adhoc

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
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      "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]: [-0.0193, 0.7986, 0.6178, -0.3801, -0.0223, -0.033, 0.9996, -0.0212, 0.7967, 0.6106, -0.3775, -0.0124, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=-0.0005 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.6479, 9.4291, 1.7656, -0.0464, 0.1685, -0.0562, -0.3214, -1.4974, 9.7983, 1.7509, -0.1197, 0.0952, -0.0366]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c729906a480a3a4eb3c6babf89d3f9edda856511525bf0f6dcd03e8ac2f323f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c780a44a70aa6b2fd7072fbeffc265c371de94df761e5ed415b1761acc627cc4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a8623ce2849dce04f890d456547a334d9a923665d0f988fb3bbfae3e156c0c9a",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
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  "role": "user"
}

model

gpt-6-sol

effort

high

temperature

n/a

tool count

3

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  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzTepCzNmWHTZCRGv3kIwxYjGwFfLnm3ElpLigvbWdwNdGVkXNIK0wcwUKV9hlXOVgP2mPnU2jteFatLRV8bT-zWmKuqqFru17VuM0pPLZQTMnn4PHbms5tqkkHwIfZOB2gR3HWs1Ne4aC_o4klZA5gSMRiCQLSvL5imJdlc5Y25ZldnIiqElwFbNmn6QJxxtPrmu6QWHZNWvco5j00qdEdfvk5wJ8jjIMms679uiE8dNLMAjc6PIBMmdvX_la9kLXUbv0Q_m4QlDZEMmqomISx-nsTdv9rVHm3dvPipGH2SlNzZOV5EctWzB3MJHzL_e6YSAvzApyvoaCFSDPwgh_4xz7cvQtUvrzhU2X-yqEs5hkQQUGdS_IvEFqDwH3FuopT45vxtgRQOnlYA8nGUZzXLsIO59Q4JTGubiyF8PyPznKALicnfPMorz_3Dndq5bumOxVnH8e8E1oV95ZV9sAw7diddWyipf3qk0UUS7V2bKuuoHIBf7HSLzLllLJETm2-Hsyks3EVmkHzgm7aUYqSWQAowaNNIXuVQEUaxcKG8EjE6iYatMdlnwsTGkOoT42n_jUsA9aNIiAouGHgg3K4N-i3_P8FqKY7EaH01lDnbMtGUzA3UTmi1jH-ddmf8SUYGoDeM0XzLIBIL5ccqvv5wWlCSHcxuGx0GuYFPoydgjc0XT4vbBvi7OJjlRQSk1z5tSskukvwU2Qvg2Ov7-pSbJwdUF1PHQJv_JIHrRhYaMgHe_h9GXWFYMbHZjdk59-U_LHoygh6tHhhDsg_gv_uGn3L9CrOhhK7y4dNXGnQHzCkUL3640IBwife4IXdbDXKMLKI0KxlcMXLHkidiAWswxRoS9URlT0Q2gzWdilN5Xdzvcvx56RorDPTgUvc25E-opQR-4WsjvZuYMTYg34alr9b-nrsHmwCQrpgDknUvYt6S38UZvQwQ8cV1RPa1E_410hiY-3z_8FZLFbH0USdB-hxhBeD45xkDoxhdxeHwtSydefY-FSZ7CI2HXWnfKCKqyYxi6W0hO31xxPmOGZZ1CeZoOcvtcSmgx8dG3FH6CBNm-Ty1suMgkfrtuNgxSrMdValHK_B-icpCW4SWM9oczrUgIeUAfzbEDmGMOU4MC2oscDCk6yPO424HUKRweD1PCoHGLpVaLGysWjpJvL2dGRzXY2UHoMfTMf3H2exSi9NflKhBJ9lYqc1p8c7qAW57JUg45yXbFJJrxy32yBh4BokcETn6o_c6U-vjUJ0W9iPxe4S8zqoabxUGpURk9FmXZPAl_3qYHJNzjRc7Y23VoLcRje_u7_eE-tpMAIBMkJWv6lMPLORcPI5hXqrKDKJ_c6zKxXtrmTygLKWi0CAjvZ7Eel6UhVIIS0Y85EbMcQaT5FckPpPVxW9M0_u9OO5DrjIg7gpPuQPQFQyuQLCJUsRXsQZzNC7ra1AgwFO5-mpc3DnBHq0wKMgEPmHB4HPB2zbDGC3FLRurpJMlgvhs-B8ae3nevB0SN3XPTwViu0=",
  "id": "rs_09c089125edc36eb016ab41cd257c487d09a8d8062f5a73f52",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.16,\"left_z\":0.15},\"note\":\"I see two turquoise baskets at the far side and several small pale objects clustered in front of them. I’m moving the left open gripper over the near-left part of the cluster to identify and grasp one object.\"}",
  "call_id": "call_xzwJuIn0N6B9PvIG6DUykkc4",
  "id": "fc_09c089125edc36eb016ab41cd2e95087d0bb2143879b8eaeb6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xzwJuIn0N6B9PvIG6DUykkc4",
  "output": [
    {
      "text": "executing move_to over 15 steps (1.5s)",
      "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]: [-0.6395, 1.4151, 0.8047, -0.1055, -0.5243, -0.4061, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3619 left_y=-0.1545 left_z=0.1354 left_yaw=-0.0052 left_pitch=-0.0436 left_roll=0.0191 left_gripper=0.9995 right_x=0.2951 right_y=-0.0004 right_z=0.1799 right_yaw=0.0007 right_pitch=-0.0107 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.7504, 8.9778, 1.7705, -0.3834, -0.0122, -0.0171, -0.3487, -1.2103, 7.3915, 1.7949, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe8d7e2ba85662f276889d281c565c8b9611c4af523dd208e1f311debc4617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eb1031c182ed298eaf9fe3eac38dcdf7f02c187c5500410a49541321164ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df2bb963ce32d22984b7eeb9dd43f65ed82ff320ef5df10f6607cd3bdce8d1b",
      "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 7 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]: [-0.0193, 0.7986, 0.6178, -0.3801, -0.0223, -0.033, 0.9996, -0.0212, 0.7967, 0.6106, -0.3775, -0.0124, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=-0.0005 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.6479, 9.4291, 1.7656, -0.0464, 0.1685, -0.0562, -0.3214, -1.4974, 9.7983, 1.7509, -0.1197, 0.0952, -0.0366]",
      "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]: [-0.6395, 1.4151, 0.8047, -0.1055, -0.5243, -0.4061, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3619 left_y=-0.1545 left_z=0.1354 left_yaw=-0.0052 left_pitch=-0.0436 left_roll=0.0191 left_gripper=0.9995 right_x=0.2951 right_y=-0.0004 right_z=0.1799 right_yaw=0.0007 right_pitch=-0.0107 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.7504, 8.9778, 1.7705, -0.3834, -0.0122, -0.0171, -0.3487, -1.2103, 7.3915, 1.7949, -0.0464, -0.0464, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:55fe8d7e2ba85662f276889d281c565c8b9611c4af523dd208e1f311debc4617",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96eb1031c182ed298eaf9fe3eac38dcdf7f02c187c5500410a49541321164ca5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7df2bb963ce32d22984b7eeb9dd43f65ed82ff320ef5df10f6607cd3bdce8d1b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzgr0KFxeM83_IuSjslKujZcx1UG9sF2Gr07toRuNSxFrqPd36RK_UlR2-TFFM1aJfLkLKj_iRum3rsAlESSiRXMRdJGWD_qQL3ky7D-nVKuRgd5_Pgg9NnyFPK6lRnWRhof09F0BaeFxgd_mZ7l7aIwH13nwZgAWey8XWKdyrVQsvHxmaGA0gZeCp-SeZ0sabZpk5_X9myGvQAHGvlnt7Qa-AqgiXulKJ-SHFS40TTKo5p9ZouWri3rN9EmzOanrcOhghlqjMq8bZq8rymwnqEThnHPj-k5JNGwelh4MefB2ToWiJFK2cavtlsn3_xhW5pttH7dioz3ieroStZrMF5WQIohVrnkSklwwX_SCxVN3_ulEzb_p-6IbueovxRbOF4hX3rWDqWdMC3ObdnkOL4iCR3HAhvA-FCcpJ_nJ__LYTvE35mj11GVJMlOvrQmyjT3ky6d1wHWjQzasWYO3n0typZCIll2vM_l8d-mBbGypTkxiqYqlFv23novLdoaACRsmLePyrTG409KUHVY0mXEVAj0mjCSv3s6jq_hXEusclmOWd0OgQZn6pma4uy1cOdJPeoKcnptmbuC7QBYxNGjdq8toru3cf9ebDesT6jm1CfcPHeEHVWX8gl91dC4X4sc5an_2fuRwked2IHmugaPzvLSJtCMBadkyaNd-7Dfc6Bt9jtdOLjGNXlQExzhXsQgrJQf0kQcVSzJo9wlrcLQq-4fZm1wiM6rHUHsYXT7rOPLMt8-Nl77oKGCjB4StuGR4MoIoAcTVQjpDI3KggXeE2PsWsj6TEwRFElTY3Fu82y5GHjO08ZFkxGAtDUyzSrK2yimNdwM7BFSqdkfBa7fMS4Bxm8EoZWT49fe9m3r1mMi8bz-kQ7GlC4QmHid5a41enE_CqJvzffadksWYzvPtCAsKzbBBnWZR_O9zRIWR-RHOFWoeXFOWR6_aXXWuTtUvTPe8TMGMpkmhi6z1UewGgIkzVZ7xZO9mdyoqTMXdmQEoEcl0SwFp8SxlvGTapZd5nmvRYoH8X6W4qbbLlAPH6Inzq8XOT2X55HqGkg_o0iAZFBvJbKe9o5Hc90YX5HpxEvQDg5_XltjyqUUZl4pEgGSVt7WZO6VCdFT1eF-3YHP7KrV8_DR83FAbMezJI_4o9MVj1WU6R3xtJBp2YgKz1hvlWeYOacIz_bDz8BC_hzIC-tZlkrOm-YzRhgEHmiZC2ApbbJ7le7El38R3BPMpN-LM_bUYOb_oPF2PU5AKd2tMbQ_cVSRR2fXBunSn5V1nYVDUqLUkSs6uCp6l1Ubff2q22hLQrzWUGh2GvukYGbx6wj2whXIMwW0EYbM7qO9zLmrkRcVfg3qTXegxR9EwOU_1070KDlzv7gszMrvybynIbK2FtoPNmD81ADXBZAdkPKuhldIvHkePvIaVQbBWQnMpnDDAMqMrjPej_iFd3TSmP4jTEu7txEOtO76iWtH3vzInTJS7r-gS6t3_Sq9NuhO1-7NMYzKOKzyU5y-M8lX-dXNnV1supOD9rboBX7TSBh1v4qsarzwS_gpBPKHniAmh-C24SH1bcvBHFILdssS_iu2b39XIwRrM4ZJi54NkPSzXOkgmWtqAVjn8OyACVdLW0p9zKnJZA9bJWcPsnnnU0Mj5STVCTbEC2ZHEIC4FF5zcpPlP9sLzqK1KA1fFQhfWf2flyj6cbSslfjhPnovdChoTOSODoVYQeGYf-P7ShgXyWpWmsBDkldPER_BHg9-YSTIrI5t8CZSXCoUFE2c-5Dz22Bz5VYe8Lz3aNOIUJPspH3ZwhF1Vq_NiIR_JcXNK0ZoR8F_fP0l6SoPtDGxz3WPMyqU483y19f3BiG9LfVg1autGzLGickUJGr-jd8pVkqe3bd2x9cTwlENEnbH5tza1giSPpRDKfaGNaeVdL1j0KLDYz0a-5t7NxZtfhQpD2ksY2fh6xLSOJgMvloeJaqHd0FyPSqkr7GknJGIo0N3Ec1jSvAdI2zaVhGjGyId3AOZqZZgmZbHefWjzjjIB4pEJ55r7VmIWxPbpYfNkDz3KryKVGTOnVxwaxblcUqHKCrMhjREEWf_fJOPpk2PnmolaBqJTZ2n8HimD-75V0q1PdiGnRArLVhedhVfD5-mkGdGdsjr3LtnGxbJqaYSpSnKxb0FGIGpX_sTJo98w2ccqp4ousLgu-bS99gWL8CVCSYkaI2RvOc0XCmAwFUF_ILyJd7PfG--HBptmZIiXKGx8LyXsIfJ949CJjzpB37s68wy-4_9111YGJ3abf6o7Y0C1kUDyqNruZXw4kB9XJu5RkwpgEQEjrDNhmhEVIavi_y_NP6mJ_VKNS1IiT0CCUZNvnlHYhVfNZG6QvDH7WAF7Hb9o9SUnyxnCmw9K0YPQyl71RhzViRmdjbZc0slgpQ7wMWIJw1NVRHfKkyf2S6AYDz1sWcT3jAS4Kzy4HJRHP-KeGN2yh6pQov-50S9DGzwsWdn9GP1Jlz8-oODQgJWLxB7eQiXvkHjJqwDvyQCQVfijnDSDL_gyms_FlK-KK9YF4_nzUolm31vFxzitNFa8bbbIteoWoDgSDn8bC4Cu6hPZHjuRH2pnY80iE9BK66s3muRwZWkETPVTzas9sl8PbXaToP8VjAGp_UmB1McQx7nnN1j9VOGOh1-JeYlA6dRxREpPsDW_JCNmY2w9hX-T-YrUXihuNI6EfSNclCsKy0Dd_AtEidQQp8c_VDji9vKr7gr1uN8qH6VwPESFSeWyN7Ttl-GM2qItu4Kqzx9RktZx6f4o4fSfYmHN4GhvbemrxFVAyQMc0iODayoU56HPmrydOXkEux3nMhWXchHgCUeLASkYAFc90VurkGXMHsjVBwFC2EzPH95Jihu53d69h3AAXwVeovwHic_ZiLM7sg7VJOHsLknMME1Eol5jukw63y1OwQlvrnZH1OHZdF_xKHJws3ZjGKi_UX0ijLwANXU5i4DaEsIe1hPLESn66c824BtJAIdK65TBsxVpMEAD_IGm9MWkUanBVp4dO52LD1XNrJ5GE03AaxnmZBFueoatk4fCmjawvCcbLpoP_qcmvbAl5Cr_miwfLOEcuxy4FNS1RUjXH_5hKfm4CyJmDVJG_kztTmO5P-w-UenGwljFadoHOiaMO2RNY6KcsZs_KvQIw2xjKpJYl0V601ZxU7e786EWbjNhlDDctn",
  "id": "rs_09c089125edc36eb016ab41cdb157087d0964a65413d9e9455",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":-0.25,\"left_z\":0.15},\"note\":\"The left wrist view now shows the left basket directly ahead, while the objects remain lower and farther toward the table center. I’m shifting back and inward over the tan, face-like object near the front of the cluster rather than reaching into the basket.\"}",
  "call_id": "call_IBlf9zpjoen22L5q1wfwp1BX",
  "id": "fc_09c089125edc36eb016ab41cdf662c87d0a7a10a32b5b9ee39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IBlf9zpjoen22L5q1wfwp1BX",
  "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]: [-0.9714, 1.5711, 1.0206, -0.3553, -0.7353, -0.7052, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3176 left_y=-0.2485 left_z=0.1409 left_yaw=-0.0179 left_pitch=-0.0626 left_roll=0.017 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5436, 8.8547, 1.0623, -0.569, 0.0757, -0.0122, -0.2256, -1.1419, 7.0359, 1.7509, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67867b3387984b128373ae71aba248372a2d3b7adb38ee171496cafe80972f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e176d1eb99ca07bb56970f2de34e365e2aaac66d3d83903c5d4bdfcaa1eca12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a884c81dfa838469132bc0d580f4b25ae17b0f57c59548c9a6ef37e0e447a55",
      "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 7 changed as sent

