sVczmO_C9PABHD2rqvR0ByLUHrOD_rBhKAaPm84CsZbjm3QNyPoAIFttpzSyi8YyLw9NpoqA71xlqQxqnY603x84As_E-aWS7gLAWqOkr8DzOYg6Bd0hiV22e8OgmMcrncFXn2OFwHwqwirYgII0AACcJ1uYM6oakSm-d1Sh_zrw8h_WwyXXYw3G4V2nrsZB6KLB4kHwy9v-4a48x5a99_hW8AKDX8oAxjF7VVXCQ12RQKc7uHWK7ylmJy-eFwyO0C4vNeRgmX-BUveb44JvTdygQSIz-LPpxs00TujN-ke4Is-CI9lkG_XAXyLqhcYxaMq4XncrUPD_ETmdyX9QdYwBwuYq5Ylc8xFriYBZqTFJaCh7mpOVhd2F9xtBI2dUBhAkW6CxeONELk4Xcn9GFaIQ4i8FJ2xGwMlFduiOb38hZiul3H4MBVw-s7Nj294wPZsC5kwoSFryVTp4eCppN7NvpWavrgX9YWmyBtMdH4pyj4ycZfFyx1yZtOhdHXY2SgY85zIPacWIxSk39zW93hg81njTKSGhqUR5w0ZVRo58d5Vz9rMO_t9tNQvbnAi60cteKxhNs1TsYdEg36uEE1THB5IE2NFzuh0e2HlckTIJ9jm_bkQ0XHn0RafqpknD_4se3JTsY7y9os2WXJGs9iNwfB7DAMaDVUmdf7FdJ_vd6HutUFUdBFe8MOvZcuT1OWM0oAKHRZphaw8preKBuERS-czVTFlOHTjr4XhqIKOvNrkgxpOTgknlWfUZdW0JPsAsqcpWHLgZm-xztKBBd7KzstUy788cf7OZEbp6z4-dCdp6nsIb-Re_c9f2Q3hLgws2oOZy3pGJzts_PioAVpB5ftdjd9g1nZuiJ0TTeEcBopKGpfbJfePgRbaBleWVWeifeY4g16psq2N-brYVevNJdO_QRJyb36ftH98ZISlduMxPBYRhySbRWnC9e3Z1G4X-D18gQ8HHjGPYsqrBQVv8IBA-4XCXMmsYRLJ9Z8mi_Fxs_p1o9joXQQ6Vq0fETaSOCr3D9xYiXdhNZ8saDHdhFVtyanWTjUOjmUGpXiIJZJmG7h0f9eXfZHJkHYrag27O5_y8QFkiE1o-QqkpfKXrS9JhknSqeIIynZuuYHrV1s0Ia8wL9NkmvO1VgmSGKzd-MMizaECJFbeETNTJcdfkHQJBrhLXq92SQ9csaoYw==",
  "id": "rs_083c98d1100ce2b6016ab435b2772487d0bceb9554a83bb10e",
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}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The tan toy has been lowered into the right basket and the arm’s descent is near the basket contents. I’ll release it and lift away to check the placement.\"}",
  "call_id": "call_Mdxj0aIsAguQimqMNkV0MMNy",
  "id": "fc_083c98d1100ce2b6016ab435b29d0887d095279600a7f3d2d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Mdxj0aIsAguQimqMNkV0MMNy",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.7174, -0.3691, 0.0002, 0.9932, 0.4316, 1.861, 1.2766, -0.3012, 0.2779, 0.2398, 0.9947]\nstate[eef_state]: left_x=0.2939 left_y=-0.01 left_z=0.19 left_yaw=0.0386 left_pitch=-0.2369 left_roll=0.2902 left_gripper=0.9932 right_x=0.4592 right_y=0.1621 right_z=0.0942 right_yaw=0.0507 right_pitch=-0.2797 right_roll=-0.0529 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4725, -0.232, -0.0317, -0.0073, -0.3487, -12.041, 8.6085, 1.37, 0.1001, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2aba125c5f7549533d9aec0052e49089edf7891cccade292fbf938e1e03fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2214af8ed2beb4f37973b9c167336e6d329a2ce91d33a8f8d42f632953695134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac0ded043e80577480594c145589e34309fd5b3a01d56fa159075c4bc8e756a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2657, 1.0042, 0.8845, -0.7174, -0.3691, -0.0002, 0.9932, 0.6323, 1.8084, 1.5486, -0.6033, 0.4324, 0.4072, 0.2005]\nstate[eef_state]: left_x=0.2937 left_y=-0.0101 left_z=0.1908 left_yaw=0.0378 left_pitch=-0.2339 left_roll=0.2889 left_gripper=0.9932 right_x=0.4322 right_y=0.2293 right_z=0.1887 right_yaw=0.0372 right_pitch=-0.2004 right_roll=-0.0298 right_gripper=0.2005\nstate[joint_eff]: [-0.0068, -2.6325, 6.8855, 1.4286, -0.2271, 0.0024, -0.0073, -0.4034, -9.6479, 9.935, 1.4774, 0.2369, -0.0171, 0.1929]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.717, -0.3687, -0.0002, 0.9932, 0.432, 1.8339, 1.3033, -0.2993, 0.2844, 0.2409, 0.2035]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.19 left_yaw=0.0384 left_pitch=-0.2366 left_roll=0.2895 left_gripper=0.9932 right_x=0.4662 right_y=0.1643 right_z=0.118 right_yaw=0.0504 right_pitch=-0.2262 right_roll=-0.0353 right_gripper=0.2035\nstate[joint_eff]: [-0.1436, -2.441, 6.7077, 1.4725, -0.2125, -0.0317, -0.0073, -0.0752, -6.653, 5.8462, 1.6923, 0.105, 0.0855, 0.1392]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.7174, -0.3691, 0.0002, 0.9932, 0.4316, 1.861, 1.2766, -0.3012, 0.2779, 0.2398, 0.9947]\nstate[eef_state]: left_x=0.2939 left_y=-0.01 left_z=0.19 left_yaw=0.0386 left_pitch=-0.2369 left_roll=0.2902 left_gripper=0.9932 right_x=0.4592 right_y=0.1621 right_z=0.0942 right_yaw=0.0507 right_pitch=-0.2797 right_roll=-0.0529 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4725, -0.232, -0.0317, -0.0073, -0.3487, -12.041, 8.6085, 1.37, 0.1001, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9b2aba125c5f7549533d9aec0052e49089edf7891cccade292fbf938e1e03fa0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2214af8ed2beb4f37973b9c167336e6d329a2ce91d33a8f8d42f632953695134",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac0ded043e80577480594c145589e34309fd5b3a01d56fa159075c4bc8e756a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDW37DeVXruIWvU1w5biH_lhlQbLCbEVwaUOi0H3EZwXZ-ZZXa3EBrtgideTYq4nSxAxQyAw07SyRB5NkVjB1Ftp9TDZEmfpf1KfGmKWi0jnu7D3Gbnu5nMk6Q_1gtBFmhbXXCS44NWvBZrD_p1DOV30QujigDRIvBW89k0crMNnB34nyk93tmkyoBAX0W9-iyaH2_CfuJzW_Q_TyQmimaKhBSjrOEZB9PaZ-NFNQSSyqIAd3qW3zwXXvjYQqp0_rKGyJ3BnW8oRjFAy2E0l6ZYTtTZyLcqolgCec6ZKDpbLIY5mZqmbGxKkkbshDXsHO8zDXfrE3a6wO2keCHM9iNaLpUIElfPQkubVa5NVCCH3IFn7uR6Enow6SKMv2C0t4pKC3mE5oGlqcpb0qjOMx2OX4lvJqPUC6n7MiZnP8jIY3F4wcLGCG9Gp3m36quKzxbYVHZJFYBaXv04PRg1YkKp6WkabLeY9PQwix9lAOOqWUpfZScLTcLcN5GrpSn78cYcLPt9VudM3YZBTBWWJBFkzzDoHYDIrAL42dH72otPWJXN6muuhIvbsqJlM1WclVkeQfPdmSXjL4EkNAuKRenelbHbyIdajFu8NSt2AVio_n2K5BDHlPNn3BcVE8kmDlahXw5H0Yi1NJ4toEuHDM69-p20P2JqltJ85zPY3ySvOplZKoQWWCP_RxAV3xkAX_MfA1qPEQfGCU_E2vEc0DCh9TUPL-V_o2lEtFYdBFT0phP_Ue1gohWXaWVq-yGrqnWWEM9NfGBkaAGZ_e7jNDtBiJLyHuhWCqAccWs1PTsUVR6uil7Kz2jGAERaPQKdqF5XdepTs6lKBtFDJvhVdP11v9H86W617OY6nnF_pnd1l3Tp7puGQtmEZAgBo6IMjq4D8LzWlh6g-RWlrGMo7AdCElJyyuBJ83Q80Gr8xtoSg5pvL3IwITVfBCrFDZbnOSOalABner_4e9aMiqEsMCdZesTUVHk8ELFM_0FO_xydUJ6c1H7XB3mPYpBL4m8p0LIG6pKBwhmiu6i8w1_BRAWChyO7aDxC7KF8E2c3oxX5nj4GlQyNPza-6IdYYhdLP1oVn7P4R7apLUsCTHLwDJ2QUUKYm_AioQBI47c5l3XG4KIGvxDbpkHbiruKDdh8ycIc_DKL1jaR11nVnobQDTFcZ5JS09XvwMle3hKZTXUyL_F6bO5Ya36J1-1jd3Lxaid_hwbe9-qhtViTKFZUmmgI6HX4kW-CPFyM1PF1jJrWyipV_aKCWA9MR2ovSkmY5ndcI-12SjGnwSAnaQfdenXrOLQ9YXy5dH2YJm8O7SUsg0QV_o-sLamE3ExgolHETqcbSTejYdpKjI0Fp6jBpLZyyiaOXaZ6sz4CquS45XJ8aZMH4IopBdQ3EFOsyc-pbh-VdSX4fbiJHSRAZ9OffXtCOQO1lWyEI9ofc8BJkLujO3VE43M5lmnDZwkR3s4Zu_cAnl4OrWHe944huZKWMWnLbGi2l9rxIWjepxhctgMyBNNvfwCjweOkAI5rM2qWjM9Md7LgeS0Ml2NKp-ZcZ5EkrR7bA6zfcNv1YYQzeoUaAuv-1UR2CR7e2otKPElBSXvlNpucdvuIAE-gx2ZgaSPnLgJkcBpQPGvsuBaZe2KkbYCzuMAImYKlABiOwN7RW13SInsbNABmsRFoDlfo-7PZnAjl7SrZ_KjtLJ_lEVRpHPzr_6TN433Ev8I4JKetDJj4F6OPDK-_yi8a0mseRojtxxgw_f74NjgA5yfymCkOvqwsIsBs4aZZhhTQ6SGgomIzhQljVwA1OynYSq54lW8xwvJpX4OA4ipkUEjAmPIeXVn1_g9Ccb6MbXRziEAwu75hTm4856Cg4XAgrOkaiYL1MCCWN9DRuDNInvW6lpOd2iZg=",
  "id": "rs_083c98d1100ce2b6016ab435b502d487d099ba895f331da5dd",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.335,\"right_y\":0.21,\"right_z\":0.16},\"note\":\"The first tan toy has been released; another tan plush is visible just in front of the right basket. I’ll withdraw above that next toy and inspect its position before grasping.\"}",
  "call_id": "call_CGGWq4zBEcwzuiLtKKxjF46H",
  "id": "fc_083c98d1100ce2b6016ab435b6788087d0ac2c6475244a9be5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_CGGWq4zBEcwzuiLtKKxjF46H",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8841, -0.7166, -0.3687, 0.0002, 0.9932, 0.7372, 1.5723, 1.1908, -0.5808, 0.4309, 0.4694, 0.9958]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.1897 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.3448 right_y=0.2182 right_z=0.1514 right_yaw=0.0951 right_pitch=-0.2807 right_roll=-0.0435 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -2.5094, 6.7214, 1.4823, -0.2125, -0.0415, -0.0073, 0.2393, -8.9231, 7.2547, 1.2186, 0.4225, 0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2e9f18f434ef6e66f0d2878eae1f4b7ec461d05d4c2425f0b27e103a9f69a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cff8065ae06344bf835eb63be552daf83a290d8fa68cc959440b9e01ab3355",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1420075583f6df449b6f7a7a028e99c4676ae89439b078ed9b31819047a37843",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8841, -0.7174, -0.3687, 0.0002, 0.9932, 0.4282, 1.8141, 1.4918, -0.5266, 0.2836, 0.2523, 0.2021]\nstate[eef_state]: left_x=0.2938 left_y=-0.01 left_z=0.1898 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.4679 right_y=0.1632 right_z=0.1678 right_yaw=0.0392 right_pitch=-0.2438 right_roll=-0.0339 right_gripper=0.2021\nstate[joint_eff]: [-0.253, -2.5094, 6.8991, 1.4432, -0.2027, -0.0073, -0.0073, -0.8957, -11.2205, 6.3658, 1.707, 0.3004, -0.0171, 0.149]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.7174, -0.3691, 0.0002, 0.9932, 0.4316, 1.861, 1.2766, -0.3012, 0.2779, 0.2398, 0.9947]\nstate[eef_state]: left_x=0.2939 left_y=-0.01 left_z=0.19 left_yaw=0.0386 left_pitch=-0.2369 left_roll=0.2902 left_gripper=0.9932 right_x=0.4592 right_y=0.1621 right_z=0.0942 right_yaw=0.0507 right_pitch=-0.2797 right_roll=-0.0529 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4725, -0.232, -0.0317, -0.0073, -0.3487, -12.041, 8.6085, 1.37, 0.1001, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8841, -0.7166, -0.3687, 0.0002, 0.9932, 0.7372, 1.5723, 1.1908, -0.5808, 0.4309, 0.4694, 0.9958]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.1897 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.3448 right_y=0.2182 right_z=0.1514 right_yaw=0.0951 right_pitch=-0.2807 right_roll=-0.0435 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -2.5094, 6.7214, 1.4823, -0.2125, -0.0415, -0.0073, 0.2393, -8.9231, 7.2547, 1.2186, 0.4225, 0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b2e9f18f434ef6e66f0d2878eae1f4b7ec461d05d4c2425f0b27e103a9f69a3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a2cff8065ae06344bf835eb63be552daf83a290d8fa68cc959440b9e01ab3355",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1420075583f6df449b6f7a7a028e99c4676ae89439b078ed9b31819047a37843",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDW7DGY5_3w7vop8D6TAiR0ZgUrAeWdBHuCqjG0pWVjlDuBg4xwO1OBHgfnYR46Uwop83XZRA-UQ6O9KNjMntQEWzFhLZzhVofHZC1Ar0PNudB_HN_bnBdBW7J4O-mE7qnbSG9R9eRTUBuPIv9SxUtLLS0aLGtOsLHshBvzJJ175Zh_gdpZWFGrAh14Kq1VLypDMBuc5Y2ZMsqc6j-Ox3M0NbiuazNSNRf21e4-JiNMC1QY-6utcoHZhxGvxpyFF0sQy1QJ12wyJUjDLXlsUvYe9dvg6nkRHu5rOaECC4h0RPWKKS-FNsoviee8lTnT3saRQemIxPgpBFpZ4x0HpgaSDac8oogiVVO0klB53Y9xD2Dm1zj163hjmbrakiu81CbAH8Rfky8OzDifALL48iSMCqKCHHt3H2dnNZouHYrl9GLBzgKPE0_k8Y3o2PAnBFyt-tSO7FWHSjNA_Xj497O7Xuy4gIoPDztHPu0WrUxy2CjbO4bfbbpb8bGLg-nqBW8WK44nCBtT6E1bgbWDRi5iH0ShvKla8y5OWCt_uVSNdmdOOIPJu9LZQqMC1AVBTIiDk175z9O305MSNj3y_mWpidcz4wBiuwBn38SEKTxlemhM7Y-KsW1u5rJxlYVesESAVFeQQ3rCMd1r_Xq2KFrfo6HT3EuCnGhxmXH7ByzpkL9siP8uxYGVUiDkNC1wl3GwO1fe32YVWvhfGlgyvpRoLE9K_ajLrFSmDQnxaYozGrsMXvWknLY0zKvkdvp2LKEA1PvQC6b3RjRECWQOUcj72eoOZPiGH1jkP1ylWLhLr3tlKhBcooR6sL6gbpWAGmAMIgVfwbEItsUbeDkfFAAlzwB_RLzhVkmg1OuAgeFsM2-Oc4guQX2liNRYuvvT6BS8gPq6f-qGLbL4BLpbCN0bYpkVz835jMPLtydUboWrzlOtLo73jtzstqJtUwPpDtEwKxDhU5EEhEdyA7MZESCRmKFw6SHdBAMo6N1V3v_R8oF95VMPzH-UEdbGAijlV9vBT-d9Sa6HZR049ivMFTjtRU9vYQSV6tXJwiRBIRN3Ihqr4nw9FVxKgnFRMfnnNiAItuxvTKfCYK6Sn3G9aSfh_PMeSWl-9iXP2h1aBiZFxcAp3m4sAB13IYTnpZzas5HKmL7ytc2_U62Y1HkPmxHiCScXyw-HzKSjhvjsusAzG3pLamPwfhuF_qr8uG8gzdzCrNyg65B_vkHaH_DS--310bpS4TbqEGhGHnOTzLFOak687l6sbyfn9-BcfxTJAOcCzd1RZpAuE0cj4Tmswhg3NcZbCCnF3IrQEHaMtXyOn5pWEQSemg-CFsBA3-CZ4Q1ysnzVI27x2M4bNSgJKgAbL3tidahIzA7V2b7hHGCzbyrLTka2GBTr-CbVE62w2lyDvCsSx1OphMbMiso0OHxl4SzUT-bxjbcUbDUD4580sZTNELuc10fOst0vb6itIJbEhWWI5PLJQLOTOzfoUL9fOtGYFJ21Eu2cYRyyfwcJ-95qh_FBSiJZbUamiZBxfN_oWwApVxoYgNUMqMD_DWsPYtZqgse2Fv9eel-k0K4Tnno-P-VS7e8j0cG7PQMuXPc46xtSmoCvbp_kFnA8oA--8xKdZMJlFJafVUjoAkXsq_d6coE3BZ3OHzjxESoTgt8ZxRQru71t4EGY5aYImLh3FvCsKySetYRZ71sR23WtJUjcm-VX3xM4bKrKE-xi43ulM9pS1TUW1cZRmWmHplrq24TByr916XGDypmqN4PU51ToOcmgWP8Nkj4tZ5nqAeX6lBW3AW9MfCFiFwUW3ih9HZto8PGvjrmoVuaqf0uzOZ_N6fPb1m4jTRmZDjL2iBG-jaFQoSynGQxuvbn_7NTZ5uq1uV0moqUfUGjAtociY_yf6B7-X6s3Hd1EjwOErXCIn",