message 11 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]: [-0.6395, 1.4151, 0.8047, -0.1055, -0.5243, -0.4061, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3619 left_y=-0.1545 left_z=0.1354 left_yaw=-0.0052 left_pitch=-0.0436 left_roll=0.0191 left_gripper=0.9995 right_x=0.2951 right_y=-0.0004 right_z=0.1799 right_yaw=0.0007 right_pitch=-0.0107 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.7504, 8.9778, 1.7705, -0.3834, -0.0122, -0.0171, -0.3487, -1.2103, 7.3915, 1.7949, -0.0464, -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]: [-0.9714, 1.5711, 1.0206, -0.3553, -0.7353, -0.7052, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3176 left_y=-0.2485 left_z=0.1409 left_yaw=-0.0179 left_pitch=-0.0626 left_roll=0.017 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5436, 8.8547, 1.0623, -0.569, 0.0757, -0.0122, -0.2256, -1.1419, 7.0359, 1.7509, -0.0366, -0.0708, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:67867b3387984b128373ae71aba248372a2d3b7adb38ee171496cafe80972f94",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8e176d1eb99ca07bb56970f2de34e365e2aaac66d3d83903c5d4bdfcaa1eca12",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a884c81dfa838469132bc0d580f4b25ae17b0f57c59548c9a6ef37e0e447a55",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzpNsMwNP8MOO7aNKCplCJpJEBw0FbIVJKuYTxinjT-gjVOW5L_nEWwnDgqgdMzgZFCK0Iyuygdn9HJZ0Dy5Cnz0uwIhENUaxuf50mcWXgRU5DSJELycSzqgfN8eH1VsrpmlPOOGXTHBdQcsd_69L9Ip8o5iKNoaQ5kjQ0FED8CrfhRLkTjj-VqggRLCpXBQEacsh3FB_vp2ez-PyhxqrDEu0fqu-2EuyPwilTq-MkcQwqzHJP22YIeQ1wO210YxOHOIXLpVKQZ3ZqpVh-FQTE2Tc33MFJM6AfBJB3dn7cTngJB4BLbiIIDpefclvB6320KGUTsRapzzas8FvIATlZrprQZeWSUI4t3gfMXHDuTYAPQfsfXbFiy5ATYIqVkiropPX0b7O3cO5GvJNxX2NaQVQCQvufcNEd0dgQpWXXWbogqt7zZQq6Z736Bkqyd73sBeYTUippx41mNjwSjo8SadxENCHCaZIh8EvArKNPYRlI9Gaq_8tPY1PFYarjlYqDSqe9fpUTjq6LqAzVJXgsMbMf-ylDEfdnGcZK0rQ_zKXHU85KPNpOFQjo-K364ImUUzz6BcMCl7ABRnofRcB7sFOAQVqMwGH25fItkuCIgFNFpdJv32p0ZvMUEjTESQ1m9IPJeC1t4MLvxPMAjZw_GZ7UjGQBLxip_VaGHnk5LR6op7GjEiKtuJyKH5L03HGD3hi1tVUf815NgcijwjeE-FgTPNDSRFxqyRPJf27-IFWn7FRmNv2u6rXdWXkiCPu4ZxzMUpkTUA9vxpKikKDUYodkKJm-B7EMwLPmXm2CJwcKv604iJ5df4dQIo5VM_HGtyp2YZhf0SvfxjMtyaJzTnvuk8xCpVuOLKnbOW6MLDFATstYG5HlSkMuHIaJIikl3YYlph_JxrmGYiWOE5DAo2Je2S_CjBPukxAuBIUAa05bnQKMdlb2AnaFUDaTl8kBrr0QTA07mYvs56uGTlAB-DUl-QAXkt2iLMFNmEaJ-j2f8Mi282t09wJ5hltZnlGPPzVDgMcYgnrowrJBgKBd4nj_QOkiUlo7Upv6ofyabenpvmPM2nvg5dLEECGFBNS3QmWP2z3kvwnJSJSmqz04HZQgDqX0UKc3ZgQ-W4JW6eWi5ptIjOr_U9lWG6HP0Xd1ndjCwCRRy9kkgFhiRJfsC8ZlNeT5ulNRd8GMUtZkmVUJYz2uiHhbmcYc8WOJSHksIYtgJizsGxMz2d4gJ_yZl9Wqm6-F7zN0W6cKNFv991C6Gx3zzR1pxSrLm8rkI6qAAEzPb1UHVtGaQnFYUE7AN22EbVWk9kE8niHw_bNNzE9SLu9OdNIYjjUeTOCotNPl5K0gkwj_HsXKJfl7PZa6CeMvwGNs71KYcJjSWJWeCHqrB6CXDQevtke1GlRyAK-Q-3nvLGcdL2CSFtBr8GT9VWtdRGyIJ_9qx3LXSBAQkHwW38-LFa0cbmvwFapcSQTJWi5_Rca8KuexZTUS_TW3ptCf54qIhvkaHccqfnz2WWoYWmB2fRU7TvjiM0qQDM6MMTtaReoXam-756eGf5mfHND3QpB44infaeXaI09zhqjpGe0AL33nbmOmokoIQCoJ1P1ki66Gw9Eh7faaJZJYHRZYS0PC4uZNuo2eDoJHTHMCyiJgQqEA0J1r7uexpMfJS2-dB7YNg0w5UKy0nSJQiuY5Nov925duTnIFNa1MaAMor7s_PodtokX6v6HvXL918ksSEoZUE6ZRNuQ4xg6SfY5M_Aq1GiCJuIT-Ux-z3vIijCr1YKnptM7chLd4iNvaXB1uC8igtY40xtlA47ntuRVmzQD3Fs2rsEBX_xNwEIi-bxAqM_yoEjHiBZCOc5SsP5cLsCHPc1SUkvdZbXpsda0u5OzoMduf5wYmWX1Fpoali5oObC5pgJOXmw7O5WW8S92hm_NrZV_sOZioSraFUq5fmomv8Yg9gDn7Ic5ypK0aF-fs8uJMPb2nTIGO_ngWf-5CQjkdS0tEaA-iMn3_W1mzkFcjz6iBX69AJTyEe0JTBlNC7EcrYn_XCRa4t7NuETlXERbI8w4f3zYH6Hh4JjJgv-fQV366anSFt5RaghvgdvBCu9sqJINK9ZICESt1-i0hNntI4pazh6SC9AvRS0zNXrGTWsFX1iwzqfYQ4L8IwyiNtozMxRWOXdRXFJIDrX98PAG9APqYTXhNhKVW3p_fO3joIIPhs2Zhdw-FPe_8=",
  "id": "rs_09c089125edc36eb016ab41ce64f8c87d0ac35f5477ac9f6f2",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.285,\"left_z\":0.075},\"note\":\"A tan plush with a stitched face is visible just to the right of the left wrist camera’s jaw center, with a smaller tan object to its left. I’m centering the jaws on the larger plush and descending to its upper body for a gentle grasp.\"}",
  "call_id": "call_YgAwCpoJEgVoFNJCYK4co5IM",
  "id": "fc_09c089125edc36eb016ab41ce86ddc87d0a5b23a59d118ce31",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_YgAwCpoJEgVoFNJCYK4co5IM",
  "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]: [-0.9939, 1.8141, 1.0153, -0.1581, -0.7483, -0.7414, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.2782 left_z=0.0716 left_yaw=-0.0098 left_pitch=-0.0822 left_roll=0.0359 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.9504, -8.4034, 6.3521, 1.5018, -0.4615, -0.0073, -0.0073, -0.3624, -1.1145, 7.0496, 1.7656, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14aa22ca296a78e46249ffb066852aebc6c3376d95b2012dd9e141baf861eec5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce10542174b96e40bf7d95deec0b4536f5d792ccf179f205336ba6a7b204c6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48da6924de48c840203abaa42e46862942d5d3658e0cefe7565ed3d3cab6226c",
      "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 11 changed as sent