  "id": "rs_083c98d1100ce2b6016ab435b9679887d091d99f9ec07b5482",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.377,\"right_y\":0.21,\"right_z\":0.07},\"note\":\"The first tan plush is now visible in the right basket. The next tan plush is centered ahead of the right fingertips with space below it in the wrist view, so I’ll advance slightly and lower onto its body.\"}",
  "call_id": "call_2MWyJjFRNu7e36WD7sa5kk2M",
  "id": "fc_083c98d1100ce2b6016ab435baeb4887d082a80a7bd926eef4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2MWyJjFRNu7e36WD7sa5kk2M",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8845, -0.7177, -0.3687, 0.0006, 0.9932, 0.6624, 1.7187, 1.0325, -0.2981, 0.3832, 0.4084, 0.9959]\nstate[eef_state]: left_x=0.2939 left_y=-0.0101 left_z=0.1897 left_yaw=0.0381 left_pitch=-0.2382 left_roll=0.2905 left_gripper=0.9932 right_x=0.3664 right_y=0.2066 right_z=0.0696 right_yaw=0.0873 right_pitch=-0.3232 right_roll=-0.0644 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -2.441, 6.7214, 1.4188, -0.188, -0.0171, -0.0073, -0.8684, -7.5692, 5.8188, 1.3114, 0.2173, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63054e92eaf78806064b43a4c97967f1ea0ca5bb8277fff22c027bb84720c5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fc6fd39d29ac257b59e6f860f03d5a70a7a0ca82f4a69adb2bcaac8c3ea5a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67ec66b900007e720e3cb594f69b4fbfb8a092f67bf94d6da8939ef0ecb417d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.717, -0.3687, -0.0002, 0.9932, 0.432, 1.8339, 1.3033, -0.2993, 0.2844, 0.2409, 0.2035]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.19 left_yaw=0.0384 left_pitch=-0.2366 left_roll=0.2895 left_gripper=0.9932 right_x=0.4662 right_y=0.1643 right_z=0.118 right_yaw=0.0504 right_pitch=-0.2262 right_roll=-0.0353 right_gripper=0.2035\nstate[joint_eff]: [-0.1436, -2.441, 6.7077, 1.4725, -0.2125, -0.0317, -0.0073, -0.0752, -6.653, 5.8462, 1.6923, 0.105, 0.0855, 0.1392]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8841, -0.7166, -0.3687, 0.0002, 0.9932, 0.7372, 1.5723, 1.1908, -0.5808, 0.4309, 0.4694, 0.9958]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.1897 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.3448 right_y=0.2182 right_z=0.1514 right_yaw=0.0951 right_pitch=-0.2807 right_roll=-0.0435 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -2.5094, 6.7214, 1.4823, -0.2125, -0.0415, -0.0073, 0.2393, -8.9231, 7.2547, 1.2186, 0.4225, 0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8845, -0.7177, -0.3687, 0.0006, 0.9932, 0.6624, 1.7187, 1.0325, -0.2981, 0.3832, 0.4084, 0.9959]\nstate[eef_state]: left_x=0.2939 left_y=-0.0101 left_z=0.1897 left_yaw=0.0381 left_pitch=-0.2382 left_roll=0.2905 left_gripper=0.9932 right_x=0.3664 right_y=0.2066 right_z=0.0696 right_yaw=0.0873 right_pitch=-0.3232 right_roll=-0.0644 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -2.441, 6.7214, 1.4188, -0.188, -0.0171, -0.0073, -0.8684, -7.5692, 5.8188, 1.3114, 0.2173, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:63054e92eaf78806064b43a4c97967f1ea0ca5bb8277fff22c027bb84720c5e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47fc6fd39d29ac257b59e6f860f03d5a70a7a0ca82f4a69adb2bcaac8c3ea5a2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a67ec66b900007e720e3cb594f69b4fbfb8a092f67bf94d6da8939ef0ecb417d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDW_nWEriZvi7lDgONpKF9zY5X60DYLruRqL-7fCkoeBqyNKhsOquA3Nkgc5UmfuHYTDFJYvm6QVWi8ywTa5O94zS8DmGhAd2fawKXhqCUvtcYd9i7OfnJ2GmKWLs19MeRuhLoHnFE11liphc52MsUmZB7pqBwJGzoqlqkJpwc1huCAAl5JaX-aNzRaW4Khr7JnFfNqKG9MqQsuRJFuDEbn-x5fosUnxEjxuiD-UsrOxbfggpfw3OWF3GJYRT4VRhLm7tJWwXacH34AVfYDQjknwfmF0Dx8WQEsWM8yIL5wbT7lhJ-_gfgb5k6TicqqtH61m9vJ_ZDWFpiQ5PVO89y8d5jL0KLMZcVGK7UelBh5-zzIsgyiOgQ5URqlKRmAqQvBa06H3-ZC4Y_zEXzhugDxFdtOoafOCv09d2F5KdjEpZ625ZM_4Z52HoRhHE9UlDem7FpmSpjXAZwia7iBaZHfTJCKYABTnQ74J5DxJlkMuUhOhvB8lTSRVwvwM87ZvO7Tq_1YGFt3zvsa3slNA5PIAP944V96sXA2vWE9DQUB8ECwsZZXfGXuJxdXBZHrUYLqslKkc2s8IC6Nkghh6aYePl47UywrWLAPv3dMxb1AlRK1yfLscgUSPsB8nKhU1y18eMbjg9jDkJw77X1dS3sV5ncTtCfkMKFDvy0Dfo2YDAew0kaR2LlfxYVwQUSSEyqYyDbO-o2Bj5wWZBIqSjKblbYXPpqhPpFF8kWFxPIxz5MWhOAxt7VcfLcw4ju_ARXGzhMBsHqutM_mN2pB2sUqrKihw3DgTWJZ_uH40E_Fa2H-V0Io4ga0w66gdhjNZv658xzZWKaRl9xUqHlo8nU-cHZjQA6AtEjTd6n8grNBSvEaYyg68kXXvPJAHy1n_8NAA4gdYCgkVCfW-xEHk9vf1OUTBRlmrOHjiGu4cX_77JHG4GQ4cQ_FO4HIrGu3WGKlQXef5UquGzG7TKOQkelkcphb5Dycm0NcLCpiO0J9U06G6uX2qKYKqdYZI_VdEIzNGlrZJZ1Np0tbC-HaRGO3xucYh-WU1Jqn5Xj9YDws-JEIMYO5rNvqZrruVckzuEcpG1iboQRnkV1D8W__6f-vGk_Wq1dvCOowKc1rE3cGNRP5122xPLaxrj83CeAjILWIcKjc7OJebDdo8OtkIqpXy7ZsYWoUQHkfMy3E_UOKWbKaqH10ebbd9rHwEuzWeSwkZ8jybz8DWDPOdJtJ4QRBHV8jeBfGBNryEg95TcW_2WOAfqzIgVeayW_kYSB-wfPIYVyzpxaFCF2xQRJRCvJ9ZnFVVGHMux61_dSUknStaqycNCNP7hcKXeMlqgXPU-2ZSSATneAUNFdTIgUf-ERnQ_6RfduB0ws2xmoDiZqm3i-xdE2ZOI9K_AjtbFui_JIWodA_WMNJeCaEwzJ2u9x1s84HbZE160HWmbSrJQ2dM6QNh0JZooshFBn3u-TbBRLyPXlOSwEfkGSM3QdaRQT6cWQHAJDRe0kcF9b5VSEsF0HEYDcYigFTSDx23H2Md4RhCsyDpQjQCco3jisF9uRgkh5pDec99_IpTbVtO5athg_CrOL_1HxdUeO4elrAwEbq67vv-ejdonc4hHzskl6FYxvtjoyGEAhX2QX_l_7EZAiBCcdQF36y-kzmoQYMdsUbFfcQ4LP8V8BW6ymRFTgHJP9p5aAzydyNnkxEk0BUj1JzuhsKM7gsTPJT9UEEy1edSZzUx8Y7uWVRF080c6ZHfiu-YYaGxkmEfxvjQmKwUY4qQ9odrJAUh9qWTV032rlRATgLmO6zGeN5N8lw4hcO2quLLlJWfwZQmdDZzH2qKWZO0utTjhQFqOaoqEolfz2JMpgRHp9inTlMtd3tKBWmYJ8S7iokbj28h_jRBgyPu9m56VMz8DsOldBbrSCUQFFo_",
  "id": "rs_083c98d1100ce2b6016ab435bd53a887d0869bfdf442eb3780",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_z\":0.055},\"note\":\"The tan toy’s near leg is on the jaw column but still just ahead of the fingertip line. I’ll advance a couple of centimetres and lower slightly to grasp that thicker part.\"}",
  "call_id": "call_OLxLWnkYVxaqIEiplQZd3Dky",
  "id": "fc_083c98d1100ce2b6016ab435beb10087d0a9b66c51bf1b8b04",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OLxLWnkYVxaqIEiplQZd3Dky",
  "output": [
    {
      "text": "executing move_to over 2 steps (0.2s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0119, 0.8845, -0.7177, -0.3691, 0.0006, 0.9932, 0.6422, 1.7718, 1.0451, -0.2317, 0.3611, 0.3817, 0.9959]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1887 left_yaw=0.0387 left_pitch=-0.2417 left_roll=0.292 left_gripper=0.9932 right_x=0.3803 right_y=0.211 right_z=0.0603 right_yaw=0.1041 right_pitch=-0.3117 right_roll=-0.0516 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -2.7419, 6.9128, 1.4286, -0.2027, -0.0366, -0.0073, -1.1145, -7.2957, 7.7744, 1.2234, 0.1538, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbbfdd26bd20f14180ab4adee5d847c08d53a799e490abd4c3537c960f2c2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d0e9a8f74d61092a2b433597dd9f341b3cb43d3ade3e9319a345eec7e5add1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d98ea0a4f873e219807dee881c5ee8be2e71a14e4463b432b01c17a517a36e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0073, 0.8845, -0.7174, -0.3691, 0.0002, 0.9932, 0.4316, 1.861, 1.2766, -0.3012, 0.2779, 0.2398, 0.9947]\nstate[eef_state]: left_x=0.2939 left_y=-0.01 left_z=0.19 left_yaw=0.0386 left_pitch=-0.2369 left_roll=0.2902 left_gripper=0.9932 right_x=0.4592 right_y=0.1621 right_z=0.0942 right_yaw=0.0507 right_pitch=-0.2797 right_roll=-0.0529 right_gripper=0.9947\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4725, -0.232, -0.0317, -0.0073, -0.3487, -12.041, 8.6085, 1.37, 0.1001, -0.0366, -0.1197]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8845, -0.7177, -0.3687, 0.0006, 0.9932, 0.6624, 1.7187, 1.0325, -0.2981, 0.3832, 0.4084, 0.9959]\nstate[eef_state]: left_x=0.2939 left_y=-0.0101 left_z=0.1897 left_yaw=0.0381 left_pitch=-0.2382 left_roll=0.2905 left_gripper=0.9932 right_x=0.3664 right_y=0.2066 right_z=0.0696 right_yaw=0.0873 right_pitch=-0.3232 right_roll=-0.0644 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -2.441, 6.7214, 1.4188, -0.188, -0.0171, -0.0073, -0.8684, -7.5692, 5.8188, 1.3114, 0.2173, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0119, 0.8845, -0.7177, -0.3691, 0.0006, 0.9932, 0.6422, 1.7718, 1.0451, -0.2317, 0.3611, 0.3817, 0.9959]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1887 left_yaw=0.0387 left_pitch=-0.2417 left_roll=0.292 left_gripper=0.9932 right_x=0.3803 right_y=0.211 right_z=0.0603 right_yaw=0.1041 right_pitch=-0.3117 right_roll=-0.0516 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -2.7419, 6.9128, 1.4286, -0.2027, -0.0366, -0.0073, -1.1145, -7.2957, 7.7744, 1.2234, 0.1538, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5cbbfdd26bd20f14180ab4adee5d847c08d53a799e490abd4c3537c960f2c2e5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d0e9a8f74d61092a2b433597dd9f341b3cb43d3ade3e9319a345eec7e5add1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1d98ea0a4f873e219807dee881c5ee8be2e71a14e4463b432b01c17a517a36e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXCaxWWtqn1VxxyrW1e9GvolXLlb6HzYT3euUDQI1-XBkkZD8U8D26JgM6g8ZK58U60Q8Xm3QofOGxI421uYgUFOx_fzp57jLxkHnB_TzSeH9n_BtVe4tiybip6JCz0SI40uq6ZuxWc-QSO_AH_2sear7bICaPfWTwWA3dUiGPXA7bHxpfHuD7Uq2oZEyDdVEyDpwuv56svrRhOc5AxUrklqCBtWz08G5-1QjPiKcx_SU6xJ0AhDPYqZzEe7tOLS_mZKBzjjt_jNWIU5cWyI0KEqtNgAOvOJgiVZU4zJi5_pKkeCtTWmrGK-NDUyOS1-Yxrdgu8AYs5LhnLFR_epoKkqHdY52H8KERFDKQVm1o2mk0F8AfPmj7FNFsSN1fQhWyTeAWV-qAlXlPc6fFt5z-HRHOSpr0VtCqMQiaHizlYweV5eU1paQsY81QxT1LD9O4vQ-3lMO9JHQAAjJnwlbu3_vHDNKrsdfLiuLyB3-tbOx9vEYIH-MhFir2S8vmjyONdAKrg8LIOmcbgAXnewtdjZ24MAcUEDLQ_EE-L7JnuqG_1ZNIHM13GOOKvY3FVS9fewbQK-n6rDIASIASGUphE7jfNUveohSKg9qrGoZ8el-Uxl5z7oNkW8zsLLgCPwqKHtp_ib2VBazEzO41JIWIYR9eWg2xW-lk-MRXk3Pq552Ajb7qbHygOevKeUsipuBXdQkv--fhkgOGyY-zp8brOazW-SHUVtJ-yYe8PU6D6OqABTpp4qaicP_Xg9J1yNMt-JCWY87qbfnsZNzks1AnHiFAwrJ2e2-XTLCG6C1NZaoqEcsWd8r69msvXa7hOMhWFFwXKfMpFDEj0yBgS8_72Fx1ilMCFnmEiQuwOqnyPNuJfzAZ9us61NP2zalnqZ9IkVPPy9IKW3V_c7EKBfTDlO6OKSaE5tpb3PZZ1dAfnW17UoPVQ0png9W5j2kIU--w8GrbKzT6Hji2mj8xxXoby28TzJa40II9ji4mIRP11rRwS1VAb5yp2oVK7vChDKv1_uac0P0fmTGEbWbd7xZ9iwAXsgliGdGrQQ5SCAjLIoQwRv1jspKBAe8QLlDHWcGeTdWL9B64sNGlV3D5HkqEjF1Auyl1FPxKCGg1g2s5hZcWWK34k_KRZKEuzU6FkiLu1Eq-cOWLqkRbp3Kuv18jOb1M2YOj2CYaMCh4FMa7lpi_GYANjXOghSOXQS4U7EGne1nbonv39UcQ8Buo9zXBkZZXjauJaj2S2udqppu7CbpJQUhyLqSPXqEbnb6bnvA5zo1ShtI5WNQNBs5eVT7pF8_AvQng-x6P-RIxzSVeFwMil3BYsmLIo-GdCD6TmiBQN7YU_W8R_BI8x9Ryh20GB-PydPBd9vZuECUnFWu9L2W8tFHFP7TIn6NAxT2kX6vWy",
  "id": "rs_083c98d1100ce2b6016ab435c0c77887d0aa509c3201ab0907",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The near leg now sits between the right fingertips. I’ll close on it and inspect the jaw spacing to tell whether it was caught.\"}",
  "call_id": "call_l0wwLuDnPTs4TmLQ5vMXPCDu",
  "id": "fc_083c98d1100ce2b6016ab435c1665c87d0a061a6948bf814a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_l0wwLuDnPTs4TmLQ5vMXPCDu",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0126, 0.8841, -0.717, -0.3687, 0.0002, 0.9933, 0.6411, 1.7992, 1.0462, -0.2325, 0.3542, 0.3759, 0.016]\nstate[eef_state]: left_x=0.2943 left_y=-0.0102 left_z=0.1884 left_yaw=0.0386 left_pitch=-0.2421 left_roll=0.2915 left_gripper=0.9933 right_x=0.379 right_y=0.2108 right_z=0.049 right_yaw=0.107 right_pitch=-0.338 right_roll=-0.0649 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -2.5915, 6.7214, 1.409, -0.1392, -0.0464, -0.0073, 0.0342, -10.8239, 5.9419, 1.3114, 0.2564, 0.0415, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9239dfdb1fddace63f6c862e1654c7128742163c7b6587587328deabebb46f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c153b5e823949c6b581fa29a9c92a9f0c1334f54424e4847291bab229960a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b21027063c78603998559b2538ca730238a8e1ed6b34eb9d08b097cf86cbeef",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8841, -0.7166, -0.3687, 0.0002, 0.9932, 0.7372, 1.5723, 1.1908, -0.5808, 0.4309, 0.4694, 0.9958]\nstate[eef_state]: left_x=0.294 left_y=-0.0101 left_z=0.1897 left_yaw=0.0383 left_pitch=-0.2374 left_roll=0.29 left_gripper=0.9932 right_x=0.3448 right_y=0.2182 right_z=0.1514 right_yaw=0.0951 right_pitch=-0.2807 right_roll=-0.0435 right_gripper=0.9958\nstate[joint_eff]: [-0.0479, -2.5094, 6.7214, 1.4823, -0.2125, -0.0415, -0.0073, 0.2393, -8.9231, 7.2547, 1.2186, 0.4225, 0.0904, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0119, 0.8845, -0.7177, -0.3691, 0.0006, 0.9932, 0.6422, 1.7718, 1.0451, -0.2317, 0.3611, 0.3817, 0.9959]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1887 left_yaw=0.0387 left_pitch=-0.2417 left_roll=0.292 left_gripper=0.9932 right_x=0.3803 right_y=0.211 right_z=0.0603 right_yaw=0.1041 right_pitch=-0.3117 right_roll=-0.0516 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -2.7419, 6.9128, 1.4286, -0.2027, -0.0366, -0.0073, -1.1145, -7.2957, 7.7744, 1.2234, 0.1538, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0126, 0.8841, -0.717, -0.3687, 0.0002, 0.9933, 0.6411, 1.7992, 1.0462, -0.2325, 0.3542, 0.3759, 0.016]\nstate[eef_state]: left_x=0.2943 left_y=-0.0102 left_z=0.1884 left_yaw=0.0386 left_pitch=-0.2421 left_roll=0.2915 left_gripper=0.9933 right_x=0.379 right_y=0.2108 right_z=0.049 right_yaw=0.107 right_pitch=-0.338 right_roll=-0.0649 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -2.5915, 6.7214, 1.409, -0.1392, -0.0464, -0.0073, 0.0342, -10.8239, 5.9419, 1.3114, 0.2564, 0.0415, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9239dfdb1fddace63f6c862e1654c7128742163c7b6587587328deabebb46f9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c153b5e823949c6b581fa29a9c92a9f0c1334f54424e4847291bab229960a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3b21027063c78603998559b2538ca730238a8e1ed6b34eb9d08b097cf86cbeef",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXGh2nl-QviVMDJiZxNV2flFo1aetLmzLz7TmTn3-flLyHj1UZ9B25KJmJdZykpLo-NvJcvA5oHbZil352FIN_QFyXm9htti-V3d_jtbhxTWqW-vYcdt5gf_J3aUvRGwpnAgtPNP3xbmjYgI0-m8c_Z_4oq8Kp372NbvRAng0rQ0kfEgQyOkOXJVrnxybAbn2kAWquFv_wngoHbYNDT_Vg35IH25ODUr-2awa4UoIkjiDid4csTpRTdGt6PBW1NRvQpn26oDeikSFCdwZGtV_A5JxN_gJ50u0Ueswg3x5-2vfX8wEgLHF6PXn6hRaNrpglqB8LMMWiGH3K1jZxAyv3gqgA8HbTCe1CFS29YM2cSnXMtP7Q9dETsK3YAJ17XCWk8cnhHnTWYb7lUoKoNFt0tUXqcJ_2zwr4kzgKbUNwOdvcxdKWW4603nMc26sWa_mk3fSijVDfg4EDZUl-B229pDkaKkv5d5sR_oXxZAgi5RJzM28faxkQQtkV3uS-klIjn1ns_AtA9aROU0vRKlGx3_TAPdFU5f9T_WSe8kdF6pSuKwCAJoJ-U4mANODvIDbw-MMjMar3qmTss3J4DqX_eo4h3_DgyUZuHV5khOtMtUdZseicGecU-OqhCv_HQ6m03MUdVEoLV-ia6vIakCvZPUVYMRSBa81wGpNmnWXJT88ES23teRAw-2OJ2h5pwoWF2pr7wrsb96wfZMGC8jZroLL90KHTssC8bRx-qfW7wvhzO-q2vWYBEQZ3_x0Sefu6WvQF1fKtoSLBhQ-vSqLQSh_i3fOBbMU3qZhOE6_vnkufrVlyhOqzRvcgC8fvIwPYcBjS-0qR04-uaI9hZ3A9GxTv-f713jzYWFQOqkwLqAhjiz5GIkVr6lSfEPa1HB8HB6NQusWpxJbeoe_z_3VCSi3QxZxuc21894s4QRBFgWLrenb1klNGQw4fz6zHVOz_ooTixiyiJ8c8buoxMj7SLiXoW7naAdWWcdHriaXnSXfZ9YJ6t-qWxJBLzV5pSu39Hm1EMzqQYcxkRwAZk5FwvtF2S9VOm3_kfeGNsSoOLJetsSSig3VstfaJUgQMD9xvZWYtnk0yStXhMXwpY0lnn2UJj5kH8iAS9kHFP7fA7K7jOwNVUy6uOoTJapXrNzmTFz7roYRiMzixc31nNDA0Unc_GXpYK1L905ynhZS8RiAh-zr6YTl0UBH43njhj6Af-Jc1lZLddZ26dkl_W1TVHNreM1tL6MBRqDTDJksgj0igJGPNv1jBpITLZ2bk9-Ej6uV_6bkpnLaN7xyshoNzHsXvoIHXZfNlXyQomZwt5EGhO6ApcINzVvn2xOQdocuISpjGLWDb8CPqkmXz32CH18FoYUScjrKRhNq1hyHtAoimOcZ3tKoq3TniKWrNxfBMF49Gi3bSKpYvaVaqqeaTWmI76_6QFptFC5b4QI_VdIwmf84OKnhhOTgz0M3YdVXoCsk_NVAdhxkw9mRjgmdYuGbHBeGKq6tmaYhFsm4FvzOhQeu4RZTMCiTa1SQHy_Ot2CTmqjF4vcU1iql_scfG3JLrGw5DcOKTJhikcJALDsXBMVKC9yINsPM_55j4_SSy0fELfcjTkmu8tRE2GtofH73Yu8HcxF1aKQf7p3ukPnTA2woS14T7DIxYztk7GUwZxYZqAujXtF0Jxj3jmNo8op8ZPOOiVxBcuvDzDjZtN0T9RLhxCzCCuyxdzn0bn-3D4fb-NxyPZsZn3NqtrDQgaXcAG_eColKEI5o_5rMCTBi3cZEgUiFSWrCAtPdp5Tzn3epVesMnf97BUDvhHHdxER2PzxOZrlim8I6iMQ0N0quJR4kHoWUCddrgMEzD10e1XTuETnnQmk7AidA87mlSg3CfeecaNW43-FuYWn90P7QvaJ3nJTp_o8k9mUXEOzq35",
  "id": "rs_083c98d1100ce2b6016ab435c46f6c87d0afb8ad1f8cdf4de6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.43,\"right_z\":0.065},\"note\":\"The right gripper closed completely and the toy did not move, so that grasp was empty. The overhead view shows the plush farther forward than the fingertips; I’ll reopen and advance onto its body.\"}",
  "call_id": "call_OtKJzPqZwYwQU1nKJ9Pw6uOZ",
  "id": "fc_083c98d1100ce2b6016ab435c5e96c87d0bd2324003b3a4d1f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_OtKJzPqZwYwQU1nKJ9Pw6uOZ",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.013, 0.8845, -0.7177, -0.3687, 0.0002, 0.9932, 0.5777, 1.9026, 1.227, -0.3138, 0.2951, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1883 left_yaw=0.0387 left_pitch=-0.2428 left_roll=0.2918 left_gripper=0.9932 right_x=0.4165 right_y=0.2145 right_z=0.0555 right_yaw=0.1314 right_pitch=-0.3671 right_roll=-0.0661 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -2.5094, 6.7077, 1.3944, -0.1929, -0.0122, -0.022, -1.4974, -8.9915, 8.6085, 1.3407, 0.2955, -0.0317, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347477abbe3b878d1d796591a7da720221802ef098dc21067336c26f68efa1e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bb7c23eccecea27b811c421922b6844c37bf808b088356d20659e4420692c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0257e189743a7c4e377872b8e82d08bab38e4c3736a2e8718b4157196d81a47",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.008, 0.8845, -0.7177, -0.3687, 0.0006, 0.9932, 0.6624, 1.7187, 1.0325, -0.2981, 0.3832, 0.4084, 0.9959]\nstate[eef_state]: left_x=0.2939 left_y=-0.0101 left_z=0.1897 left_yaw=0.0381 left_pitch=-0.2382 left_roll=0.2905 left_gripper=0.9932 right_x=0.3664 right_y=0.2066 right_z=0.0696 right_yaw=0.0873 right_pitch=-0.3232 right_roll=-0.0644 right_gripper=0.9959\nstate[joint_eff]: [-0.1299, -2.441, 6.7214, 1.4188, -0.188, -0.0171, -0.0073, -0.8684, -7.5692, 5.8188, 1.3114, 0.2173, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0126, 0.8841, -0.717, -0.3687, 0.0002, 0.9933, 0.6411, 1.7992, 1.0462, -0.2325, 0.3542, 0.3759, 0.016]\nstate[eef_state]: left_x=0.2943 left_y=-0.0102 left_z=0.1884 left_yaw=0.0386 left_pitch=-0.2421 left_roll=0.2915 left_gripper=0.9933 right_x=0.379 right_y=0.2108 right_z=0.049 right_yaw=0.107 right_pitch=-0.338 right_roll=-0.0649 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -2.5915, 6.7214, 1.409, -0.1392, -0.0464, -0.0073, 0.0342, -10.8239, 5.9419, 1.3114, 0.2564, 0.0415, 0.7155]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.013, 0.8845, -0.7177, -0.3687, 0.0002, 0.9932, 0.5777, 1.9026, 1.227, -0.3138, 0.2951, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1883 left_yaw=0.0387 left_pitch=-0.2428 left_roll=0.2918 left_gripper=0.9932 right_x=0.4165 right_y=0.2145 right_z=0.0555 right_yaw=0.1314 right_pitch=-0.3671 right_roll=-0.0661 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -2.5094, 6.7077, 1.3944, -0.1929, -0.0122, -0.022, -1.4974, -8.9915, 8.6085, 1.3407, 0.2955, -0.0317, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:347477abbe3b878d1d796591a7da720221802ef098dc21067336c26f68efa1e1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4bb7c23eccecea27b811c421922b6844c37bf808b088356d20659e4420692c7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0257e189743a7c4e377872b8e82d08bab38e4c3736a2e8718b4157196d81a47",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXRILQLeNFIUpAFpxcQzR8XgHsVhr5O_D7KjxccBqNdBsGApw57kFireqzaBG_PNwfxBv82d_f-qUt5vdxTArJAy1A2fCD2OVSnlhih2cihja8y11B8zIn07S5I06ElB82RZHnN5dlu6LoF7y_66kdZUmxK1HVUd7iXEDPfpqQgeoTB6rkWBeaXR0Xre4ma7WTbZuiVtTqBfMOYJgJxg0Ee4kmDPiimTp-On_DnJS6f4Ao8EKT0BbZ1Oam67GSPuR-S-B8LRneOoSdyybAizYkz6AQxcAY2xnt-EyF5j1YGcVIFTbmzjda-wGdssilmePB8Kx0yoXIJYv2WaHUkntijw_7Haia2ulFZgOZMyjK8wTXOPdhygcVGxZgBpMYmAKwa507f_l-0fsxWHNqsqupHCtjCjCb7Wn7PU7fg60FRNVaVethK9Mj0AeAQsbHAWnN08a6Sp2mBPgzARKTW3nhLJuflOvZrxsESGMwKcCb8hCc-4uhN0aeBxUQwgaXLg7MUTaVYfeWJG2tcpRLkpXwCMmVlDU3XYlh1NT4GVRwrwYtMMuy5XyLVDHygJjD-wGBSSQ306zAIjx8ZK_ZbCfidZjn7jRnr_jaJHwTHVIkgmebpeCBtxgRPvtFdGGoLRHXesxb3EDSMZrYa8UWYKRAjcFH3GdFBH_V3CArx2ukmecWo9o9mPqlL46aHoI7zhke5WwESso6zF1JH9mo6UnIF0u_AyoWv82ZpAZoTgsc8YA6sN3gn3eIyOjE4_i_x3uOcr0YjIt892pRahrXeOnbC6x8BXEOYfxxHO2mfnQlaH4i8ZbQZdwVexad7eZxV5QPZjXZ9JF2E6lsAfi3NiOiPIBZdiE8ZBoox5C4bRMMRUHq9DIRWS5bEb5NrKLqi-AZd6bNKGCxKu4Llt1tDeF4YCcN596NGogACw-mCZ-PkVkd2dZn8Bv-aAb4bz6SxxcG__HXuEdlHrrK63JCtH8idZKR7C-iq08Z-OU7WhlNPve6sXrtNV2ZGXU142bsF9fqgsp00vazq4VN3E4wUUeO8H6izRH9YAjtwXRT8fpgy_vfRR68Ns3nzIqRS2EatTch58he3rgJ27LzTcRdvDi9MXpMDMe81OZXqfH-0CvSA0efkzhYuKVBRv2_E4XhTEyZKZCf88Vq2udpCh7aKyGKI6v2zcyu92c9uubkj9klEwWDtC37joBy8_amuMr53En_7XVn3bt_4BlTz7TpdM6xg0M3iGfkzwknS2kEsQTYhNKXv5zv5dfMEJPuYV7J8MW0orP98rNT2TvHbmQhxSLOUe0cSYA64-CHrKEBnGraXusNv0n4_XssYE4xj8_ydaoUoQKSFcVHGaalTZNriDv7Qo-IgKII3ntEdgSXKsNAiPc-TG-zW59Jy0hHIcDkvvx3C5CkxO3Bt01AGgDCQgvk3xTsQOSK2n6Rvho64PjMeczHYivkrz335_-9OXV2wF3btWP0l8zK19gyncKrfWwQLDcJZmkl6qcfls49lkkqmGdV246zyd0IDAXO5Sc3HBu-cc55uoU6fZjgttTi3ahUlQG0BrwODz-iJwBEIIGfCs_Pb08Iqc4lljHdxnPf6XtzlU4BHGFhM1wFO6eshmAsOPHQvAaD2a-whlo5R0bZj0_rrG8u2io64MVZvAVfIMgKfJrki89IrUnkGp8OPAg5Wu_KQmSWsM_ML4lTPD5DVwUfYFwM03KdtCNylgiQJqi2QTinThGI7e5lZgv1U1MVJ3LEu8ZSC47kLq_y_AoFfiZ3BNPb9na-S4VvNI2CxgVSGKH99DRxlQXbyIiLSs45gHrwvkogjuJvW42McBJ0DbrN1JVQVI_Tq4F0bT0YWK9ZWg9ojBAf7KGfX2tSLcqCIMlYmxZSIC0z44XXM4cvjGP06ZAgOVEE-4bUFkOMOddecOtAyaRCHZn-P6toVBqUsa6ScHB1iXin1s3Z0XPPFcRRbKQEl5WGHz78Nx5ShT6MH1Lt9YDTtXYd5m7zTS5bbiT_UYTlt4CRUigK8kBXcT5aHNvLSi0DQNScc2qaqlOTUxPzlJvC_VUT78Bt-QORMmX05y8DOBxqqn6cKUipZFnfHQKLprkXdTSU0ls0_44_-6QzBspx5CqHic2BaNrrqBBejP8PeqJ2gfHesiweYSAsbgfYkGwcXSJQXXp53ZirpOiXuowy6OpU7sP-iL2AaZ2Ti89FgOn3w7-06lZ476k-7Fn0bhhUgUTwlv-EOdqyiNK6pDyNMFvU-Zs_lbwmmxHyENHNAyl_EcVEJniEOk1IQDTili_Rbrx6SQWhb9CMotmJMp9qSCzvB3Oy3BhCqJ3ygjuyAoFkn6QFI6NaDHnqBvSCqwnGV5CTZX3s1x_-OU1zBK90drnNvTQ4tPHc93liFIRri_P6OHtIwkOfyBF88BvH_SecyXPa8TUgRitLkiUq6fkHDA1luAqSSsQIaJxo3qekAtR3hqN2yJYmgsUeP9vyvX4Mk0Bqv7VrhdBshAG5wA7HPLVI3W3lEsSyDdatCH2ZHx-DLQQDSQ_ZGaUik38EeXV1ZBpB6HgErE9fxm9hsBNgM_D2lny8_bptMG8KtONw_hPtcdb-fankW8ZYFTfc37IJ_TLbuiF-M0gSsom9TE0WtutWH03gaL0CxLtC_ZJiJ0Qw6q31WB19GfM2rzZDHYY5FherqwraDtXWsgc-1h1Ef7gWiWLwa45hpcQs7sk1MHel5iHZZRx8gZ1QeZiRJ6po2d1WvvOJe05Icw2W1JUBDfhfjqWRXBSxane90CrdE9wJSY0xXfBx_roA51i9VlzNuJMCM0FyevBMcNmjM7p6nONXpPsS5kBG4ErpvshzM5_JVK3XNGkoHmznLEdJ_8muSCcb_ywb8dnXrICOeQWSGoBJTPjB7lMRR3hE03RKP1ROsFi9IJqIMYUAnYQNosNQW4G5go98lf0qQbZn-an1z1sBAGTvqrn6beYebANI3nXd6MICKZZ4ILjg3nl6y93Tkd9bJecchro231ZISwI8dupWrBn1KS6Jt2iD7g3ttWfMDqbBuPuFg7a_tSQyqlN2wz5t9-SJxtuRgEo6wFgRWtRdB5lIHqpa3ETM43YMAqC13vI7WlF_b1bELDKNTb_CgvqGlTHBTfhjgKRWKeSRWJmt0uqJUV9g9ZbpTzX_KbWOu02gkhTwFiug03_4D-m2aCqrixbSNk-Xqfmmrd4YPo6Emx9Zl5VJVdrnPWjLIHbivfMzapHIPZ0voCelLkWEcN3GkF3dQhdr6BK0-dFltIa2tWDZc-Q9ueKb5O5zr5-vXqOWZ8A3eT_gx-_VIiMMXknLPjpxq8GcnU4RECzeVZFpQ2sY-VCYVhjQGwIl538KnyebkwpqUkbGXnxO-3aruuUJztvZAILyM3ubWinVmE0q1_nntFYCH_OKlK-TevCDeasNP0PG8Ds2NrfDDHAZ0zDQCRXUOVHYkUpkS33rnUmDoJTq9k6giUx1nizFggQhr1qzhYn_ZtlBgNZXsdXivhZt1joSFX1yfJwpYJxrN-Fw-zZOi5_lvI_auZ3hVbZXbJjkSMtCn7VW8xnpwhw7KmYgMYPY1ufyeEY4zxkrOuYY50fiSkL_E7RcYo8K_1TinE2ss7cma7Zb79usuguDezhSgDMgqOk53RjvIwz9Vs-lg-2cDLfclyqRKvwJhl7jqo3_s9ziKuMwgSje95MWaIDLBuowvZFoA8nCraGKMl7fgRi7fkJQvFLPIUYk-jbSkaEeMR34XG58yy7SEPjsnbMYq-gW1Lv2BSE299ogPhp13P5caU_32AxPLZ4DZInSXlur1KPFNK6FGTnRV7iEtJhIU5gfV_7ojmZ_nvH_ItDcv6HmtvnB4R5ImWkbrsdUNcNcPbGiJY-Y=",