message 15 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]: [-0.0193, 0.7986, 0.6178, -0.3801, -0.0223, -0.033, 0.9996, -0.0212, 0.7967, 0.6106, -0.3775, -0.0124, -0.025, 0.9998]\nstate[eef_state]: left_x=0.2967 left_y=0.0018 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2961 right_y=-0.0005 right_z=0.1828 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.6479, 9.4291, 1.7656, -0.0464, 0.1685, -0.0562, -0.3214, -1.4974, 9.7983, 1.7509, -0.1197, 0.0952, -0.0366]",
      "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]: [-0.9714, 1.5711, 1.0206, -0.3553, -0.7353, -0.7052, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3176 left_y=-0.2485 left_z=0.1409 left_yaw=-0.0179 left_pitch=-0.0626 left_roll=0.017 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5436, 8.8547, 1.0623, -0.569, 0.0757, -0.0122, -0.2256, -1.1419, 7.0359, 1.7509, -0.0366, -0.0708, -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]: [-0.9939, 1.8141, 1.0153, -0.1581, -0.7483, -0.7414, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.2782 left_z=0.0716 left_yaw=-0.0098 left_pitch=-0.0822 left_roll=0.0359 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.9504, -8.4034, 6.3521, 1.5018, -0.4615, -0.0073, -0.0073, -0.3624, -1.1145, 7.0496, 1.7656, -0.0317, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14aa22ca296a78e46249ffb066852aebc6c3376d95b2012dd9e141baf861eec5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ce10542174b96e40bf7d95deec0b4536f5d792ccf179f205336ba6a7b204c6e0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:48da6924de48c840203abaa42e46862942d5d3658e0cefe7565ed3d3cab6226c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzsI-ODOv986mcNyZe9eJklp0UyFPi0McDB9bXLniMSt-ZTZaW9jEBdpJEBPTGzrwHA1AT3KSgIA8zbasIY8REA-e6_fUMre3ydLYH_OrpxaSzPkiFe1gTMiXE-uP8QvswJ0rlWyPA4Tx4-C_MkDYt_fgIqluq3Y48GZiHKolSgWjypXoDTQEgkHmd4j12Bxi1FPLgdf7BJNRRaIjGOrsIo4peqS12emjJeU5jycjo0QI0zW-2gPYH9sS9RyjfoRCr7_cEB0CyAgSv9HL3x5Da8_PXnw9xv_uNqtST6bOTxdxQR6hb5UpF8sc45xRTZOg51OO40wqujYt8l7NyWR84AgO_7WvIo-S3ln-IQeGWucPHMp8a-VwK_Ko2bON1etQNzbPoP0ANS4ukTcdDoQ8nxpQhe6YsuYOSoK1U4Kj-m5h0kWi37pdmYPPs4D1kqISzIDQw11j_u1Y5ZJt_ifDGlvEgySnCJEO4JY7qQWRWYXGoh9AxunblfLGlq6zcpkTuCB7FElIoPt7QuKa4VoTvsV5vgrUJePLdcUrCSRqN5PJAOjsGEYuSp0DRtBPRzghcoMSHIz8u8XnGBtqzu1RDwsNHoWh3SjL4d0hnuJ8ibiIWg5348TbJ1aRok4nRQkmy9gCr7eN8BvHsz1CEgkR2T87OwDBXSz7Zb2jVqWjCJtxNCKmpt5kg2CixVFErm4vfxt9MRjrr9LZnVBJYM6DqEnvQvtUxROAlektBV3Fo86mJcCqFRkXAY51mQ9Q6y3UgwATIBmQNOioVo1-fJhCUEcnuvVj0xkPNPu4CdW_6qiI0ELuM6Ra6RAXJFEabNopQpcDNkZXFkZh8s4gF60_4PZhur_HgGtKU04ZmubnM7iyzZ5TjrOvULCCNo9RhXYfh-hXV4utzrBUTEIPBezw5yez1ccBXdz70Vn_xOc8I1kWRYbmq6cM2fLUH50HFKRkmHOEzFUv1ZigSQVjWBjUbsryzWsXPeVhluaJpw07N0Vp1XLAV0QJTnWsK39S764zZl-v1ZHxozdRILvJhvRjrLAdYyHqvtBMA4tkcTgcO_pQzYBau_VbbAiDua6y_eBJ38X2Q0nSotivSm5XBVQtzINP41NUDx0EMLJquwbH4uBqLYN8gPJCMamyEWXyn1HcNkx0qKQKzmeMd6vDZ7rzDPFjx07a7u0Y6WkQfN3cYipufwgUFnr0Bbox9zaSme7N1QoizdyMo4dudEWT-G-Rp0yfMgmATqB9N-drXaJXytZiU5QsMaoHDtTfrNVJhTvxjSgtqRv57W95kdFb7jxbCU0A==",
  "id": "rs_09c089125edc36eb016ab41ceb585487d0ace587ca4c73e738",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The tan plush is now centered between the left jaws and fills the lower wrist view. I’m closing the gripper around its body, then I’ll check the settled jaw width and lift to confirm it is held.\"}",
  "call_id": "call_LTrfW3lucDvFUGSHVojQP6ZP",
  "id": "fc_09c089125edc36eb016ab41cebbd9c87d0acee6e0e646eaed0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LTrfW3lucDvFUGSHVojQP6ZP",
  "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]: [-0.9962, 1.8179, 1.0153, -0.1551, -0.7471, -0.7498, 0.2169, -0.0208, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=-0.2794 left_z=0.0703 left_yaw=-0.0083 left_pitch=-0.0832 left_roll=0.0293 left_gripper=0.2169 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=0.0009 right_pitch=-0.0111 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.1145, 5.9829, 1.1893, -0.3785, 0.0464, 0.8913, -0.1026, -1.2923, 7.0359, 1.7558, -0.0611, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95551df048ae05fbc97e9576266706fa373bfa5ed56611baf5af59178fef6b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec75a87bd38d3ffe613053b2092c93ed5c2be0495f9fcc3724663e11f6499af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c060a78bcd9b816e52a7d73fd5ff32f3ba7ae8e11b864e143627cf3602bd7c7",
      "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 7 changed as sent