  "id": "rs_083c98d1100ce2b6016ab435c9bbdc87d097fdbb32306ca785",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXRexP1x5DiLMYxFcCLJlHXNEhsC5W5Xe9gFKerzYVIxTQH1wu3o1BWMLqbKcR-styYeZUNfQXB0Kq7VSVX_J-Wb6HIAKFZX2sQ7wuEAAi14E82cyCA0vS9q8M3xAvoA61wLlyK3UTS6FfzLK-sjLltvZ2wO_WBvtwJwFx6PdBT0k2DOPmM5uOuRkNDjMhgVh5rJU5OSlXZ3wEYMiw3sRMn2th3ebuDTiYptF2wfqr8Uw5pYXy2eah-xho66CWsRjuwyuLnYQAQVCDjoVKZS1XOMmTuN1biuhOR17SeLBibo7EhrP6KJFe-sQliGD5NriYDFvTGZRNf88CWY8RaCpdqk15jtkQAs5f5VGbdl7s6Lqcbj2RhqzCgCl2OPtk_ZsyxMYiSGnS46-LVnKx5jo9QeQE4na6iPcHlKmW1JMveSnDcmvuKJP3xrf_yMai3MJHd5cpDRKIDtIqJsXgVxW0p1ZVfy8vKD4bJFEtjpKrdggkO-IJjJpFENxyEj1KO8fpct9-4E1602x_M87e4lGfNTGfVTBRV4qn0M9gq-u-1Y1QAyLU5QzcQNhiw1E77nogC1Aha23x-ZzShuiCsSaQLxRstQ5CAwD6a0AWJ3QqTBbCXYE53CyP3glVQlyItgBnrLiqyESpAsZuSBX-NAMj2dW56hjVRJR79SIYvbuwVBphLTVvsHXKpMxpvmW_FXDSanGUHA3DAulVrsE29FR_P_Sa6zLHmTWjepxNqdsGCd0mDoiAbZEXZcpSihbyURLgzRSx6Y1WO-bB3NZxVaJ3nimn48XqCuakl4wGStPq6Sc6KEwx1N5YBC3c00fuGsA4T--d_S3HY9t06-Zcpktj2TQGo7rGEu_FTpUQvKDOw_oiiiju10ABWTvH7T1hFRU1L4WyonJm3ATQVLflAVHenOSLeS1k0TcsejQIDcaNVyOnRuByVZ1PXP8yZNfBV7z4Z7n3b8SsM9Eyccxr2ee1Fuy5ewYDuoE77P2Y1lRdu7VvC7RZMyNhEle-JrW18U0oP_vQz1-MNop1DLlX9SN4hQijYaN_-3f4BD8JzRRqWs_1oiUSCzmAInkHY3EfiWwia3rYU0DgB76a071m_ylGlX3Xtj9wIKS3euHK98PBUhYB0_BiquhKRxK25Vm9J-xvIk6U8WEJLwXhf9pXAxMM_To3Uj_1uZEQAzsnMWut8_AkbHR3FYg96hI9EKeqwBAblQ2OYXbL3OIJsrUTPOQYP_CTmfzQVuAlbE0qIpNcZtu_4qsyGBy4ZF3cdBKXOSn7Nt5uKoaXGxEseZuFkaeq8n9iA-jeg09UNJ5PKZLS5OgVuSHZuaxZPZivls48JhVdQr2kYU0sne92DMnuJ1Lhl7IoAmP_7HXqXtGtHgei86vymArCedPzGyWL_ob-Rh2u90aeECamPz0bx3JXo3lGeIE5iXqOu8N-Qrvcrlc4y8HUYJqyIhDeIUOwg0GT80iJc9LYAqrfr1z8YPa_AyD6LdAlXW76jAALf_7aDOKtzX72v10N95OeM1eyU-VZ1lEnsi5TuLYSFOOj-9VpeC5c5NKnYsQEw03lDLE5JbYjk-U72U-KVzmD_ifH5dMHQY4SqaQiYX0XIM3hC2vMV22rrsMtb263Yqmki85LrRvM--0cIenrf_R3B8A2kyv_r41T505OeM3oLU9Ud3S0tX52G-vc3lIf4x4f8TVm2DmcBccIoQpw3N5ALSkmJekKvnRYv6Hz--zhmKNX9vp4URLSMMrGGYnGyWOtDf8EmQndiuy8zqY1Di1vYbr4crrY_Clr9Tc1KjgpBWVouSebYH8oYea7HJ2RK4rC3aKHjtkow-MG_8JZr3rlcjaNPI2-9TMdJz5h-Q4Z-1c6FcoPxrxQsPo6vVU746ZHdjglvfsPgYPZsD2661vSzqfZS5H8au0lTbxrnonhrZoxPVbc7Xf5NUDXUAv1msLW6iP7jnmuerSwpkQ4tOq95RSLKY0B4MploS5wu1CQ8wc50con_a7Um0iyzhtjxT9lIaPbTgfYw-bR6adasrx-J08Q31Rvz4n8g",
  "id": "rs_083c98d1100ce2b6016ab435cea7c487d081842b9915dcb216",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.295,\"right_y\":0,\"right_z\":0.185,\"left_x\":0.235,\"left_y\":-0.19,\"left_z\":0.14,\"left_roll\":0,\"left_pitch\":0},\"note\":\"The right gripper was reaching the tan toy already draped over the basket rim, not a new loose toy. I’ll park it and move the left arm above the remaining small tan plush on the table.\"}",
  "call_id": "call_jQhnense78MgJHGWzBIh0O8U",
  "id": "fc_083c98d1100ce2b6016ab435d03ff487d0a84b2cebc772daba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_jQhnense78MgJHGWzBIh0O8U",
  "output": [
    {
      "text": "executing move_to over 18 steps (1.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1622, 1.2449, 0.7403, -0.5812, -0.8707, -0.9298, 0.9932, -0.0338, 1.1118, 0.9539, -0.7753, -0.0357, -0.1593, 0.9964]\nstate[eef_state]: left_x=0.2324 left_y=-0.1877 left_z=0.1336 left_yaw=-0.0011 left_pitch=-0.0436 left_roll=0.0441 left_gripper=0.9932 right_x=0.3014 right_y=-0.0003 right_z=0.1714 right_yaw=0.0855 right_pitch=-0.373 right_roll=-0.0659 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -4.0547, 6.9675, 1.0867, -0.7204, -0.0562, -0.0122, -0.294, -4.1641, 10.0718, 1.2381, -0.1636, -0.0611, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175d8a31c9993819353cc106e6e352c93d0ebb6b861b64766de4753862bc8fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac928e4767984b7f553e447d70196bf032c391c2e010acfc437b7c5b7bbef2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85cbdf90bd87b7a5fc4532d0f87be8d8c2c2e62168ed0601d8b2ce7ed3a5446",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 108 changed as sent

message 116 changed as sent

message 121 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0119, 0.8845, -0.7177, -0.3691, 0.0006, 0.9932, 0.6422, 1.7718, 1.0451, -0.2317, 0.3611, 0.3817, 0.9959]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1887 left_yaw=0.0387 left_pitch=-0.2417 left_roll=0.292 left_gripper=0.9932 right_x=0.3803 right_y=0.211 right_z=0.0603 right_yaw=0.1041 right_pitch=-0.3117 right_roll=-0.0516 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -2.7419, 6.9128, 1.4286, -0.2027, -0.0366, -0.0073, -1.1145, -7.2957, 7.7744, 1.2234, 0.1538, 0.0904, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.013, 0.8845, -0.7177, -0.3687, 0.0002, 0.9932, 0.5777, 1.9026, 1.227, -0.3138, 0.2951, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1883 left_yaw=0.0387 left_pitch=-0.2428 left_roll=0.2918 left_gripper=0.9932 right_x=0.4165 right_y=0.2145 right_z=0.0555 right_yaw=0.1314 right_pitch=-0.3671 right_roll=-0.0661 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -2.5094, 6.7077, 1.3944, -0.1929, -0.0122, -0.022, -1.4974, -8.9915, 8.6085, 1.3407, 0.2955, -0.0317, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1622, 1.2449, 0.7403, -0.5812, -0.8707, -0.9298, 0.9932, -0.0338, 1.1118, 0.9539, -0.7753, -0.0357, -0.1593, 0.9964]\nstate[eef_state]: left_x=0.2324 left_y=-0.1877 left_z=0.1336 left_yaw=-0.0011 left_pitch=-0.0436 left_roll=0.0441 left_gripper=0.9932 right_x=0.3014 right_y=-0.0003 right_z=0.1714 right_yaw=0.0855 right_pitch=-0.373 right_roll=-0.0659 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -4.0547, 6.9675, 1.0867, -0.7204, -0.0562, -0.0122, -0.294, -4.1641, 10.0718, 1.2381, -0.1636, -0.0611, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:175d8a31c9993819353cc106e6e352c93d0ebb6b861b64766de4753862bc8fb7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8ac928e4767984b7f553e447d70196bf032c391c2e010acfc437b7c5b7bbef2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f85cbdf90bd87b7a5fc4532d0f87be8d8c2c2e62168ed0601d8b2ce7ed3a5446",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXct9kKWuHP_3SBpuhb__To8sVO8eKDtWFyBejBrM4PZ8mWelnaGx8ERk6oTHFAqe1V1UgPQvfRzbUE5ru6Pkqe-v-1eeAwY3CJ5RcFgOKAFHA5Vgv348nAdENpaWNlv5_6H-wbM_TM9CkD9VR0T9yXHZ9kV_ud-gAGcCMofZdm622pcXw8eBCP6uwkF3fb5Bd1vpeG15H70rb2dRNe2OG8p-avV6qB-ERDsn0zDgTWL4Bfco82ZrO-KJedwHeLDLQrfiP1Fck1JWxdwHB0zPyDt2A1Mu-gkc0oJU-wO8IBlJI1ofthcjUbm42j8zcDKvrJJicNjz4P5yz_djhgXxlFpJDpJH8ZGiVHFDFh5nbuYiYbZa15DWi5QJ0oZWP6qT3u5EdA0pMAHBiZjdpzKbDDCi9alsdC0nKGisOP9wJCB7K7WCj68Uq6kixOkSiIuvaQ35LeimvpfA00iYUtYA3WE7l1U10QoKnwmAIyn_Pm94694aA43Y46-V8TaAFwvoJMGskmHwq2zmMpAAJogewrDU_cksx-JcsWRF3Gcl18-5aKY8goxR1cMCfp7ylvAngH6vnqaOasq0Y-j8r1SNXiwOpkPQwrGSdYBJOw012BalkUxMIr7VlY-37sedDDBkr3LJzE9f-W2RdGqZa66jV2PpXVGJTidvf4Zdf6BkZL289pFOj24jchy-AmhDpiZpbN5seO89eIwYuYNT_9nCLU005XIN5aXafRF9ZK7mlt6movDs3NDzTpMrGxDjNddQlCpISXCRsRmZYdj6eK3KE1c8kOhk8QJktkS1qdZC6diHqVSz5kCSLwyluCvAcLI4j8YhnDoLHhIlMYyB39omXkVNvfg7PQGYR_aDqZYM4EnbEBfR8Ec35xpg06xbNiBHk5OoEbyDMqF1xOLCR8Coj0JZOW9hfzgyyQPokf1iZjDEI8yjJUuYxA6y-w3Tp3-1Tm_7RzVCH0C-eTKlmC-aR9H5UMPyRPSGyewK5P6dd9oF0jwbUh-aqu_ot71wQY1h-wMkOjP56T_SCnN_5uiESmN2rmFgY3IPzsYjaKKRVvirVfbAbiDfh7fLGSkHIg0r7Emr4yeYnVsmnWGH1FieCZ5In_nFjIOkt7-kq-15bxErqjBJfziRGXcM9YP5wLAchGfTqam5vp21M1npPuz6Tcul_vXylFpF6EpChA3F1VF1fgECMrCVKv6n6WcGAJiPrFZZUxGJGd8BFvvmlyl-BZHcUU_yqU4mn9dcBqYaBY5hViJ4dHrjmONenFZH7LhVnYcezfzrWPQ2Rq12G0IsiKLJVFZBUxYRqZOLXt_vhCXsioXD4hc3FLrK4ZmHnQJTxoLWnpvfK3S1GYpKSrnB8hqgG6D2V27dgqF78Ays0brEvwxEYMW5QQA8qt9LCcRLFtfzmYd_bcfyIEuek3aOpNNiDDHwgEtXJ0naDvuDugSJ83ajCyJ01DQaWa5iuUqr4T74sLbY6F010zQl9f30535mHbEMJXk8Je8Elivf4_jHxjEb8OG0tW-3o2ZsuMuCn7dw_laultmWKzcoCswthiP3Y0QjTH53fPy8TTtvUFY72WjEr8iKOUwhySEmfYnjhdW1rKqfPWQEsQYHlJ0XmyZ7bCapF3BCAnFATY7qJvgyNx22oO8nspiJLwHvv2MhqNMn33ES54QLVO4QdTE5vHW6pvqtyvE8QXH2JW3lbG1WEjJs2qEU22etWiiY6zZofh62mWK5FwNYFRLf61zn7BrY9bboxXMHlOfbYC1l97pfLh0D-DEolbh5D9E0QWvDKcR76ZWN9BOjxjY7QNfUZAiHegXZMX-Yg25DlROCldd3totEoOfTSRnZxCDSm3Eq5OVal5wIONxZR97YiO6bAj97_k_NLF9oeqPKFHwSlY-WIfmmafpHXQTtdmkWkZlCD3XCDrlKA-qAvHfqid1DMDANDIPT4-DnKaAK8GEJOT5x62uFmZX_BojJt3LkFaoMY226t5b4qVrvlDt5WQcSMM3h3sh2aAGluRI5s_XuetErrRI1qTyRV1TzgvMHFC0Q5bQejul3igx0OcnRxC0EwE47M0z0iCEbsTkyx2eb5qi5vEP8SHVK1W3OkXYrPOgzFO332Tz2_SkbJc7eQMIHGLAf2tTE0MiA3BdYaGGliK8FwaLl7JpPXY149WPpXEq3psZXYqM-BOjK0u8LiH-KGMaydw45j3z7TxMly4eVDd1Uw=",
  "id": "rs_083c98d1100ce2b6016ab435d5894887d0995f14cc71a86e18",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.25,\"left_z\":0.075},\"note\":\"With the arms cleared, I can see the gray elephant inside the left basket, the first tan bear sitting at the front of the right basket, and one smaller brown bear still on the table. I’ll lower the left gripper around the small bear’s torso.\"}",
  "call_id": "call_PlnWqJfcYbdYIU2dM27mlnTi",
  "id": "fc_083c98d1100ce2b6016ab435db487c87d0a7bf21b8e40f3f26",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_PlnWqJfcYbdYIU2dM27mlnTi",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0943, 1.3708, 0.5785, -0.3191, -0.8429, -0.8719, 0.9932, -0.0357, 1.1126, 0.9562, -0.7925, -0.0521, -0.1787, 0.9964]\nstate[eef_state]: left_x=0.2421 left_y=-0.1737 left_z=0.0704 left_yaw=0.024 left_pitch=-0.0794 left_roll=0.1041 left_gripper=0.9932 right_x=0.2984 right_y=0.0021 right_z=0.1697 right_yaw=0.1105 right_pitch=-0.3874 right_roll=-0.0619 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -4.8205, 6.4479, 1.2625, -0.5055, 0.0317, -0.0122, -0.1846, -3.3162, 6.4342, 1.4969, 0.0904, 0.1783, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996f09e11d19722d1f5020d24cd33651ee79795a976af9507240905cfe853f66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ae503ad8ababbaeccdec8becd4491ec13b141250cc196ec2a586f296dd382f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c22a6e3565ce54b8a2e9cd17f6e8a29d200f47f79cd922887cf3d6440824ac2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 112 changed as sent