message 15 changed as sent

message 19 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]: [-0.6395, 1.4151, 0.8047, -0.1055, -0.5243, -0.4061, 0.9995, -0.0208, 0.7986, 0.6086, -0.3843, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3619 left_y=-0.1545 left_z=0.1354 left_yaw=-0.0052 left_pitch=-0.0436 left_roll=0.0191 left_gripper=0.9995 right_x=0.2951 right_y=-0.0004 right_z=0.1799 right_yaw=0.0007 right_pitch=-0.0107 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -5.7504, 8.9778, 1.7705, -0.3834, -0.0122, -0.0171, -0.3487, -1.2103, 7.3915, 1.7949, -0.0464, -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]: [-0.9939, 1.8141, 1.0153, -0.1581, -0.7483, -0.7414, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.2782 left_z=0.0716 left_yaw=-0.0098 left_pitch=-0.0822 left_roll=0.0359 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.9504, -8.4034, 6.3521, 1.5018, -0.4615, -0.0073, -0.0073, -0.3624, -1.1145, 7.0496, 1.7656, -0.0317, -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]: [-0.9962, 1.8179, 1.0153, -0.1551, -0.7471, -0.7498, 0.2169, -0.0208, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=-0.2794 left_z=0.0703 left_yaw=-0.0083 left_pitch=-0.0832 left_roll=0.0293 left_gripper=0.2169 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=0.0009 right_pitch=-0.0111 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.1145, 5.9829, 1.1893, -0.3785, 0.0464, 0.8913, -0.1026, -1.2923, 7.0359, 1.7558, -0.0611, -0.0806, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95551df048ae05fbc97e9576266706fa373bfa5ed56611baf5af59178fef6b12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec75a87bd38d3ffe613053b2092c93ed5c2be0495f9fcc3724663e11f6499af6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c060a78bcd9b816e52a7d73fd5ff32f3ba7ae8e11b864e143627cf3602bd7c7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBzv_8I0j5HpI9dBkCQAUa6DuWs5lGGn_nyC3cqwfX1KrabYsnhB4QmXc-blQvI2zfXEnVan1LMV_jB35ednFLpYEkEICJyuM2Oa_aqq1CvT6okZ_NlhI-0NSBGx6Lhgr8K4OBPaz6UQ5gfDKOTFEjJonScfLUBODj2-snkxdUWpJaxFEcYDPVnKJFp0Dw0uW7u5z1IqxyZD5ic49Euis6fYsp2yKpMYBCL_NbNSAws_vcaBZ6SDmEkIuDSlhPBxkc3oMKNwt6yuYSzIqlWIKlubOonsBzywvmGKwabcygM8wo4p9i5-6dEi-FvIpiYI1PkKoOVIos8jqe1cerd5TIbx6EqvpJSgnTfcRm2QaaKGtRHWPhy6qTrJt31fiJ-LVTjEjSHxCx9kQUZGkNfdZ2Ucr3Eow-inv_VpucP11Yq0mj2OrjPHvAnfCGFmtizx2og-UzjTDmp5E92Z27sC5XQwCbq6cp6CjBdViPdWoKSzRIsg6rpanxGxyXrX0-dHwAFBy5fJzEWdwitCVI_aPs4LUVvh62a7Djwl9LLY35u7acZR422Rxjf3Yv7n8nFXTMF66Gz-7x5qn8sq7VIM5OkWrb1XwrPu5ouDNWJ17K7rJsuG4ZOVB4QK5vsDfJ-EnDF0Bfe3UwstS4WF6boAnmm0xgWjQ1cSp-IrYyb3YNAaw01O3_QT1W6Wv7wEB3wUSma2feCeZEDPGs5f3ZxNOfBe1-dYokgDgOSurpfY-qgRi4E2tuIz2Y0liu2gsFz1QevsAjS7k39gomHuMRnaNZ2R-_2M6ai6CjL6J98PGK1MM8WAbDBDfhPW1exf8A_DZMn0nZLuzpt1sttgvnX9pwyYfhmC7Jgf4JaN6n9zzAH8pwutOmwh8bI41y9KgNMkU7Fnu-EtUQdJpSSOR6daWGLMdrd_wLtaKk6ocBttXoY5ISa-yUcuLZo4IIeutUBkpAvYfv4IkrVWq8nrw-t5y8ZWxjfHabzIkZOGGwsuhKFOST2H1E1nonwFPK1O5YRivF1Nwza_Vx4WOsncAxKqi_CDteIbskvbsJpYs5Iy2xYYCFITakWuxvs4l2MhA8R1Y_1TBzQ45pGFS6xvzL8q-8K3oC9Do3Llea14CErf0IDoBHkQlN9bA81WBKNUhfeWsrG4y_0VmVOLGJsyXcPjiCnBaJulzlFWMSlUnMR1nG0Mbm-xjF7fr0X02WmC166f32rxM4tOkuHd7zkeApaskhDI1pNYmayPAlXgVkRKdnnmsh0Jfu_rcw82Dzc5PnorjJsC12z0FX_E-2LnCiqwfkFpJgHGFhV-AUWOOruwHYvHAJ3sYNe4CxojV_94Lm_lEgaD0nyMwhB28zA0bRpFjXwW0Y7UdLciC855z6kKJb3iEyD_oacLsW3dPSsBSdstiq-jrsYSSK6yVcgYnIFiK1P8hGLqnPrEBkFwek8l6F05V1ev52u_UcuTJ3ebh8ZEQaA22cyPn1_amqG17C3m7Iy_CDSUfuPpvTj-UHnUQp_APA4MnWwPz2i2xg9uVgf3zUWaeZg9GuBfsbeMCJ3esUZ3yO5HqQWL8Zx6EC1G9PQAjZtFai4CyxUHSW5pMwrtf3ftzJ7qmIrfTKgvc8xVq08rOga_xdevuZyJEbw0_ZQLCW-7UnvdbeQ6FdexB9nkIbVAIOSPurapgg8V3mT0HjnJcA==",
  "id": "rs_09c089125edc36eb016ab41cee59dc87d0b8c7bb7918f54c60",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.17},\"note\":\"The left gripper stopped at about 2 cm jaw spacing, suggesting it has caught fabric, but the plush face is still visible ahead of the wrist camera. I’m lifting vertically to verify whether the toy moves with the jaws before taking it to a basket.\"}",
  "call_id": "call_mKhMpIRXqa8N0rPdDZuImQNV",
  "id": "fc_09c089125edc36eb016ab41cef38e487d0af0b269d54cf3ff4",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_mKhMpIRXqa8N0rPdDZuImQNV",
  "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]: [-0.9962, 1.7184, 1.2438, -0.564, -0.7334, -0.7712, 0.2198, -0.0208, 0.7986, 0.6086, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3231 left_y=-0.2748 left_z=0.1412 left_yaw=0.0025 left_pitch=-0.1364 left_roll=0.0743 left_gripper=0.2198 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.3573, 9.0325, 1.2137, -0.5397, 0.1832, 0.2906, -0.0615, -1.0735, 7.1043, 1.7021, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c0be32b82363c5381a066e2c20c73128e11bfa99174fc3ae0d7e1714fb106d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ef44470616f9fef6bd5df26848de5aa55343d65c74365ad50cce1f2f46bc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c83ab3361dd8d7ce7e4f3c57d25be089e748acc0a2bec1543b9f5692e9819c",
      "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 11 changed as sent

message 19 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]: [-0.9714, 1.5711, 1.0206, -0.3553, -0.7353, -0.7052, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3176 left_y=-0.2485 left_z=0.1409 left_yaw=-0.0179 left_pitch=-0.0626 left_roll=0.017 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.5436, 8.8547, 1.0623, -0.569, 0.0757, -0.0122, -0.2256, -1.1419, 7.0359, 1.7509, -0.0366, -0.0708, -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]: [-0.9962, 1.8179, 1.0153, -0.1551, -0.7471, -0.7498, 0.2169, -0.0208, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=-0.2794 left_z=0.0703 left_yaw=-0.0083 left_pitch=-0.0832 left_roll=0.0293 left_gripper=0.2169 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=0.0009 right_pitch=-0.0111 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.1145, 5.9829, 1.1893, -0.3785, 0.0464, 0.8913, -0.1026, -1.2923, 7.0359, 1.7558, -0.0611, -0.0806, -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]: [-0.9962, 1.7184, 1.2438, -0.564, -0.7334, -0.7712, 0.2198, -0.0208, 0.7986, 0.6086, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3231 left_y=-0.2748 left_z=0.1412 left_yaw=0.0025 left_pitch=-0.1364 left_roll=0.0743 left_gripper=0.2198 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.3573, 9.0325, 1.2137, -0.5397, 0.1832, 0.2906, -0.0615, -1.0735, 7.1043, 1.7021, -0.0171, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15c0be32b82363c5381a066e2c20c73128e11bfa99174fc3ae0d7e1714fb106d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:95ef44470616f9fef6bd5df26848de5aa55343d65c74365ad50cce1f2f46bc9a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2c83ab3361dd8d7ce7e4f3c57d25be089e748acc0a2bec1543b9f5692e9819c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtBz8gyoBcAxUIDkLHWdyO1zKemvHWUzhY0wDcLzXDrPCxb_S5Uiyb4jv_Vf1ZyUYmcs2KuEg_d5SxjYYjwHJNn50-dke83PmfoVY0clPR7NGgMZgpjdqrFxJ1KLuEVRzfvr24Q8U_uKrhZjPOqFqP58hejJYChWgCG3_z3kMzi0rUHyUYYx3Zh3v6wykumZ5R2NGYdsyj7vvEUlcwdye_P2UNlJjV-Qe55g__Hs-KUsjLQ8rpHJ9UH5kYHXMVRuyrumfFaMKauQYVkpnDAzd9XAiYACXUhhH4qNGDx0Xyc76iVP_YyhjZkqKQ8mQLiAbsF7lgUqbj16HkoHWTWUway_tb-pwqza8LChG3D9A2MaRWlaBBGvszVKyIjEWC5Zf09EgJPmbGsuQqqtxb_5S4iusq5yDH5Pv2_MOLtuArSIOzj5UJTEM6EmKwhwLr_xebg5j2yo3xHH0skaWDFmP8c2GAkZAvbNQyC5ZZfLcsGwoJQMP65VFs9HdGNBOve-EqiF94dF7sDgzlqwu13ydOW0x4fWP7ZsShr-DuLiEB5P0LuVqbAft7oTBD-iXsoARHWyIT_dzcVbi58iJ6mZsjk2ehvcQP7ebhVbxmy3qUbFnDFW2c0hed2JglXlIzksufMtIWw238uG6aQOwBLLBp-Dci1QaPmj81HW5zUwUPPSs1DJqtx8y2OF9Lm_egoGl8FhjdIrxv_aMJ9mcjD8kX_ekktQDsvUApK-a0NlcUEJBJK688TTFVeHEe3nHBPfA2zjyG-m6hk0nCULsHm2lcmuTLELgDCGOq7Pr6rUUhmYaHWyCefG2SUORDdpGXMe0fk8fSCwuqVqCzbwckATZT68l28_Moe1I7shb-arz8Rml27I2AaeV_0wCJTlPYQmyoOTIIVSdQAl3Dq4sjEGhVbpUoPxbvcAGIUgxzlIuJrsqiG48OBWKzeq7LDsXaIfeWkyAr6xYD1rXAT7qZtTGXH8wwyO4g0ydRTlIieqJOt7OwRYaIKB5Rtszban_Q0Yn68etSiMpUh5cMd7FPy1G2jK8pgZFqQaeZpG8smKeviDbcebDJNFoWbMiGLyVgzxsenME0TVBzPybWiSXnHlCiCHcdkHq39fxB5w67dtifRSbU4Boh_hQ3jTmWh1U2tjUzKzyxssMFGem1pPAzoLBW3kazdHqKP6XwzsB-xjSOa3t7yxZHqJ49AXTZVuJvv8OR2NdMq5lx2mDVTsX98iaaKJwVjZ_uD1eE1X4CVej8JR7TeV22_W6swwGM-pwA3kyah5WGu2H52lz1zOM-LAP-s2BRqchq66H4pQtRWhJ1j-gLCRernbRwObfh8ZMYhMu83sLTKuYUKwLAyMhlR1UGhKHvC5bOoFodfw7mJKrpkdHozHBGH6mp9ZtcGn4ptT4BnZYN5-UZ0fmxqZyp4xZjN2MlifSYNfp24hsF-4tHSvs1-eRirhKjKzDvRqlXU7IqTde-YFq86B1-o_v7_Mtgoh1GAWejhRP_Lrw_7m1F36dCuY8W43JI1N89qpmwI5HBOK8aKMHDWSU-aadVpRSzqzE1zVvS-ZhFM3GcPyOy5uCG1auP7vSEakf0uN9qAX_PIzVfPdPf0oVD9PxibQveLCT5ulqxOrr7IxFm5bdz6jYWyvFN17y2so-RXH_ypyuc5_mRWsr_6jwsklm6lHJ1x03BTSYnpnJRguDga5yUhFTrreCfL0odetqQnHhqgFq7fUdk0KzyQkbdrJKINVR4V4Pw1BYyJP_vaXVxUgxhZ3vURbAEY01Zg3HuAjX8JKw8g6eSGE5GWpgzucnehyMU6Nw0yYkpQA71HmRTTly0fzTrMgl3grjlZXblDJaTBtFSf8NSK75ojDOPXFaXba_WV0qDBLUnc3KdgJ87BJUYccvL-3Wzuh-GyFSnN1mCMkgdyO3y4fW4mF6OWZm8eGIxo4HAn2a55gcL1-iokCMM1y4fhvRAczwECSbIMIOy8RxVUDpm4V6ibW_sXfU5Xbl7y152KFNbQq5zjbTJtLS7-kmqQ_NUVE7H7LF4ool822s0ujKT7kVAl-UDZElIFwCAbNpDrOWLiXnxIPd7oH18ytB4QEY7Mdrk1blk1WvqlTX5otZzgXePfVeH47Aet8k2MWaK06E5Za8D1_ZiE8grKow7Oq43gXa3HOOGlQQVH-Gv4KFyB27hKkekdU6n9kUyZ5bnavaAbNQ_GkCo5qDCtloLcGZo-_EmYd1FG5wbdCQwoo-nqgjAbNYcz0vRDWR2aQVd_d1SA2PFMrFxRioOc6pAD64eTpWfw1CQQxUtCuO8hgrdwReH8NQGxfc0-0kJGf26UM3b-2MOb_onEwzqytLspywiDu1kmPGKWE6Or2nvYz4KOcq76_Td5coZTmrZ7n-OsInMNqs-mJ5HShWzhx5gyHxJuiCKsCiLBa4uT5LoW09ZJUMes0JnyVvgHRepJCFq5k30jxNPTuHo8TiWH7OELgelHJVUTrq_Renxsth2UOvUnwbasWm4luyWYhP0NBn9QM5SkhJVMBvwqCifuwMmKJUw8_YpreIm7X9dMlB39XgUunoumoiJM6KJMuoNmkU08eVXLiIXcReD91YO93CMxvbeiuvN70bD61QBb3Ol0IP-F4IQAfZR7F6lgRFvV4Uu7AAV5FXTkgL7a_tAMRW7k6kO71wr5ZMm2JdoRORSsEvBrbvdEDlZ63JygV4J2VU3KOyZDCOLX7pdwxKwqO_upImttUL9E1gD3mD3TIdH2HsvOtkge5l21BaJLRJVo9jQGxUZ8tolQbF8die_kgw9XOnm84kFV44W2VRMT2TKtJWOrVQa3azXUMbYLS5q2HKijJfk7h5TgbfV5kC6aQrgfMnnNyEdLirKqgS-7_RzaH_uj4pjXdntS4snEyroajdZT9ycICFQ7EvVDuZDZrjDYhMXnfQfVs5hfoyIk4jIH4yS-dUcjL7rKakRco_nzpys4RGXbKX9xII1N4MVz0Y9aFFfmtLXe5aRV5lpCEXT5_-HPFOe9GU53LDC2nEBv8IDIvm-m7312kFuLKJgpv9A5r_TuPsUP7j83biBXx-6oGSxvCgeErxTxpzdnFwy9xrUHsrIX_G-EeRQSiGFLKTgimP18dj6A20YrZFakfYOXSJZHTQrmLaMzt8ZYRVY8u48B8ga3dCSqoWOXvKDMqoPCq7--klJTIMpLWWsiMBv79llDcOomb3LfdsFFvKU_RZw5in8TAkNse1GX_n5txArFFTk_kIgsqMGhVusnqklLMbbJfhMaHmRqpXX1Y50AB_-tdghSreztCKX7CqPErdJzg=",
  "id": "rs_09c089125edc36eb016ab41cf7b43087d0a9d33701329aade5",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.45,\"left_y\":-0.39,\"left_z\":0.23},\"note\":\"The tan plush has stayed aligned with the gripper as it lifted, and the jaws remain partly open around it. I’m carrying this tan type toward the right-hand basket, keeping it high enough to clear the basket rims.\"}",
  "call_id": "call_Wzpau9UVs7fG8OcNUKj0wPXq",
  "id": "fc_09c089125edc36eb016ab41cfb4b7087d0ac9376cf92340fd7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_Wzpau9UVs7fG8OcNUKj0wPXq",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "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]: [-0.9096, 2.5809, 2.698, -1.227, -0.6941, -0.7303, 0.2227, -0.0208, 0.8021, 0.6079, -0.3866, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.3794 left_z=0.1564 left_yaw=0.0554 left_pitch=-0.2074 left_roll=0.1458 left_gripper=0.2227 right_x=0.2949 right_y=-0.0005 right_z=0.1782 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -13.9829, 6.1744, 0.0806, -0.0757, 0.525, 0.2955, -0.253, -1.3607, 7.1043, 1.7558, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a029fe17665f07626caee3461311d3c8b820e70ed2227916ae466f7c273d74ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a23ba037a17d51d95927f9d89573398b20f52511509d8b082e8ef006af13ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5befe2073f926c4716a3a0a9a8278688b0d9834a9f9af540b4dfddd9d668096",
      "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 15 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]: [-0.9939, 1.8141, 1.0153, -0.1581, -0.7483, -0.7414, 0.9995, -0.0208, 0.7986, 0.6086, -0.3847, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3287 left_y=-0.2782 left_z=0.0716 left_yaw=-0.0098 left_pitch=-0.0822 left_roll=0.0359 left_gripper=0.9995 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0111 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [-0.9504, -8.4034, 6.3521, 1.5018, -0.4615, -0.0073, -0.0073, -0.3624, -1.1145, 7.0496, 1.7656, -0.0317, -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]: [-0.9962, 1.7184, 1.2438, -0.564, -0.7334, -0.7712, 0.2198, -0.0208, 0.7986, 0.6086, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3231 left_y=-0.2748 left_z=0.1412 left_yaw=0.0025 left_pitch=-0.1364 left_roll=0.0743 left_gripper=0.2198 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.3573, 9.0325, 1.2137, -0.5397, 0.1832, 0.2906, -0.0615, -1.0735, 7.1043, 1.7021, -0.0171, -0.0708, -0.0122]\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]: [-0.9096, 2.5809, 2.698, -1.227, -0.6941, -0.7303, 0.2227, -0.0208, 0.8021, 0.6079, -0.3866, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.3794 left_z=0.1564 left_yaw=0.0554 left_pitch=-0.2074 left_roll=0.1458 left_gripper=0.2227 right_x=0.2949 right_y=-0.0005 right_z=0.1782 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -13.9829, 6.1744, 0.0806, -0.0757, 0.525, 0.2955, -0.253, -1.3607, 7.1043, 1.7558, -0.0415, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a029fe17665f07626caee3461311d3c8b820e70ed2227916ae466f7c273d74ce",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a23ba037a17d51d95927f9d89573398b20f52511509d8b082e8ef006af13ebc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5befe2073f926c4716a3a0a9a8278688b0d9834a9f9af540b4dfddd9d668096",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