message 121 changed as sent

message 125 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.0126, 0.8841, -0.717, -0.3687, 0.0002, 0.9933, 0.6411, 1.7992, 1.0462, -0.2325, 0.3542, 0.3759, 0.016]\nstate[eef_state]: left_x=0.2943 left_y=-0.0102 left_z=0.1884 left_yaw=0.0386 left_pitch=-0.2421 left_roll=0.2915 left_gripper=0.9933 right_x=0.379 right_y=0.2108 right_z=0.049 right_yaw=0.107 right_pitch=-0.338 right_roll=-0.0649 right_gripper=0.016\nstate[joint_eff]: [-0.1709, -2.5915, 6.7214, 1.409, -0.1392, -0.0464, -0.0073, 0.0342, -10.8239, 5.9419, 1.3114, 0.2564, 0.0415, 0.7155]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1622, 1.2449, 0.7403, -0.5812, -0.8707, -0.9298, 0.9932, -0.0338, 1.1118, 0.9539, -0.7753, -0.0357, -0.1593, 0.9964]\nstate[eef_state]: left_x=0.2324 left_y=-0.1877 left_z=0.1336 left_yaw=-0.0011 left_pitch=-0.0436 left_roll=0.0441 left_gripper=0.9932 right_x=0.3014 right_y=-0.0003 right_z=0.1714 right_yaw=0.0855 right_pitch=-0.373 right_roll=-0.0659 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -4.0547, 6.9675, 1.0867, -0.7204, -0.0562, -0.0122, -0.294, -4.1641, 10.0718, 1.2381, -0.1636, -0.0611, 0.0757]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0943, 1.3708, 0.5785, -0.3191, -0.8429, -0.8719, 0.9932, -0.0357, 1.1126, 0.9562, -0.7925, -0.0521, -0.1787, 0.9964]\nstate[eef_state]: left_x=0.2421 left_y=-0.1737 left_z=0.0704 left_yaw=0.024 left_pitch=-0.0794 left_roll=0.1041 left_gripper=0.9932 right_x=0.2984 right_y=0.0021 right_z=0.1697 right_yaw=0.1105 right_pitch=-0.3874 right_roll=-0.0619 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -4.8205, 6.4479, 1.2625, -0.5055, 0.0317, -0.0122, -0.1846, -3.3162, 6.4342, 1.4969, 0.0904, 0.1783, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:996f09e11d19722d1f5020d24cd33651ee79795a976af9507240905cfe853f66",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83ae503ad8ababbaeccdec8becd4491ec13b141250cc196ec2a586f296dd382f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c22a6e3565ce54b8a2e9cd17f6e8a29d200f47f79cd922887cf3d6440824ac2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXfpJKILp1B9lTXN5o1Hyo5yfsbo5qnPZq7zdvTPDfGbvaR5175brxZ0ui0I0QJwNjwNyVxpar-JiNYk4EESLVVZU_s-hGxQb42gPAiCZxYtwJOXrNoiC_P5v8pC6tbPWhPno4ppGLhJxacShSwDKP7e3PjAhen69Kho5T4_3Gp6cgwy-BD9t_THTt6NBF6SanKmkIz-bHMuatwHC7tAUFWswHgOBHWam4KSe4kVvyJNFxo3q_5ccj_O47z4slBVBmrQuFer1gt7s5qBDr_0iTtzax02llggXfxRQzxCEoxnGwEo__8zoJNNlTeAxzI8CM-4BU53G27aCrlHeYeEO5AcsdXve2LHaBGCnQoZC4ZZ34QhbMPCK5icBWnKWD1E48Mh3y6m9b3Ujvs5WE8VQRYsldKGFknEV_WOfB4h6TQG8ejBkWZcjZT091XFYZq34hpftw0dD9mNJrl-47Nq3rGoQkXnxpIUDXSRTBMgCBO5NgkPTxA4hcxW_ISGuXp0WEqcbfzw9ldghHoqsXxlL_SUw7nuTGFLR_Uo329unSXQNZ76NCoID7d0YBg7hKM5v9EWF71_UuS3eiJjR9ZaLGj5l69PyFppLNo2wbgJdcGOBol-cd5K4506wvsEvj0zliln_DLa4URc05fOVDTU_UBS75OPzXKFm6lmqPit_hZ5SYiT880vxnSfGn4L2RfAhWrP055E1XHHCJwSweQEatF6rytNCfKVvQeHQiDW2UjD2Py7hcqIp72OQ1kLqrwgcg6Yv4gSCwNN7ZvzShe5MV7XP8iqFW5Rlx-BjjE98iWenjn1nI1sioX7KsN7N_Wg8bHcGDWukB2s8_8GSzZot28UYQKwXgY5h_b7R6t5Gq9pzOcmjmxn46kDRWAAeOtTyELfImRPPurCmw0g4wbE7It1nozpnei9k0vekQuSdnQm-D6V1moXMqEyRSlxCqdT0DSLv7p7aVsjtpSnDpAxF3OBuMwHm1epNu8X9rUkdzmnznIAlN1P9nbfkZMtQXyodfty7od8K6PtJeSiid8V8hvZa0_LGDsHso3WLrQrWQX3NY06LC7P555dMBau19NqovmAGW8IaZo3UHesL6IzAtuj3eOAA6suPIZMtC6jt6sgPyaMyQ-B_kH-m41UIez6kqFpCYTN2MTYdyAvud19ofouW7mz1IlIXoTHnBpNSP_F01ZRll7bO9_tFjC0aW3KB_h0bdZugQPY7mpIlnsqiwfC5svDhIXhvOpO_oJnO0V3A4hxB6rK5gbBQqaHPXTCa_T05MaBrGgNZn51Kzhu0jbpRVHmpy-vFRF926SnnPB4T8=",
  "id": "rs_083c98d1100ce2b6016ab435dded1487d0a479debfb8839a03",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small brown bear fills the left jaw opening at torso height. I’ll close on it and check that the jaws stop around the plush rather than closing empty.\"}",
  "call_id": "call_MdQwJMNdt9T5z6iKehUEQXWx",
  "id": "fc_083c98d1100ce2b6016ab435de517087d0aefe92c8a811e277",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MdQwJMNdt9T5z6iKehUEQXWx",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0904, 1.3857, 0.5671, -0.313, -0.8314, -0.8726, 0.0333, -0.0357, 1.1126, 0.9562, -0.7925, -0.0463, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2404 left_y=-0.1712 left_z=0.0626 left_yaw=0.0245 left_pitch=-0.0975 left_roll=0.1172 left_gripper=0.0333 right_x=0.2984 right_y=0.0011 right_z=0.1696 right_yaw=0.1059 right_pitch=-0.3881 right_roll=-0.0676 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -5.4222, 6.4205, 0.8669, -0.5983, 0.0317, 1.1941, -0.0479, -3.1521, 6.6256, 1.3651, -0.105, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1e413c6c4a42fab6a23a695ef5c149d7ba3bfe64435239ee861c9b6430d574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69dca7f77e69f22c2b973dcedb3a595d6d3630857d8e24c828b5811b72264b12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f72902c42915dd7deb723886cf035f9615ffdeeb9b71297609b488d26b64a94",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.2649, 1.013, 0.8845, -0.7177, -0.3687, 0.0002, 0.9932, 0.5777, 1.9026, 1.227, -0.3138, 0.2951, 0.3058, 0.9956]\nstate[eef_state]: left_x=0.2942 left_y=-0.0101 left_z=0.1883 left_yaw=0.0387 left_pitch=-0.2428 left_roll=0.2918 left_gripper=0.9932 right_x=0.4165 right_y=0.2145 right_z=0.0555 right_yaw=0.1314 right_pitch=-0.3671 right_roll=-0.0661 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -2.5094, 6.7077, 1.3944, -0.1929, -0.0122, -0.022, -1.4974, -8.9915, 8.6085, 1.3407, 0.2955, -0.0317, -0.1636]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0943, 1.3708, 0.5785, -0.3191, -0.8429, -0.8719, 0.9932, -0.0357, 1.1126, 0.9562, -0.7925, -0.0521, -0.1787, 0.9964]\nstate[eef_state]: left_x=0.2421 left_y=-0.1737 left_z=0.0704 left_yaw=0.024 left_pitch=-0.0794 left_roll=0.1041 left_gripper=0.9932 right_x=0.2984 right_y=0.0021 right_z=0.1697 right_yaw=0.1105 right_pitch=-0.3874 right_roll=-0.0619 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -4.8205, 6.4479, 1.2625, -0.5055, 0.0317, -0.0122, -0.1846, -3.3162, 6.4342, 1.4969, 0.0904, 0.1783, -0.0024]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0904, 1.3857, 0.5671, -0.313, -0.8314, -0.8726, 0.0333, -0.0357, 1.1126, 0.9562, -0.7925, -0.0463, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2404 left_y=-0.1712 left_z=0.0626 left_yaw=0.0245 left_pitch=-0.0975 left_roll=0.1172 left_gripper=0.0333 right_x=0.2984 right_y=0.0011 right_z=0.1696 right_yaw=0.1059 right_pitch=-0.3881 right_roll=-0.0676 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -5.4222, 6.4205, 0.8669, -0.5983, 0.0317, 1.1941, -0.0479, -3.1521, 6.6256, 1.3651, -0.105, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b1e413c6c4a42fab6a23a695ef5c149d7ba3bfe64435239ee861c9b6430d574",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:69dca7f77e69f22c2b973dcedb3a595d6d3630857d8e24c828b5811b72264b12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f72902c42915dd7deb723886cf035f9615ffdeeb9b71297609b488d26b64a94",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXj3de7sXoiHbrcj9hyPwZ0ur4kqCaSYZj0mj2_st0T2U0HQSjuvVlO48kAp4qrQYKxUhtbDZOnImHOn8X9pVB64HUD2TyQ8qZlqYfJI-ru50--uYEHaYio8mtvNe5hzxXOfrsRmyR0QzQPhghZCSr8hcLwsViJ2VuTC8aYwPoIGM5ADzl6-5T5Pi0P7ODgqxOrfHF6wnSai3w1nCAQNMqoGuhYDKqu6AI6bHTwj_wBWZlkUWudNajkDuIuoI4n6q4X5Li1FBK8HCLGSsRuXcvUfV1wbuv000eJG9jP4Su7k8UcGIn_YFXu7e38YyCoSWhIYc1ucA4Wf9kLjjjC3JSzneG5b9jtDaeK53A5E7K9kefgrL_arCKMp8jMGWb3fWb47huCIFpb4py_cHiHy5taJs8Gh9FLE30q0Onx6FyHAwoyIkTC70spfNNFoJskykht_oKGPpcuCueVNYJ4vgXDOxivmFI_lnBWZ6R9Tdp8D4ufQhaywoehzrfL2tQ-wR2O4eqPKMk-AmYoWt4smaFQJxzZtt0gv2WePxxQ4lZd_ZAmXODD-IuFRZdDHUeVwGowlM_IGX5f8Fg8ApJoRaMo8RFcDW7kEqyQfqssPSLH8e0bRaJ4TuvLV5s61OLceZsdUH8ayaXs07ydSZcWras6fc7WTgqiFnqVX0kl-ZVSEBWofZOPw0iKF71RIwd-vUWO4RmhKYC7zotfdqMybAfKG4cZ56cdT-L8RrS8x0NLjoMN501njoXUMj2zIO1xsvTEkiHNPMp6TyUxrYT5rY46KV4qgfbTurzGcAFv89QnxcLQI9ZzdaOmEcHNIY7XgELFdrdSFmCcHxOdrEiwrJBvdiZtIRgqDToLH24FXpAd1J3oAfNYrreDNURe1ofuMOqWwVHCqYv6tAEWpCVLX7-wi01TZ4JqRjts04kiVve_N8iZI2a458VcKcTz0-r1YzfXbryURVqe2xG1olNgLKE0_XZsTyEXy7sybhXs7OZMd95Sh2iPY2P5iYuec0Wg2XUGg4jwqLte4Cp6EC_rNDvLno1Oee3c_6tPeVw0rpuLQu898HlTzj7ij-6s3-LIoA7DJUXef-A_mntLKy__LJwTSFye5nTCfLN_4gbGOi5JN7Chw4E9ZwMAsPnxw9igEDRCH6VTf9SFow3kQsdIPhNlVsGxGQtW1B5srrpkHG8GTrl4ggX3VFJvDN0ojDXlE1sgU8iA59s1oz8fhgabLvk9eQ856ZdJg9KqHlIMB7s_yUFIP81UfjW-zC3ZKlJ1B-gmDIPfUw5j63IotJunAHfyNzs0eZSgQ4B0xiMULbIwpveXXuiRDDca25zuJw4MslfGa4oVk7Y6D7vIHcaImGWFt17W01veOjx_x9WCy3kfpPuqxBQ8OiOMwcSvdnZ-pHETMMjOI8miIMO6etNm6HfnyYXWAwEdB_LskmPFVx-b8B1kRICy2jmif5zjJeRRcvTn7STsWMRgX4e7Xr-jGXp1iVZ1TS_XYmfGeH90SpvhdGBhVmnZF7V4YIAmpOgPd0pdPACGSq2pg5N7hDnp-YcR1lahfBunudqbwetaLxivt7-rRvqG7DTSebl4FGa-aBFHrb49869lssC2T5DZI5CfZsiyra5BCXGA9NkBm-PHA6vyQscrnVzjUlABE0jMB8Nf1HHOhv4Vq5PyU1VfPoHaBhjIxyv11aP-lD9yVAJigvhYPfV_fT-U1LujbwUBp9shfHAjW_TO1XllxKBgfTuo_G6DogFs5tNHJKPSFHJVcvxUqTylSNavAiGp8gH9QTVA3nbgKoveRXEOUvg8EuQueLI5zcrRZpgQeMRSqk-w2lMEgjgozfdXTgqEZsElnvawdMtGkWrKeWTmeujzGQkeartaxSzwbAxyAARArUjX7R2suFcGemFlsxwOk-VJoayXQ_ivAuPbUyogzhnR0FtuuA==",
  "id": "rs_083c98d1100ce2b6016ab435e0ec9887d086f2ceb51599a419",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":-0.195,\"left_z\":0.055},\"note\":\"The left jaws closed nearly empty; they were over the small bear’s low legs rather than its thicker chest. I’ll reopen and shift forward onto its raised torso for a second attempt.\"}",
  "call_id": "call_fJGJv98E15duXpJioZytqkjX",
  "id": "fc_083c98d1100ce2b6016ab435e2b19487d09c34d7688a4ddfdf",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_fJGJv98E15duXpJioZytqkjX",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9653, 1.5711, 0.6559, -0.1417, -0.7769, -0.7357, 0.9955, -0.0357, 1.1126, 0.9562, -0.7933, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.1851 left_z=0.0478 left_yaw=0.0422 left_pitch=-0.1134 left_roll=0.1359 left_gripper=0.9955 right_x=0.2983 right_y=0.0011 right_z=0.1695 right_yaw=0.1056 right_pitch=-0.3889 right_roll=-0.0678 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -5.6137, 7.5692, 1.16, -0.2711, 0.0757, -0.1441, -0.1436, -3.2479, 6.653, 1.3016, -0.0855, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3de9800da00a3253f3f1f1a846c775a917eeb2b502c1d78e543f85f8062585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509f6563bb5e7a10fff4deb139f00e1ff57623e6564120310e096e4e5c05df78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a16d1b4b431cf7adcb6aade9974809a2d3be22d05e2b28e98e783365bc33c558",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 121 changed as sent

message 129 changed as sent

message 133 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.1622, 1.2449, 0.7403, -0.5812, -0.8707, -0.9298, 0.9932, -0.0338, 1.1118, 0.9539, -0.7753, -0.0357, -0.1593, 0.9964]\nstate[eef_state]: left_x=0.2324 left_y=-0.1877 left_z=0.1336 left_yaw=-0.0011 left_pitch=-0.0436 left_roll=0.0441 left_gripper=0.9932 right_x=0.3014 right_y=-0.0003 right_z=0.1714 right_yaw=0.0855 right_pitch=-0.373 right_roll=-0.0659 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -4.0547, 6.9675, 1.0867, -0.7204, -0.0562, -0.0122, -0.294, -4.1641, 10.0718, 1.2381, -0.1636, -0.0611, 0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0904, 1.3857, 0.5671, -0.313, -0.8314, -0.8726, 0.0333, -0.0357, 1.1126, 0.9562, -0.7925, -0.0463, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2404 left_y=-0.1712 left_z=0.0626 left_yaw=0.0245 left_pitch=-0.0975 left_roll=0.1172 left_gripper=0.0333 right_x=0.2984 right_y=0.0011 right_z=0.1696 right_yaw=0.1059 right_pitch=-0.3881 right_roll=-0.0676 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -5.4222, 6.4205, 0.8669, -0.5983, 0.0317, 1.1941, -0.0479, -3.1521, 6.6256, 1.3651, -0.105, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9653, 1.5711, 0.6559, -0.1417, -0.7769, -0.7357, 0.9955, -0.0357, 1.1126, 0.9562, -0.7933, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.1851 left_z=0.0478 left_yaw=0.0422 left_pitch=-0.1134 left_roll=0.1359 left_gripper=0.9955 right_x=0.2983 right_y=0.0011 right_z=0.1695 right_yaw=0.1056 right_pitch=-0.3889 right_roll=-0.0678 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -5.6137, 7.5692, 1.16, -0.2711, 0.0757, -0.1441, -0.1436, -3.2479, 6.653, 1.3016, -0.0855, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d3de9800da00a3253f3f1f1a846c775a917eeb2b502c1d78e543f85f8062585",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:509f6563bb5e7a10fff4deb139f00e1ff57623e6564120310e096e4e5c05df78",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a16d1b4b431cf7adcb6aade9974809a2d3be22d05e2b28e98e783365bc33c558",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXmR9kE0i86V3tkSCuXpfU7G3i85bnknWzJMIoZPFMAnTP2QWpI-o18E3174CMCWSCcNXJWCY6OMPGri-AS6fJh1yyzRNs37BYSIU3E8GddD5knMyqzSVQrvHj8GMBK9Tcg7YQ02YSaE--mkL86p0iwWKiHdxbWMHKvFqzPUMnDGwL1NkI-6Xvidjs4yUbJ3W97jOHb1zJ-o_RIJaPaNlNo5tNNvoY8NgmCwzitt-qptSbAPkT_qiz32iS0wsH083GhGJ90TkYAD7x7FS9i9uvboRkt9FnfqdUP5SqO-lCwj8dFI8DoSthKAp7TW6b2rb3qculq6w-7OYUiLGrWNVi09ZWNcNHx8wbF7yYAYaXX1zV1NWBxoqEfaKq640KinmHU8HsT6J4_wLQlxV9otDDIr2U2BVKM6VMAuYpfIsKqHqkUK3ugVRoALC18LcbD8d0ZwA3GZo0rlA-R8o5qJc4WYfOtuthlKx1XCBHoF_IRw63HMeOawI9ufHu_2g1HP_qlrl9aVggM0_WjawvHhx_9nIbDLNEqYF4A5nPNyKCODMi4qZNggnP2Zwr4QO_gDYdcTz45rYVklsaF2gY1ThSuZ5Xp1-uaE08C7NFKTptRTP-XPfOPF2HywB2Vg5ozvAVWaTo9TaqcvBH7JRMu2EtAZtN8J_-cswfv7kwvnsRNuT1qTcm5Oqzh0-V5zpaIi8DYjFtW73JXZIOL9WDeuY4KGFK427JkrxnAy6wQjYq6mX4JpKPBvOrSOWEGdrZL6vVfwXrZ9qI0O1HFoxainMioXUwsmR1UC58v5aJYIxtXUXSUhGoUJEdlXrpbu4iAU_xWv7og94Kep9aEIakbgt01uWZaaPvjaX1Clg6ukB81y1NlfcgfOjg_lV1vnSIkKNGleA4uLvoptknkcJz-4nUyHKlzEbrPwbJWAuHYAUAIvydiertBC_BYCv4BHBsIQF3Xi2Ydge6vT3WA1B9nrz_oW41ulwGHC2xk9lGLoreEezXiz-RiThobJ7NXJ1F2g7AxaqnzqzjDDfY1cCo_FfjsNUTfkBVjmn07H4F0gAsPRNA8dUcXzy8owCjnpTpE46EPI6xXbrF4awMFBDM-D_IaywLDEm64k851HCdN7LcqFQSZzlcQT_ic947tVOZHf3rY4ANB5qHx-KLtq8UB7uJeUmtw5L5twA0OOwxJjdF5qZx_x24JUkFR691TcMzBNNIJx74bmjhrzikmECPXJGGt8QpKrR1a1pjA2oaQx6UEjH82UvUFzgeeIrDV5ChdJ9EhBpbL4m4LGAgPwY1p5Uay2-eKhu_86CEGZEP5QBZ-lxHbqnlOvgeqBfw2VQlrJpyfQwY2IIiYN_3cGUOJDHGfITC8VDCs6SSeYKtSsmFdxtM=",
  "id": "rs_083c98d1100ce2b6016ab435e58cc087d09354ce17056db914",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small bear’s chest is now centered between the jaws, while its head sits just above them. I’ll close at this position and check for a secure grip.\"}",
  "call_id": "call_2fjcBWYfA9m2PThG1GZsIaZ2",
  "id": "fc_083c98d1100ce2b6016ab435e603c087d09b43cbc33db8efac",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_2fjcBWYfA9m2PThG1GZsIaZ2",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9649, 1.5784, 0.6571, -0.1406, -0.7624, -0.7334, 0.0353, -0.0357, 1.1175, 0.9562, -0.7921, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2822 left_y=-0.1869 left_z=0.0446 left_yaw=0.0339 left_pitch=-0.1269 left_roll=0.135 left_gripper=0.0353 right_x=0.2988 right_y=0.0011 right_z=0.1683 right_yaw=0.1058 right_pitch=-0.3927 right_roll=-0.0672 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -6.612, 5.2171, 1.116, -0.5055, -0.0562, 0.7643, -0.1983, -3.2889, 6.6256, 1.37, -0.0659, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555b031cc708b00638035b3eb0831289e314e3968ef8661fb68563cb96c5352b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1760bec21f4f09b830b1a84897d3d7e07737841a03abd3c3c03859b9b2a8a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5789c53b464c4903e00dcb484a054bb3b6c056a44aa184a01e6f102c88857fd0",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0943, 1.3708, 0.5785, -0.3191, -0.8429, -0.8719, 0.9932, -0.0357, 1.1126, 0.9562, -0.7925, -0.0521, -0.1787, 0.9964]\nstate[eef_state]: left_x=0.2421 left_y=-0.1737 left_z=0.0704 left_yaw=0.024 left_pitch=-0.0794 left_roll=0.1041 left_gripper=0.9932 right_x=0.2984 right_y=0.0021 right_z=0.1697 right_yaw=0.1105 right_pitch=-0.3874 right_roll=-0.0619 right_gripper=0.9964\nstate[joint_eff]: [0.1299, -4.8205, 6.4479, 1.2625, -0.5055, 0.0317, -0.0122, -0.1846, -3.3162, 6.4342, 1.4969, 0.0904, 0.1783, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9653, 1.5711, 0.6559, -0.1417, -0.7769, -0.7357, 0.9955, -0.0357, 1.1126, 0.9562, -0.7933, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.1851 left_z=0.0478 left_yaw=0.0422 left_pitch=-0.1134 left_roll=0.1359 left_gripper=0.9955 right_x=0.2983 right_y=0.0011 right_z=0.1695 right_yaw=0.1056 right_pitch=-0.3889 right_roll=-0.0678 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -5.6137, 7.5692, 1.16, -0.2711, 0.0757, -0.1441, -0.1436, -3.2479, 6.653, 1.3016, -0.0855, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9649, 1.5784, 0.6571, -0.1406, -0.7624, -0.7334, 0.0353, -0.0357, 1.1175, 0.9562, -0.7921, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2822 left_y=-0.1869 left_z=0.0446 left_yaw=0.0339 left_pitch=-0.1269 left_roll=0.135 left_gripper=0.0353 right_x=0.2988 right_y=0.0011 right_z=0.1683 right_yaw=0.1058 right_pitch=-0.3927 right_roll=-0.0672 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -6.612, 5.2171, 1.116, -0.5055, -0.0562, 0.7643, -0.1983, -3.2889, 6.6256, 1.37, -0.0659, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:555b031cc708b00638035b3eb0831289e314e3968ef8661fb68563cb96c5352b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1760bec21f4f09b830b1a84897d3d7e07737841a03abd3c3c03859b9b2a8a7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5789c53b464c4903e00dcb484a054bb3b6c056a44aa184a01e6f102c88857fd0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXr3iTdeyN6tiJv6pgAPta8B1fHcjeqey0ZgmIU3xgvfRr3XYLLl6UaNaAHassOnEybIt2Xiap_mWj6OzUyjx-5kQQXgAC4nuP__-UXPLrWY4cgIfG3ATUaL_J7xu6UE90WWbEXd8DTZNZ4IlhJNiGn3xLlNwtu3aRAB_j3AE8NGlwrxZ1Tvkijrdx9CJ9MtDNYc1CqBrrffKbDA9mrR-m9AMT4b9YKMyRjvUhx8MgCugRUowyAIMlPkIKQsE6AngFaS_AbR1UQ-SGEsIA1iQloJtKqNjaltEdteZ4CRsqv3OJcESIIuix6rYbp1OGFRot948aeHb650ra1q52AwdRn1GEPkUMPCN2FAywYjx0MWUU4yZC5XuHcOMliGSk31Xs_3qxeqTrd2SDmmdROaS_St9O-Fk3IKMGAFBMJfTpbUONKXm4fq-aggfyoq270-fykxL2_pnSwnQyBjsf-yGqY0dv1M7G1pQAayCu9hzqxO8MecoiiYPeWIYgoLFUW5K_wIFcGJCsofScoypI23vIhaJvc5XXnxVBEYKR7bG6UdvL-4BzJpZU52PbE_-5Ky3nlqjy80uchjYBK4oZwfc8KqvoLhUVovuvseVXG2ysh7Cir7Z2kypFGm_bmn13fdeispvGdK5_Do_OwwJZm_Kn_V0URD1Rfh-2ofK2DXPV9H1IGMiZ28UnKz-j2iu0a3Xd37MtE5lCpzY34AzgBnbUGZl08T8zAF87rhLv-MzPJZztRI08yr8gAy4M_iHdApA0NB_CNWG2IXI_7PL8vIZhFhBKMI88W62rlWwGuuM9Us9N29KDRaxww388y1JR37Z78rr8gVRbZjuZpKtk8ShBp4h75l9vjk5oTZIPYfGhAw2_foHlh63NVyE_A2g1YARptnkDWh-WJiYwgFWqv8rR_WPZphb2dAUB7m4pjBIG5P4Kre4K0IpPoG8CPoetGMASbcCOWpbQ7ki9qmM2DHTVnuK0afQoLCasmGBZjQFQrXM90RjfU4nLyD5s9PDUabZg0_xDJ64Fn7jObwumKzVP7IePak9BnlqEHhcWP-_3IPLGq43B9GkA3odw41UrfRUL6xBEM28ooNhUzE9Pm3pIoJvZcgGtZJFblx00QqqLa5JBQK1dVMkhUfJLfBoMXTLF3CO-D6po6kXdSRrTaHAmgzOHf-Jh_PGU1dAXABtsEMSVvtObZrpNhJPtfMWQJLcVP-pz_WIu_WvsDbqbfpImL1DkK2JeERsAiwmr971_tTlujxbFeQDNR96LyHrH5qCdi2-NigsRkizZKYhjk4Im5uLcOatQkqoyMo4uPlMlkdB6ZEKN6EdDBbCwqnfiyAs4rWud2J3coz_KyZtChVXY1OCBr8YjBVhJ3HAJ2ma6fjr-57CnEeRue5hMig9cSnYeOBq3Wb2ZXSj6Hq7sbbTss6JNGfMKpPUAMFLTovcQcO5ZjF5nnO2v4N7cGLK0RBSkVWdpevzHLa2XGcaSJXmR3ZTAdE-ZIqGmFD6wL5f1xYFFAloQIZWLbTQsYDB0bmJTI9AFtGQWRkJqeql9ObOA4DWhmAuqcxt5cy-hIT7PXUAv2q9i3ip4THNbVWmR8zptabBNZh8yogaTH9QLXPANV0ezMx0byqLfyG9PiOy-oGYD45gFsuJONIX6ZgbQOa9tdM1OGkKMKBzHjNt_AVI0e-MdAkIZ9nVULVTvU8RBmwTfuO7Knz_9Q0kMXR55gX3ZUF1ZJ85V6lvJ9m0zpaJSO-bNzs2I4C8L3hwqq7Jzwbg5NX83EVBNTZktHR8MR7aIcxvwbrGdxBYnbTakpCeQ7NOgKRrFRnk2qnKmJ8FKIkZ-jsvvmWS9Nz4XSBz4JeXgzsJJI1asxFh_quavfvSXxkRYieRZUhzvU_-y6Ayq4y2DR-RgwOmIcaT7rjWi1XfCEWiXGA3FJ7wr3wZtdY6GGc5M1waMltlhDcRpVqCchnAM=",
  "id": "rs_083c98d1100ce2b6016ab435e9597887d0a107d63aa121ab4a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.325,\"left_y\":-0.195,\"left_z\":0.037,\"left_yaw\":1.2},\"note\":\"The second straight-on close also missed the brown bear. Its head is still ahead of the fingertips, so I’ll move farther forward and rotate the jaws to grip along its length, as worked for the gray plush.\"}",
  "call_id": "call_C8Fs9tKPAtVHoGPFKFLEOUVh",
  "id": "fc_083c98d1100ce2b6016ab435eafe9087d087a718ea3ad3e6a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_C8Fs9tKPAtVHoGPFKFLEOUVh",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8261, 2.434, 1.8984, -1.4322, -0.7639, -2.022, 0.9953, -0.0368, 1.1221, 0.9562, -0.7929, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3536 left_y=-0.198 left_z=0.0282 left_yaw=1.0621 left_pitch=-0.1679 left_roll=0.0821 left_gripper=0.9953 right_x=0.2989 right_y=0.0007 right_z=0.1669 right_yaw=0.105 right_pitch=-0.398 right_roll=-0.0664 right_gripper=0.9964\nstate[joint_eff]: [1.6752, -12.1231, 4.9983, -1.0818, -0.5543, -0.0904, -0.1441, 0.0205, -3.6581, 6.8034, 1.2772, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2166eba3d99ca919bc2f1b0e98f8f58a35a67f36a3bfb0a95821be8e7cd99305",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b673d2ae8c42b63444ee93a16d26402218aaddb3c0829c174c7ec49ef46cd59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5ec8b3ddeff66b28a42a9dc68bf53d12cf2bc5ac43cb701df2f8e009fda7ec",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-1.0904, 1.3857, 0.5671, -0.313, -0.8314, -0.8726, 0.0333, -0.0357, 1.1126, 0.9562, -0.7925, -0.0463, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2404 left_y=-0.1712 left_z=0.0626 left_yaw=0.0245 left_pitch=-0.0975 left_roll=0.1172 left_gripper=0.0333 right_x=0.2984 right_y=0.0011 right_z=0.1696 right_yaw=0.1059 right_pitch=-0.3881 right_roll=-0.0676 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -5.4222, 6.4205, 0.8669, -0.5983, 0.0317, 1.1941, -0.0479, -3.1521, 6.6256, 1.3651, -0.105, -0.0562, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9649, 1.5784, 0.6571, -0.1406, -0.7624, -0.7334, 0.0353, -0.0357, 1.1175, 0.9562, -0.7921, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2822 left_y=-0.1869 left_z=0.0446 left_yaw=0.0339 left_pitch=-0.1269 left_roll=0.135 left_gripper=0.0353 right_x=0.2988 right_y=0.0011 