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  "id": "rs_09c089125edc36eb016ab41d03357887d08ae7a76af5b021a7",
  "summary": [],
  "type": "reasoning"
}

{
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  "encrypted_content": "gAAAAABqtB0JWaApcl0zAXlJylgo6kpi8KcH4Et80gQC8R12byqVldDo8xvE8erPoVMrBIRDom9nSOaunHwy8_pOfErOQ4m3Wcq-4Ti8LWo6Myg5cWrcXyJbxioYrV02dq_S1btAYr7p7YQizksTWyc_BkPZH_J3Cy5yot_Fw1BS_RV-3FPYrR7MPL8ZRj0ByqHCGZfOm5jn7es59WOVwg46JXFDebt4pXIFVtw4tsVTm_z9sEAaAI9HQlzLI6kiErOd-zatly4g-qJKKwZqkfoczCuM4QjhqKSVFGkZsK3577qdGX8HvUo-tSjjba6JzcS7Kfa2EoRVn375WpJ3EXK_0QmeDClsSxLTtJ4cce6JSOImpYA8AK8SuFzPa3E-jbKYzvJPRrjyqvc4IRf_54az5CrAL8o4C77J8fX7aWmDye8tLfP2sWp4qsTppFbeKimreLqoOL45-zHF0U7VW_xNfnK2ZJo1izXC6Jnpb5qMcRBrasDpK0IWTWmT-7-I1iUBEu2JEKk6Bgg2KJMQK3yfoAE86MdtvRu3pHyVpgmSZZK-r0hFxtqtIQ8WhQJScDUseJOVTYnmFwwdMKmDXehrZ5p4Awon2wQPs5mFtaSWCkea71vp7-WLeqm7u4jCOPndyGueNr1K_y4BKRKsGGKgkvkMcGHAw_-7UTxJ5BJGTRR0WJk8_XWXQPZ48wv8_x0iAmbFFY6_ZJ0KLEPnbC-Xrx0l5p6wAZbeGbMM2M8LQvO0B7XnjvcCJDDqciyrRiJ9WGgQQAvqmmn78m5jaswKPSUpeVQ4v06rzZb4wMEnMpoV4kes8K6oTiIbdlfwome6KY4FvR887FEjw0MyL6c6WHvHZ4XOkeD4QzlE2WYsmJ1GY1zYh6o_oM3b3_STHgI5zuA7I4ZXH4TZ7eKgLy67QHtk176o0BM38fmGUsAJuBrX79tX_o6E7v4nfTLMrStlMScBGosocdOXK7X230A-sK0Ct41cgzbK5TL96QF20RnRm86Ufz5EYavPqeS1iNdKFzStqXm2PndQxYWhOv5n8T84bbeD8zr2GXnuQyLF1QFuPwzbgU3n7_o0LqEInjFKdh91aOdPFETXUdjn3uusk8Bl7-jcMOAQnDoyzX5oJ1UH9rbqBX5vJNMFBSaNVXU09z2PsYHv4q6dGZii--P4a9vniKcT-orSwKxBsqilqvuw_BmMiIs=",
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  "summary": [],
  "type": "reasoning"
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{
  "arguments": "{\"targets\":{\"left_x\":0.48,\"left_y\":-0.395,\"left_z\":0.21},\"note\":\"The tan plush is still traveling with the gripper; the right basket is directly ahead, but the arm is several centimeters lower than the requested carry height at this reach. I’m advancing a little farther over the basket’s interior before releasing it.\"}",
  "call_id": "call_iXPYg1jzv28QOBg2ALkfjrEV",
  "id": "fc_09c089125edc36eb016ab41d0838bc87d0a8d729d00025194f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_iXPYg1jzv28QOBg2ALkfjrEV",
  "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]: [-0.8722, 2.6221, 2.8624, -1.3502, -0.6724, -0.717, 0.2248, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4506 left_y=-0.3599 left_z=0.1732 left_yaw=0.0735 left_pitch=-0.2244 left_roll=0.1441 left_gripper=0.2248 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -13.9419, 8.1026, 1.3895, -0.4518, 0.4713, 0.2125, -0.1299, -1.2923, 7.241, 1.7265, -0.0562, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ba8e44e5f1c961a73f0e50312f0fbfe23eda1002e282d91bae6c453c30d754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070580e5096709261faf6821c5cb239928c052209686700e666e72728ffa7784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde4b5411ebdb280352fd14a9dee79b3827f963dcd55f498256b441b517bf99b",
      "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 19 changed as sent