right_z=0.1683 right_yaw=0.1058 right_pitch=-0.3927 right_roll=-0.0672 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -6.612, 5.2171, 1.116, -0.5055, -0.0562, 0.7643, -0.1983, -3.2889, 6.6256, 1.37, -0.0659, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8261, 2.434, 1.8984, -1.4322, -0.7639, -2.022, 0.9953, -0.0368, 1.1221, 0.9562, -0.7929, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3536 left_y=-0.198 left_z=0.0282 left_yaw=1.0621 left_pitch=-0.1679 left_roll=0.0821 left_gripper=0.9953 right_x=0.2989 right_y=0.0007 right_z=0.1669 right_yaw=0.105 right_pitch=-0.398 right_roll=-0.0664 right_gripper=0.9964\nstate[joint_eff]: [1.6752, -12.1231, 4.9983, -1.0818, -0.5543, -0.0904, -0.1441, 0.0205, -3.6581, 6.8034, 1.2772, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2166eba3d99ca919bc2f1b0e98f8f58a35a67f36a3bfb0a95821be8e7cd99305",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b673d2ae8c42b63444ee93a16d26402218aaddb3c0829c174c7ec49ef46cd59",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d5ec8b3ddeff66b28a42a9dc68bf53d12cf2bc5ac43cb701df2f8e009fda7ec",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDXx0e2NO3NppKNo_B6mZy-qcwCmmGoLFOJ92nVeqAWasZCaXqcQ4hmAtobt22tkrP2IzYMoFUSHiABCvWw3tKaUh_zL_Y-3ph46GGrX6oCOQ2pTTW63DRwjni2aRZp_gHuzvsTYrs3_tVmU03djonvM-tQkTALL0Dj_tPIvaGe0rHcLrCQfmlknRPeAAbhL0Up5LqX8aGwKxye_NylqVdpxUTj3WVscu77aWeL7iXuuYurvyptabqLWwsBMpHmGrhNWjT5JLQe9HP_mYkgzyEpysUgvF5LKMKNAuMvNcqkj9vnfWI6sFU6bjOpOquLKp4cvwptyo93xt6PvLrm5UtJsMg7RfSVjyAjeuhgvIe7R-WjpP6hNMNowwPp9NNfIPFe2olpVMXPhtIpFzjJY9UzVkCOTbGAkSwN2VMC-pKYY3NhH36JM6sNhyMaF4xbgqwGxV46YQ8AUuN0BK8I-KUhAzr6AbhyHXukLUrN91a3GoSRLISm2eAIJXTXsaQzmTzhWXR4KLyXf6ZzdabLS5aw0-cNSQeEXlSX1JkuEbppuiLc01kbPEJJ7ANhvRis3ruAWa3C0YTPxps9ffPAful4XZ0SnrZWDW4BDWsvWQQOtnLC2LI5WFKAvhQ1QyOiDOrMniz8naJX7ZNjms-SmLebG--5dUtNU4XpBfH8bC9QAJf28bxEDcAiDkNp-jYdMKJjtsJDC6vv4mDc8TVFvNNwFb2Qg5oA5QU14KdL-dWiArWTHNVCGgxd905ptclFH60441m0HHld4XhDeJ13illnV5Q1MvC75Jvt6-L9RkqcvCoTBvXzk51YvFNWbsN4npHdH5ySZMugL-KeI_go62ozjgJPZS61tdimXeeBvjMRgwgXZtZdmlveAGGcvtW7poZtfhBLsbRD8cFDKv7jtc8tw3ZZjb-r-76iN1zL_R6MH1FkSLsjwbJ4sggmxpkhbpLnVJ98fB6dvL2jEbDvc76VQnvdzGJO9VsvkjExRjYmsZBNmdiWsEqPeCagRaplJSaRwrHs9xy5H86GZvXW-cWlrG25bwJvj9ze3n3BKjzRuZIk8WJ4J67ru5s84CtCw3C1hLt67iNtMwxY-Kwj16zl40ZJm3KHxpXh0LiWzqiLo2A1ixCnPvBjonalKsSq1h9xTWHB4U7srjn1oXQWQiRwQyj16_hsOkrYozzvxgCHrwjPMxqqfNy2Jvhh4OqmYUu7LHp5u9MJVGbci7rVJ12bM4u-15iCJFD3Hrx-ZRoCB7u5KlFFb4U8k97S5OmE00-yJw7m8VKTmAr9RMYab9V1L_xmbOyOKwBOpDKCIAV3f8xCBKwmDn0TOcjcGZaEe8Q_8U8W75l22Bzg5PrAMKCczKveXyjOsNVVe8o-opFjnmxEI2QKbfBES06EH4AHibaWWtQJFVjqgh-R7TnEJZtBqWV09wJo3ViaNCA1Yl2gfCaKbvMqcDA0OKxhFLsPAUaJTeEkmOopazDOUcZeHxT5yelElnyCcILPoWg5942WZDsG3VJI2fRgyk_55nfE9yahJCjSMe9nOCxDOxYkA23mguZCPiqT5P-43qIZjf_G8zYao9ddw4Z7Dbh0-mP3Eio0fb21wnvrOqhp4yGESNEQ-Tii7vwnQwWvyPz49G3ptSoE4e6Ltg630HocgiXzhDhzqGBxTHrcMBZRDNvhAt8qK0ee9AJoBF4K4tN7i9dRtjDkLxH-DRpLUVdcoK5nJLZvyRk_muqhZ7zAf0fRCfln-9GPrgjGnibE-rTJIxTadFs86aaEG4SZZDzYBa4djH-AqL_bvE8almH-TuH8DJTB5Tm753g9slIk6BwxmqU1wAhmRNVdeNs76NAQB53GpOnfTP--Lqr_4XRQpNRKJgF7JjxvqXRWRX5Q0hiZ5oG1g6637Qy6o3LQcpN-Xhl2iK80Cuhy-i3aXK7lB82a4HGbD9ChdwOQOkQ-GW2EhNXmLZbtboqsblNvJyqF3-JO-1HSjb0FiTWfAK8SgeKH8W0fn1oH_i43hrQcxRI-D5SngVmcgd_RSsHwwmfdtWsBd3SwcP1hxmsfDaRrgXwneOWbUyQiu1lhnG9gZsT-j7P3T-izhdsULsURLTWTQ4TXEYKJ3E7Ukt2-KvkJmjmv_sk0o08GMomlacgIsyYGLy5Iyrl9fgaOyHkvLGYMeC13ZfqIF3Lhqn42mKaAjcigkphqE2mZSkWDPEzBehrAya4p_pSQ8rgFyf1JcqW--6OaWukLfdDGeAQ8lrDqyCudEXyTJgGVt_MWMhyxhufGeHNt76ladV5hiuN8QoY40BhiGwMj9TwiDvmmgN64R_8Eorjyek44ysXKvOOcTKapeDLEq0IqNtxzVCQZJIX3oXyKG4xAbham-9ENXZA9geM5tCaKM2pMYrWm_RkEUCGQPtR8Mme2ObCwZ0O153FmDMxBGIH4tzMApQKHv74Bkq5LgX_uW4gGUfvNabzg5zYW2De05xo-nYCW3f35XjKPCVStFMtXJ4WolBg_A9N2-vQP6wg3x0cQrLGX9v9gRCspP3veK_31D5cy9Ffv-cxo-pgkka5KbYS9SRjWLMYh-brQ5ud2ylq68FTg6lZyphRL_ZA8RhGU=",
  "id": "rs_083c98d1100ce2b6016ab435ee2e9c87d0b9c440e7edca75c9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.305,\"left_y\":-0.145,\"left_z\":0.033},\"note\":\"With the jaws rotated, the bear is still left of the fingertip line and slightly behind the gripper in the overhead view. I’ll shift back and left toward its head before closing.\"}",
  "call_id": "call_uVaFihdCb7qBADnCZZn1cqik",
  "id": "fc_083c98d1100ce2b6016ab435f09a3487d08d340a4f2854671c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_uVaFihdCb7qBADnCZZn1cqik",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 2.2086, 1.4658, -1.2922, -0.7586, -2.0239, 0.9967, -0.0368, 1.124, 0.9562, -0.7921, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1445 left_z=0.0256 left_yaw=1.0694 left_pitch=-0.151 left_roll=0.1466 left_gripper=0.9967 right_x=0.2992 right_y=0.0007 right_z=0.1665 right_yaw=0.1051 right_pitch=-0.3991 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.294, -12.4239, 5.1214, -0.2466, -0.3834, -0.0171, 0.1343, -0.0889, -3.494, 6.6256, 1.3553, -0.0708, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ceb2b8cf4324563fd537b93c6b6b54bb00ed47e72b13b5b5a0ef3a1af4815c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9979368f12503eb2de11da313e713be38cd9537805141872d86e35ebb7e5c139",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6d62628cbd099e827b8c567fd3a165aa1a95539357198c3c5f11e77a1386bd",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9653, 1.5711, 0.6559, -0.1417, -0.7769, -0.7357, 0.9955, -0.0357, 1.1126, 0.9562, -0.7933, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2831 left_y=-0.1851 left_z=0.0478 left_yaw=0.0422 left_pitch=-0.1134 left_roll=0.1359 left_gripper=0.9955 right_x=0.2983 right_y=0.0011 right_z=0.1695 right_yaw=0.1056 right_pitch=-0.3889 right_roll=-0.0678 right_gripper=0.9965\nstate[joint_eff]: [0.0752, -5.6137, 7.5692, 1.16, -0.2711, 0.0757, -0.1441, -0.1436, -3.2479, 6.653, 1.3016, -0.0855, -0.0122, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8261, 2.434, 1.8984, -1.4322, -0.7639, -2.022, 0.9953, -0.0368, 1.1221, 0.9562, -0.7929, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3536 left_y=-0.198 left_z=0.0282 left_yaw=1.0621 left_pitch=-0.1679 left_roll=0.0821 left_gripper=0.9953 right_x=0.2989 right_y=0.0007 right_z=0.1669 right_yaw=0.105 right_pitch=-0.398 right_roll=-0.0664 right_gripper=0.9964\nstate[joint_eff]: [1.6752, -12.1231, 4.9983, -1.0818, -0.5543, -0.0904, -0.1441, 0.0205, -3.6581, 6.8034, 1.2772, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 2.2086, 1.4658, -1.2922, -0.7586, -2.0239, 0.9967, -0.0368, 1.124, 0.9562, -0.7921, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1445 left_z=0.0256 left_yaw=1.0694 left_pitch=-0.151 left_roll=0.1466 left_gripper=0.9967 right_x=0.2992 right_y=0.0007 right_z=0.1665 right_yaw=0.1051 right_pitch=-0.3991 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.294, -12.4239, 5.1214, -0.2466, -0.3834, -0.0171, 0.1343, -0.0889, -3.494, 6.6256, 1.3553, -0.0708, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5ceb2b8cf4324563fd537b93c6b6b54bb00ed47e72b13b5b5a0ef3a1af4815c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9979368f12503eb2de11da313e713be38cd9537805141872d86e35ebb7e5c139",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6d6d62628cbd099e827b8c567fd3a165aa1a95539357198c3c5f11e77a1386bd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX029MGYE7VoPUHawug6GHRSvMZ_HKwY4h1kZHeCybqA5Po4GWzRQ5xw883WS7NtF3em5fY2WdZ6vKHU0C9YreT_yCRtiH2mclHtdpKW1u4VPH78g7Ze_YWcZB7S6KMdGF9jPjzwN07gYvPAm61P4KieH538BPAy-NccmOGLaUu3JDMfKXfTsGRNV37YSlSX5Sd2hZ7EefS4Az5P9jt3m-8ERu7ebzMW2ZI-NfOHcJ6rGdKCDvBiawtQE1rzEn7R_bKuPLxO9dftw8ikBSnjZyeKywvgy8t-cNXihVxnqjIG94f0jEdW6C1wRhEVP5cBSWFZQBRg6HAUhHJC116Ri-EJz0OGRjhCPYNj-AftRxuxo4VvLO1oLWA_gm5q0K4sFPLO65iiOUSwp9VaYnakBuXQ9GLp5naDOn0_GNweJV5FiSrl7bsUnCC_lL2_BicYgpZCyHxnL51BnuiEt9PMaIzY51qIGBeODu_t3zQjt3LAWNVTu0ibEPE9LuQNauP_HYeyYVlyBZ56afDxiA9P5kSs569e_C8sD6LKdhKb6gshibpq2kDwf3jgEA5egfindWuhMUBnx6ujVfykrmmfT-YFuLb5i7KTrn6K4RikDUr92iyq6v2Gqfjc7OOIU17eZT8C6hH3SZVi3WtQeBtoKyYF_DdPY-lagnv-fsfG7y6iW9BmbP0pLgt6hp2UTkYtF8GLc5tBUUqd8_x0rPj6jOgfaxoptwLbHsO7wRdVIBSrgp-Lv8iiU8taMoFbyNN2nw4iWEHOi78ZmdVFufYuAJR2ySYRQ-WiKESu1I1QQ-DbYU69ImDEG5R_kT4XUIUjbjlNG8TtlW75M2TSRfzFWZA_gxEhAjhMTGQd33_rNmgWFKQq6RuDZy1O9y5LWD3VsAvleqLnK6xSshmSFVTgueJZ2ZQqZVdP0U60Pzgq19PUYpYDsKuwyl3ulILTH3MWAPnhy8DdYGP4866qAOEO-VY0zyrbYsmaT-7nj1yP3G0gEeVVca6OpnIdPbk7wMj7afBzNm4oiR5N3m8nyGzZk9xWSMYL7NAtCtyV4WB6d82mTCMkjo96IF_uU7gaiTGbT-END08TpJyeedYX5WwSd8Z-8GurvhaZigndgwanEv39AnYpjCSMszTPLnAd8h3Tr2V9RZX5DdoG-bOA74_f9h-wDia5aaS7Be19OrlQZP78Qiaa10WcoPeqnE4jQi3G97AcD-dJEQMbrWVLOr5cLNT4HtbaPH5wx3aRmn33irUIWbDgRF1XgWFo_CzWNjuYil9VIcEaYMVifA_DQjDpXrRCvqVAyTH7vU2gtpCukWJ_0Qm_O0SHArjERibGY8FTlXKgHob-CO863Rj5gDZskiuTxouVARJvcezK2MuPxJAA912L8C3LjoGEMJQtI2S5vyd",
  "id": "rs_083c98d1100ce2b6016ab435f2f0f087d0b860920bebdda001",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The small bear’s head and chest are now inside the rotated jaw opening at a low grasp height. I’ll close and test whether this captures its thicker body.\"}",
  "call_id": "call_1zPENJOt85eulp6dQNMRoPjj",
  "id": "fc_083c98d1100ce2b6016ab435f34b5c87d099cb9b8c57f83d6b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1zPENJOt85eulp6dQNMRoPjj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 2.1994, 1.4513, -1.2892, -0.7593, -2.0239, 0.1084, -0.0368, 1.124, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.1416 left_z=0.0262 left_yaw=1.0712 left_pitch=-0.1496 left_roll=0.1486 left_gripper=0.1084 right_x=0.2991 right_y=0.0007 right_z=0.1664 right_yaw=0.1051 right_pitch=-0.3995 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.7846, 5.4906, -0.5348, -0.3834, -0.0122, 0.7204, -0.253, -3.3573, 6.6667, 1.3602, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ed1672c9f0c8a604fb2bc5e2cec6b3015564c1cc844aded2f6af88f4bbe866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3b5f5a25f5085bf966275ab1226d6b41f12c6a503ac97cecb47bbebc49252a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936c10de975d5bf96946fbafafcf882be0e0e205c538f644cf7017a3a879459d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.9649, 1.5784, 0.6571, -0.1406, -0.7624, -0.7334, 0.0353, -0.0357, 1.1175, 0.9562, -0.7921, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.2822 left_y=-0.1869 left_z=0.0446 left_yaw=0.0339 left_pitch=-0.1269 left_roll=0.135 left_gripper=0.0353 right_x=0.2988 right_y=0.0011 right_z=0.1683 right_yaw=0.1058 right_pitch=-0.3927 right_roll=-0.0672 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -6.612, 5.2171, 1.116, -0.5055, -0.0562, 0.7643, -0.1983, -3.2889, 6.6256, 1.37, -0.0659, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 2.2086, 1.4658, -1.2922, -0.7586, -2.0239, 0.9967, -0.0368, 1.124, 0.9562, -0.7921, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1445 left_z=0.0256 left_yaw=1.0694 left_pitch=-0.151 left_roll=0.1466 left_gripper=0.9967 right_x=0.2992 right_y=0.0007 right_z=0.1665 right_yaw=0.1051 right_pitch=-0.3991 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.294, -12.4239, 5.1214, -0.2466, -0.3834, -0.0171, 0.1343, -0.0889, -3.494, 6.6256, 