message 27 changed as sent

message 32 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]: [-0.9962, 1.8179, 1.0153, -0.1551, -0.7471, -0.7498, 0.2169, -0.0208, 0.7986, 0.6086, -0.3847, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3282 left_y=-0.2794 left_z=0.0703 left_yaw=-0.0083 left_pitch=-0.0832 left_roll=0.0293 left_gripper=0.2169 right_x=0.295 right_y=-0.0004 right_z=0.1798 right_yaw=0.0009 right_pitch=-0.0111 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -9.1145, 5.9829, 1.1893, -0.3785, 0.0464, 0.8913, -0.1026, -1.2923, 7.0359, 1.7558, -0.0611, -0.0806, -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]: [-0.9096, 2.5809, 2.698, -1.227, -0.6941, -0.7303, 0.2227, -0.0208, 0.8021, 0.6079, -0.3866, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.3794 left_z=0.1564 left_yaw=0.0554 left_pitch=-0.2074 left_roll=0.1458 left_gripper=0.2227 right_x=0.2949 right_y=-0.0005 right_z=0.1782 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -13.9829, 6.1744, 0.0806, -0.0757, 0.525, 0.2955, -0.253, -1.3607, 7.1043, 1.7558, -0.0415, -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]: [-0.8722, 2.6221, 2.8624, -1.3502, -0.6724, -0.717, 0.2248, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4506 left_y=-0.3599 left_z=0.1732 left_yaw=0.0735 left_pitch=-0.2244 left_roll=0.1441 left_gripper=0.2248 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -13.9419, 8.1026, 1.3895, -0.4518, 0.4713, 0.2125, -0.1299, -1.2923, 7.241, 1.7265, -0.0562, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01ba8e44e5f1c961a73f0e50312f0fbfe23eda1002e282d91bae6c453c30d754",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:070580e5096709261faf6821c5cb239928c052209686700e666e72728ffa7784",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fde4b5411ebdb280352fd14a9dee79b3827f963dcd55f498256b441b517bf99b",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0MPRwoNwV2JGaRbqB4v9SzUmxVL-rmXLJrRnqOCI_yWlWbFiiUZJebwxkDXNcbF7u_P-3zM2MhOCWpp0aawXxRC-2ZHMgC0Agm5VFZWlhYMaPdE3626mhlKjZ_Qk2a8JOt-0jP77rg9m9b2yp2QUzH0ogVa4-MPr0aE8WKn34w1bqxUV1aVdn2eout86XfQGTrnnx0rV9ZBA0VIY8_2jFj-ZqIo9PWK93dNRsZ7G-g2vWDkXJjTMRewnsr5l4vms_U9JOppLSsdatcA0647Z4_o74DqhvH9s-wvPEJlmBd20idfFllB7wHR8JJjBMPmkWaVaAyUqOGAwMOkgIzv-IEDfqzmlAqSctartcAsDGRMkyIK1g3CPYiQcjtHk_cKm8kr78TIO7Oz6js_my9Wkdm1Gk9T_iXTS89KO3u9Nz7-d9b7Smcv9KSE2kBF0tAGnosIU9_2xukv7m71AvkHTvSQ2nN-LdBe7j4k1MX4QJ_Kb7heD6jBkYLSB5giW3Xwylz_7ZO-qKBDyeJwZ-R-3aIHFMY385q3VdNPb8XW3ZyCNwpT0X3ZJF3GvQ0UPp_ObBpecR1ZHO7JtxX2CqekKdWxYEwciBhZLJi4_ZvXpwdq2NWSJdqt42Du6HBhh3q9TrM2ufijzbzrZXFt6_N752zIxpPdwzWWf077bYcVk69Ckz_7_UMz1JA4srPYI1rBr4kV0-GOolvYAgSq9tbRU6IQuuHmhZ7nyTMqWyH_PMI3W83CfxfBKMyk4jJDFOdwJ51p_CcVYKFZJrG3G1-apLVHMbXln-eV3nnb9lmEs6d6pavJq31e1ycrG9elfACZfPy96L3Hu0XtSYOjM7o4Wlc_qdcBf5YQmbb3-vDsLiyN-DX7l-MdERkygR8KAgZvOJ-yr1T1inLBrpJKIcg1A_gjVjEMetSYZ0X0wJdPdSuLgX8kPyT2kfyRkND40BdPLc26B9cWnKgp09_0i02HhAr-yQRbU2V-2B39vz0CQtl-LbVEmh1F1nEYX7U1_Ppnv3GS5FHtObD9g48XogCRVVuVs34bJ7KWWWQ-j6sLj6hGi_GGJ6HHc5dBfwAnmNZW8rUMWpfLoYzUTZswoRLFULydSlBamMUOmyf3zuTU9NcVU4vKphwTpqCWjIE_DUfSbKP3rQ2VZ8_TOcTKehRHMCvwv4MzwtCrM1gZHe1lsWcmQzT_6021wbnH1_1YNM8zXmjqPnwzIoNod2g5PCzeufPe-B1YTINROI8mcwQhPVBrQlWrPJEr9OCfbURtky739xx36sovKCDh0AimKog5ccYla0mtYzaSgBBHWc0kbbO73hkzqSj5zoVkunefyrQJQTikcuW2uxR8mCJJLyVQ8WimyxesezFF5R4UfgG3xipaCrL64q_XmfIXM4088BCIrl35PrL_fJbBlPT_amSU5mZnZM_qejW-wIFL9y-6hb7mJXcmWPwjHEkVMKrJ_WXlTKockQ5dp9_0RJM4SnnbHqqDO1N_hzrAoG5G0v8SCz_kY_82nPRp17BzZsQbe8-XHlu8Oc6XBKo62-Vw1e8h0T_okRlGDTG8hor_ERwcDa2T8bNaVoCfXpG3Zy2O69eBsoLtTkngbcCbnpgyX5ljPmF3aNf5nq3CYmtq2WSWRlEnRj5sk8qvRMwi_0h2zwFZeV4saJxANl9FeLOUgnfXgyyU4bKcb3Q_ImglE_7N0xbbvgDg5cdDZSgm6Dv8tZaqWcZ3wYrT7wYFqKxz8J4VQxmICJkL0oLsRn8ssAj_aT6H05gMzozHArdCXEDs2fmEQcrMneMpuoSq5e0leT0gWVcAgvQW6HROLN1HmuvOk1zCqe4-rDqMg9bQdFS18dXgtZiWKi5bDQ9l7nMkDr1BfzA_8cA1l4FkaIP0Nwaw2L2DZ0=",
  "id": "rs_09c089125edc36eb016ab41d0a91b087d096b06be34850d995",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The tan plush’s head is positioned over the right basket, and the arm has reached its practical limit for moving farther in at this height. I’m opening the jaws so it can drop into that basket.\"}",
  "call_id": "call_hOpwdBAKVDBV29q4yjLKDtuj",
  "id": "fc_09c089125edc36eb016ab41d0bc3a887d084dab259204e937b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hOpwdBAKVDBV29q4yjLKDtuj",
  "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]: [-0.8635, 2.6228, 2.8758, -1.3685, -0.6693, -0.7071, 0.9952, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.452 left_y=-0.3545 left_z=0.175 left_yaw=0.0762 left_pitch=-0.2308 left_roll=0.1544 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -14.3385, 7.665, 1.2772, -0.4127, 0.3199, -0.1343, -0.1026, -1.2923, 7.1179, 1.7167, -0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b6543e211e910ab8e5acc8e438fb9e7f6fdba8eb6aa9b6e54abcfe52317b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51cd9eebd271adb204ce5fef1ee06e52477915db0a428fc9c48a756a37ea9616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1832c9804517f3c41adfe55fae5efa1c81e1cc2d96d1f82b5daf6cd3b1cd203",
      "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 32 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]: [-0.9962, 1.7184, 1.2438, -0.564, -0.7334, -0.7712, 0.2198, -0.0208, 0.7986, 0.6086, -0.3851, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3231 left_y=-0.2748 left_z=0.1412 left_yaw=0.0025 left_pitch=-0.1364 left_roll=0.0743 left_gripper=0.2198 right_x=0.295 right_y=-0.0005 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.0115 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -11.3573, 9.0325, 1.2137, -0.5397, 0.1832, 0.2906, -0.0615, -1.0735, 7.1043, 1.7021, -0.0171, -0.0708, -0.0122]\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]: [-0.8722, 2.6221, 2.8624, -1.3502, -0.6724, -0.717, 0.2248, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4506 left_y=-0.3599 left_z=0.1732 left_yaw=0.0735 left_pitch=-0.2244 left_roll=0.1441 left_gripper=0.2248 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -13.9419, 8.1026, 1.3895, -0.4518, 0.4713, 0.2125, -0.1299, -1.2923, 7.241, 1.7265, -0.0562, -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]: [-0.8635, 2.6228, 2.8758, -1.3685, -0.6693, -0.7071, 0.9952, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.452 left_y=-0.3545 left_z=0.175 left_yaw=0.0762 left_pitch=-0.2308 left_roll=0.1544 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -14.3385, 7.665, 1.2772, -0.4127, 0.3199, -0.1343, -0.1026, -1.2923, 7.1179, 1.7167, -0.0171, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b9b6543e211e910ab8e5acc8e438fb9e7f6fdba8eb6aa9b6e54abcfe52317b46",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51cd9eebd271adb204ce5fef1ee06e52477915db0a428fc9c48a756a37ea9616",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c1832c9804517f3c41adfe55fae5efa1c81e1cc2d96d1f82b5daf6cd3b1cd203",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0Q96mgFiAnDfe-7v2OIzmraMIfi1WN3BeXT3y4thjDjnwflRY9dEASYRIws2fRva-zxbI-7-cQ-GWm_vov4ynAAOZOY2F2f9rJYKitkYtBqwNcKYaDdFFHBffzrxdB7RdUlrtSfUigVWVGiR_EUNPnqPRFGhhRxMh-dDcoobW6fGEdDGkZBc5xK3_nV2Yryjn7IvuB-zcFlY9YYMDwxd90zTxh62CvK1IGqSWHON4622kWZR77cPX73xuFkv_p802CKwxw_JSq_VZXLMnCcw51RWFMXYeiKyNCESHDm3Yv8_UL7CtpFpJXj0_Znktxod8BeMyVNRglKNKOGUJ_eqcolLk_Kr9YlSouucC1tLiBBR-S3Vk7wChG4jAN6gae7j04elI2AW_jhSDuJi27yCo2BHOv4JFC_Ab4gvkM4-bDm-aFCE08omp_Rg1kWuuA-4JTgRxNUQruJZ0HndeHGEQ6UNaXHrG9JosH6HqMuvP7LqAu69F3hKa4Z7mkOmjDWmuOSSaZJh2iAoURcL7th5L4rFKdsVURjB9SM2Nw0R4pbqKqj3F1IiR36LJ4azA3gPb6tMXNvsIyFwJ6HGaBwP1ANpCE4X4a5MpkuBVUbu0te9XIJH0_Zf6GmBXpauvE04VIt6JhfQLGHVKL2AzbSdK4mPqRAZ0jgWIDsIZnATKfGkJFDFqGUOCARbY0eOoqK-T65fEAuaHmK7B40Q4vQZRADiq3UES0xqcHhioGdwIfGzsYCu6kDKO6wNRR_u4fjz1FJe_oPcBDb1YVyC2aCavFlrw44PWezH5i_NaHW7DoeEz1IGRquIc2qcaq9NRCmqBRC5PgZJJh7Po-cVX7eDR8gwlOFu7FxpfwtzkaZ0OXxt7RtdAk1Bzf1fst-6eoBljTcVIJwNCvRoV-ahtk4yyp7nSsPjr81nVp00X9BVXhx616CLwv7UQl9eRKVyd5_VIxkc6DYWWdKFeqoaCWEvtpUMdIZRwLZxor748UHyIHT_Ic0oKR1nvTFp-j17Sp6JRzlHrXTaNSMJ_VcPZ4DYEF66DlcItLv088D-NdEJ6DRFuUFy-2AZsdIkFM6RgVpLn6pXKCtF4aNTBWxPGRDw3PGk36EM9GP1oMmQwEvHV4RcwYmctzDS-EWzTgIsHLhTuNAf_5Faoc26guUyz92CYKaR7Dkrl2Jzvfy9dPiX_ZBnggQYNlfMdvHJzmglk_l76yVepCnRQ0CQnCNBwQrulvns9RaL3eHlVWuWFGnGFY7U6rI99gYsBJH73Fji6zHo34MKLRpbi4kQgbWJWKo9sogLiYruuhVXTAOnv5Q_492ZSwvYZDYVykDoQWleaABTkBhygGT8xDZQmSNmeKFMN-SAOFhf3mJsQTxirloYfVoFnYPAf7TqTmA8Gu8N86VuNvqX89tmjuwIr3vTAYVjpfnWW-9YXpaAPxhUBaK5yEs1d9MryyG8poGeErlLElrs0tymQdFnWm4GlO4z43GnHPCBZirN3X406DXoa7wiF_XG8smPlero2kQ_Y5_B2ysKJY14FlqevtEMV_W0XlHbU8iYo4UcqcgmrOEJvihWydpXMSwiVleMyASRmPmj5_3f_dv2JCRfVicP9KuQYhkj3PeiVoVNnRojH6LLO-wt20_c6ywNnrBOPwfsKO-F2WLnHrpD4K_WT41l1xvrwjaUgS1Q==",