1.3553, -0.0708, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 2.1994, 1.4513, -1.2892, -0.7593, -2.0239, 0.1084, -0.0368, 1.124, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.1416 left_z=0.0262 left_yaw=1.0712 left_pitch=-0.1496 left_roll=0.1486 left_gripper=0.1084 right_x=0.2991 right_y=0.0007 right_z=0.1664 right_yaw=0.1051 right_pitch=-0.3995 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.7846, 5.4906, -0.5348, -0.3834, -0.0122, 0.7204, -0.253, -3.3573, 6.6667, 1.3602, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7ed1672c9f0c8a604fb2bc5e2cec6b3015564c1cc844aded2f6af88f4bbe866",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f3b5f5a25f5085bf966275ab1226d6b41f12c6a503ac97cecb47bbebc49252a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:936c10de975d5bf96946fbafafcf882be0e0e205c538f644cf7017a3a879459d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtDX3Ticx_4RG4LeYWztP7Pb9fx9VxRTBCbnDXvEimMeYwHECF2gmIJItnSsaUd_80qqHwxJwp7FhjnwmGx7XoKRcuoDyO2whb_D1P7nFZy5OWX_RQoK03BABoZoXlMq4slPLXmzYvnFaYkUiHHMxA_v417LaYPUSj80FdZ5d9Jcs2x2eDcSn0dMrwVfZ_0koWmUz7LryfzxOoLfYu7cR_8JYOuj948b9fGhWP6Mpd_aXwHvEIypYzwTM-a8EN1mm1zyyG0l9JDVcebWCLl2nDgEnXqZ6ctj-SGp5iwPCd7JtX3l5Sme_Idq4ghKUKcxIPUfnjiZZD7yxWqm1NBX-Zb7D6h1X7rEM_RG6pvfo_JFiz4fA37IJ86HVpnZjRlKEznSHuAJLCihF8ghDNfaiWL7RL24Cjr8xOBLexG011qmNyEtnGQ1Har_-RlMDz_6_dfdFCUT45K95rwe-Sc3z8vOMKZufeX2hrish45kuH6iORiDMin8-NJpnFkhC_S_8O4lrneqQi3rlzt4s1Zv4dCrcD7d8JE-TIg1LMwDEEdcEc5JlDXolnK6g__L_AhZj2WDkrzwjN3WYpcPu9EV9N-ftnZRro51FK79hZsvZ5IX0K-89-2gX1TO4C2pfZDjApKzFuMEcgGOwrNZF-zB4JhpcQI_qsxm36DjYaMfGVfNufELkEZxr4gvgQsu23wdyO--OsGVaxT2ld79BTK6K7F-iEoFnPN5KSE2vmJjmCphxOm7kQMQpPuKjcYh1Sq9xxKLuBwDDeFQZUe-iYjskacm7E7R7H9BllNjzhARVvyy36I6psAOchsyr3y1PCp3EYnzm0wzwa5gXX0uUsaJTEb86wm_QP9qYPIF4Yi32_b_iPyxtTdc8rL7asvtiivnj87gh58XRnUwAIaNFPtg3wG3whAaiAcyeIJj68H2tYRHaIK4DYbyoj4Suqg1UH1iml-rGTbUSMgtveD-c5NdP57Edjr3TgcORd10Tmjk83F2kivpkKFQJdHoeXMdhxMdq1Tx6OwAfAHSNF6kqpzjio36XCYq-aJtfi7kdNl4LhN3p7QOgTE9WVlfyOBjiNQ6vM6Xtoktpu7zK5f5DuxT0Q5v71xrX_6vt3rDQOF5sFzCwcuTJVtK9nabc5LVph4oqimF21ivWBX0ejo8HeeTf4EgMi4zQ7yK_znvp1tRqFzSrTZwNBOXMF5k0F3iHY4yMMXT1WhQa-tiCJBbcEm3DvyqxbA==",
  "id": "rs_083c98d1100ce2b6016ab435f64a6c87d0bedba24de1d8671a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The rotated jaws stopped about a centimetre apart on the bear. I’ll lift it and confirm that it comes away from the table before moving toward the right basket.\"}",
  "call_id": "call_BTYurFCKYSCbSavyhr59xNmg",
  "id": "fc_083c98d1100ce2b6016ab435f6763087d09ee7e22c428d54e9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BTYurFCKYSCbSavyhr59xNmg",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7609, 2.0106, 1.5887, -1.5318, -0.7551, -1.9526, 0.1102, -0.0368, 1.124, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3075 left_y=-0.1207 left_z=0.1213 left_yaw=1.0913 left_pitch=-0.184 left_roll=0.1229 left_gripper=0.1102 right_x=0.2991 right_y=0.0007 right_z=0.1664 right_yaw=0.1051 right_pitch=-0.3995 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -12.3966, 4.8752, -0.8034, -0.7692, 0.1538, 0.1636, -0.1846, -3.3436, 6.8171, 1.2967, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00289448cf8431ccc11a6bed5c1426d2903cb714e519d9b6c0bb2e245a09808e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a9e818f1e39d42e5edc4a4e6950afc317c5828855b645a2092a4d62ad82a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c2f082c27c9284af911ca25d44f5af310422b737acf7480b2b30c9f5bb302d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8261, 2.434, 1.8984, -1.4322, -0.7639, -2.022, 0.9953, -0.0368, 1.1221, 0.9562, -0.7929, -0.046, -0.1799, 0.9964]\nstate[eef_state]: left_x=0.3536 left_y=-0.198 left_z=0.0282 left_yaw=1.0621 left_pitch=-0.1679 left_roll=0.0821 left_gripper=0.9953 right_x=0.2989 right_y=0.0007 right_z=0.1669 right_yaw=0.105 right_pitch=-0.398 right_roll=-0.0664 right_gripper=0.9964\nstate[joint_eff]: [1.6752, -12.1231, 4.9983, -1.0818, -0.5543, -0.0904, -0.1441, 0.0205, -3.6581, 6.8034, 1.2772, -0.0317, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8307, 2.1994, 1.4513, -1.2892, -0.7593, -2.0239, 0.1084, -0.0368, 1.124, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.2989 left_y=-0.1416 left_z=0.0262 left_yaw=1.0712 left_pitch=-0.1496 left_roll=0.1486 left_gripper=0.1084 right_x=0.2991 right_y=0.0007 right_z=0.1664 right_yaw=0.1051 right_pitch=-0.3995 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -9.7846, 5.4906, -0.5348, -0.3834, -0.0122, 0.7204, -0.253, -3.3573, 6.6667, 1.3602, -0.0806, -0.0366, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7609, 2.0106, 1.5887, -1.5318, -0.7551, -1.9526, 0.1102, -0.0368, 1.124, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3075 left_y=-0.1207 left_z=0.1213 left_yaw=1.0913 left_pitch=-0.184 left_roll=0.1229 left_gripper=0.1102 right_x=0.2991 right_y=0.0007 right_z=0.1664 right_yaw=0.1051 right_pitch=-0.3995 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -12.3966, 4.8752, -0.8034, -0.7692, 0.1538, 0.1636, -0.1846, -3.3436, 6.8171, 1.2967, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00289448cf8431ccc11a6bed5c1426d2903cb714e519d9b6c0bb2e245a09808e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44a9e818f1e39d42e5edc4a4e6950afc317c5828855b645a2092a4d62ad82a05",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:80c2f082c27c9284af911ca25d44f5af310422b737acf7480b2b30c9f5bb302d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_083c98d1100ce2b6016ab435f9851487d08c2486281f7e141b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.345,\"left_z\":0.21},\"note\":\"The bear has shifted with the raised gripper, although part of it is still visible below the wrist camera. I’ll carry the grasp across to the right basket and check that the bear follows.\"}",
  "call_id": "call_DrPumDesJCunsGqHIzKMqCKS",
  "id": "fc_083c98d1100ce2b6016ab435fc12dc87d087cef7e8eb457e3d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_DrPumDesJCunsGqHIzKMqCKS",
  "output": [
    {
      "text": "executing move_to over 20 steps (2.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7071, 2.4584, 2.2177, -1.5562, -0.7589, -1.8278, 0.1117, -0.0368, 1.1259, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.4099 left_y=-0.1857 left_z=0.0856 left_yaw=1.0442 left_pitch=-0.2232 left_roll=0.0579 left_gripper=0.1117 right_x=0.2992 right_y=0.0007 right_z=0.1659 right_yaw=0.1052 right_pitch=-0.4014 right_roll=-0.0659 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -11.9726, 7.6923, -0.2418, -0.652, 0.2369, 0.1538, -0.1709, -3.2615, 6.8034, 1.2918, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a766140af2de6f227f2ada7c3082f67f0a5a2b7d338493fcb4b41021714047b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b89f2a8d8c3415fd7b99ce4b357aa99c45117d79039067780e91c8b7ea33eec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21296c49ffb858012fb2d2bfbf7cea58326480c600d1ded2b213d41c9a1e5b2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

message 145 changed as sent

message 153 changed as sent

message 157 changed as sent

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.8326, 2.2086, 1.4658, -1.2922, -0.7586, -2.0239, 0.9967, -0.0368, 1.124, 0.9562, -0.7921, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3006 left_y=-0.1445 left_z=0.0256 left_yaw=1.0694 left_pitch=-0.151 left_roll=0.1466 left_gripper=0.9967 right_x=0.2992 right_y=0.0007 right_z=0.1665 right_yaw=0.1051 right_pitch=-0.3991 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.294, -12.4239, 5.1214, -0.2466, -0.3834, -0.0171, 0.1343, -0.0889, -3.494, 6.6256, 1.3553, -0.0708, -0.0708, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7609, 2.0106, 1.5887, -1.5318, -0.7551, -1.9526, 0.1102, -0.0368, 1.124, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.3075 left_y=-0.1207 left_z=0.1213 left_yaw=1.0913 left_pitch=-0.184 left_roll=0.1229 left_gripper=0.1102 right_x=0.2991 right_y=0.0007 right_z=0.1664 right_yaw=0.1051 right_pitch=-0.3995 right_roll=-0.0662 right_gripper=0.9965\nstate[joint_eff]: [0.3077, -12.3966, 4.8752, -0.8034, -0.7692, 0.1538, 0.1636, -0.1846, -3.3436, 6.8171, 1.2967, -0.0513, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.7071, 2.4584, 2.2177, -1.5562, -0.7589, -1.8278, 0.1117, -0.0368, 1.1259, 0.9562, -0.7925, -0.046, -0.1799, 0.9965]\nstate[eef_state]: left_x=0.4099 left_y=-0.1857 left_z=0.0856 left_yaw=1.0442 left_pitch=-0.2232 left_roll=0.0579 left_gripper=0.1117 right_x=0.2992 right_y=0.0007 right_z=0.1659 right_yaw=0.1052 right_pitch=-0.4014 right_roll=-0.0659 right_gripper=0.9965\nstate[joint_eff]: [0.1573, -11.9726, 7.6923, -0.2418, -0.652, 0.2369, 0.1538, -0.1709, -3.2615, 6.8034, 1.2918, -0.0806, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a766140af2de6f227f2ada7c3082f67f0a5a2b7d338493fcb4b41021714047b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b89f2a8d8c3415fd7b99ce4b357aa99c45117d79039067780e91c8b7ea33eec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e21296c49ffb858012fb2d2bfbf7cea58326480c600d1ded2b213d41c9a1e5b2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_083c98d1100ce2b6016ab435fffaa087d0a3252024ce1fa4b7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.29,\"left_y\":-0.01,\"left_z\":0.18,\"left_yaw\":0,\"right_x\":0.395,\"right_y\":0.16,\"right_z\":0.055},\"note\":\"The small brown bear is still on the table, so the left gripper caught only fabric and could not carry it across. I’ll release and clear that arm, then position the right gripper behind the larger bear that is hanging over the right basket’s front rim.\"}",
  "call_id": "call_kVtSvhm2Uvr4kJ5ztJPoLZEn",
  "id": "fc_083c98d1100ce2b6016ab43604a06c87d0aa4ffd2c180e1f94",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kVtSvhm2Uvr4kJ5ztJPoLZEn",
  "output": [
    {
      "text": "executing move_to over 16 steps (1.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Classify the two types of objects on the table and place them into the two baskets.\nstate[joint_pos]: [-0.1566, 0.973, 0.8211, -0.6594, -0.2523, -0.2256, 0.9976, 0.4683, 1.7393, 1.0195, -0.3382, 0.2184, 0.2119, 0.9965]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1778 left_yaw=0.1688 left_pitch=-0.2152 left_roll=0.0334 left_gripper=0.9976 right_x=0.3789 right_y=0.1527 right_z=0.0447 right_yaw=0.1313 right_pitch=-0.4594 right_roll=-0.0862 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -2.2632, 6.8718, 1.7021, -0.0611, 0.1734, -0.0269, 0.2667, -7.9111, 8.5675, 1.2283, 0.2515, 0.1929, -0.0171]\napprover: 13 step(s) modified (delta_clamped ×13).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5c777016a83e710cdb422d1ff655e2f2cb4d0f2d3771c244276778aae065fe7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f293dd1b852132518e14b452da998ea2158369cde9948d7f17fc005097da49ef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 361):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7e4ae97e8e13f82f143eadd8d50cbe2a78bda38eba72d01e05335aa267b23d12",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}