  "id": "rs_09c089125edc36eb016ab41d0e6bdc87d0a46fa0a2b02e6db1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":0.0,\"left_z\":0.19},\"note\":\"The jaws are open and the plush appears to have stayed in the right basket. I’m withdrawing the left arm to clear the overhead view and make sure the placement succeeded before sorting the remaining objects.\"}",
  "call_id": "call_nXZA6S00uJhezQgM1I3r5u7M",
  "id": "fc_09c089125edc36eb016ab41d0f708887d0b8cfacef969d287e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_nXZA6S00uJhezQgM1I3r5u7M",
  "output": [
    {
      "text": "executing move_to over 32 steps (3.2s)",
      "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]: [-0.1894, 0.9936, 0.8864, -0.7071, -0.3031, -0.1265, 0.9967, -0.0208, 0.8082, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0007 left_z=0.1932 left_yaw=0.1232 left_pitch=-0.2151 left_roll=0.1445 left_gripper=0.9967 right_x=0.2945 right_y=-0.0005 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.029 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8513, 5.9966, 1.5556, 0.0171, 0.105, 0.1392, -0.1026, -1.5795, 7.0769, 1.8144, -0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf75771bec3046cf71a90597a05ee77babf6de8b13e334b0dabf0bc044ef114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09200588dae844a8426d5057dd59c6d312626c9102bffa2ad6abdb1b0cffb060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa2ad4dba127590e84d9930c1130a1896b83e05e31b1a41d4cf3b740e9c99f62",
      "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]: [-0.9096, 2.5809, 2.698, -1.227, -0.6941, -0.7303, 0.2227, -0.0208, 0.8021, 0.6079, -0.3866, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4429 left_y=-0.3794 left_z=0.1564 left_yaw=0.0554 left_pitch=-0.2074 left_roll=0.1458 left_gripper=0.2227 right_x=0.2949 right_y=-0.0005 right_z=0.1782 right_yaw=0.0004 right_pitch=-0.0172 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -13.9829, 6.1744, 0.0806, -0.0757, 0.525, 0.2955, -0.253, -1.3607, 7.1043, 1.7558, -0.0415, -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]: [-0.8635, 2.6228, 2.8758, -1.3685, -0.6693, -0.7071, 0.9952, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.452 left_y=-0.3545 left_z=0.175 left_yaw=0.0762 left_pitch=-0.2308 left_roll=0.1544 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -14.3385, 7.665, 1.2772, -0.4127, 0.3199, -0.1343, -0.1026, -1.2923, 7.1179, 1.7167, -0.0171, -0.0757, -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]: [-0.1894, 0.9936, 0.8864, -0.7071, -0.3031, -0.1265, 0.9967, -0.0208, 0.8082, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0007 left_z=0.1932 left_yaw=0.1232 left_pitch=-0.2151 left_roll=0.1445 left_gripper=0.9967 right_x=0.2945 right_y=-0.0005 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.029 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8513, 5.9966, 1.5556, 0.0171, 0.105, 0.1392, -0.1026, -1.5795, 7.0769, 1.8144, -0.0415, -0.0757, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4bf75771bec3046cf71a90597a05ee77babf6de8b13e334b0dabf0bc044ef114",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:09200588dae844a8426d5057dd59c6d312626c9102bffa2ad6abdb1b0cffb060",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa2ad4dba127590e84d9930c1130a1896b83e05e31b1a41d4cf3b740e9c99f62",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0ZJQw4Pz9XNw4Zj0ZcG0ff1CX3rj4IPUYM5tbvSTKQvsao3O7WM-PvRM3dp3KVC4lH8n3ORaSFyscziHo9tMqhR4iAx3lnyC_hz_IWzZJyyFUaqLfFLRWuPtDk9fKnZph9UBIofy-Zj-UkW0YSWliFWfyby8A2YQwZUAID0prnFxuByBFVQXLVGAKEiixB04_4rPj3bi_qc_xxlz5-z8ti11n2Bs4BisEF3rtagNyOvzkDw8eoFZ7kMkCDetbHimBcwTkgqu38G8Ut_kzT4Mz3GbEW5-nHuQIOC02N7aUpN0zN9abYcdx5LpeIbtvAHr4r9k12FZFzQT7ttNHK-PvI3JO3H_M0q_XCEP9wYK36GMH04KaAtPljecldZoUf-zvUDBtjMqFIirlsVQpUq1YMdJBjHkD51fT64IQ9rBC0GohQlnxJt9rfkG5yV1FSGDjRA39vKdFBPln31rrY2O8ydStzxuMwucTxdvuHWjWxMaLsyYgjyBvYb7tbEe8WhkdzvZ_9KDYij2YF_cVkIcRK5Jo6xCUYF2jsC_DLA_Y2tJ-p5QsqeZttqtAQEcGmke44pQoTsCG5LgmNhtruAKCp5Tz8Drr0r-1C4kvjMYTV5ztfSk5V0OwCEM2bQv2TOcxZ6e_ifh2o7lS1SLt09yOtPJNr1Oer56SVmhM2T9JvtWYAvKOu5vjxDey627PJ45JFK0TT39QeLL53dd5z9LuaxtdaWZsk8SWcRsAsJSfM8GYOYg3mSNK472qOIcdTB8hCYn_Wg_H3zJ7qL4MqOatJt1GhQqqeyXdIQEFwyjTSWjsS0pCZtsxl6VfsH8GpxKxg2DUSyxBvycpC5Q2QrI4GW4ckt6Mj83g6C3qj3gJOPScAqj7DiPMRLt0n4PK2_lbO4b1j-H6LZ7fNXMMezufHQd4uzoD316IHOX7hz8UwIZLijW9wHHq36ygnJ5UPArqm3cgVwQKGfdJoGHLEmtt4PT8XZiHjoDcaLB65cfTkWjM53IJOxoFeixU_FgPtNY7I72qF5szBdEB3pGTtZIFmPrc92wezhdZ2r91hDVqxvaqBmpZV4M9uXAMjXa1gKtPqJk-37OKyTAaqfl0I3FHGrYoj2lmz9pcy-wmRcUU9a9LRSbwFxKT0Ep5dKk1mwKj0SHsstM-dHc3qzN0sKk0C4Kc0NuTWwgXOaMoWTvefXriY2RkSbQoe-RertMC3NDPwLsZp3xSDu21V4GrRWEfpyk-7jVTcPpNYAZBo1Fx-M1kRWw4ZUgx6fP3xnt6iUc_M5wGt9sqMr5q1AHXQkVyZja9sWeG3hxPPi87fKlXrBZMI6PFJuSEPNqB3VsNu0CvZYUFEkDEzFUxwzD-F3HpI0g9EHL9ZGLgV6oM7MEB20Vp8IejgcppQu0vXRuWE1rIwx8aP219mAn0vfuMJRW-0WePEzj7d4lz3JwxuTWfKRD4SXIgX-i6JWnPylYWyiynkqzubzgvb6NLPToGn6cyUFt7GtS6D9yHA9ZKAZP4fC7-qZ_ie0DrvpKxC4v--ZCuzlK6Y-9GLe9wLxocMTVDMsL8egxAR5H-7zrOcPKVe8rzq8HiyD4JbqvZTfu2GqhG0wTQMdpIUFRA2ZlSpm3vbAG9ILdUhp-2e7x2xVcm0T-LVsVRVCNpp31IxY1Tst4Lg2KQ9bi7Y667W-gMWp-nBd24xrymouUQa7jJOz48XYI7xzd3fmcoDEL3aSPAIbUn8f7ham_4GtU5-YMKSzLDyoelyCOSdWg_CtT8Nn2dYf0fvjbZFXRZbifBJNsWt1mK4zsfKQwzO48HwboWZCXmEOGx4nir_iQ9QjcUJA4oP0H4eUVzOQjZCP_xjVYkwLQ-j_Ntxa_xb4_p09yP3n5pdRkCvfUdLmSYaMBybQ80pwrO064xi3ZWtUGXhZrCqVDjYrV2f3YYRTOtLjfbCXKAAjy1coSQWeRJnq07rqGMBCtO-wAjygxzw7qj1hWNCCs-24f0EXXPX-k3Pi8ohzAcGh9hl90ADB5w_gms6AU8yfcYWNJ6fGY6S2PqJu63UuQRaDsWWu6LMigk5QGe7tICc1yHzapz7ktC_n6jRPN5Np2LriIs0sQK4hidnkd0PDonxyCqoq5cjr1MmPBPB7U1FJK8a3EHPauaFdtTl70OD1sUJZIiz3oyQdTTaqovq-SomLFzsbjVaoVQBL3fs4j_hPf-zS5U02MdoqmI8xutW8WOeCFTGG88u154nW00HKep0ov_DGJ84ZURJD0Eqrwn4dMS-quhOS51xG4329VCSczuorcfZilUu4fTfZuwzAvtExNQ6QvjfyG_2yD60xqgCJCVtxxGy-234QAfKNYruSPX8qGVPoMvkq-OUUKjhiU-ztLK-Tcq36amjzlnAg-UBmlN1MLfs1ULSvTs-xSvI73cdRc-Qr9WuKeNpwqaTSoDqWjPo_qDJpABDN6UFcTa6OdBHKED_pwW6kPVlHTKHWSaiaHSCtEeUgvvVDkpAg5qlbUE7Ve25qIzh2g79p2l3SQsBxg2_Tj6BNp8O7GPPEfRWrVyVQ8oAxAYsEiA0jRdn4SeJrAF-j16EMMEhi3QIk-lCWboy_hEXqPuOmHdcb4RA0ZopqjCJujGpqH50Hyd2OINuZFVn-N64z7cGOn82Sww4FkoeLYflvY203Eyr1BbRIv3X-Cvd6jcsqyKj4DrJDb4u-Euvf73bS7oYZisr8Hu-cXWK3TbGKF7HlevzFxX0vmLI0bWYdugDix-ZhRNm4Sxsc4ALL12syd5Mt1UKQ-sUtDVkRe5oNnP3XiT5vGkypoY8R83XoHl5pdD6VXVhhOUCQ3CnMBkmysNC_dq4uOZnnU3tHfUpI5fOS1K7FjE1TOpp_IhN3b8fxTlKS050EfggqPkKMJhbALS02yhtQtIFyAAaWOHbUrsZygvNRI0smsO4u8dMI0BwsPM6j_PGmfDsqVydRmWJHZZt9eQ8fofhqUzXsASZxpaZrZCENRQBsyN-s-9_pPZQFoDKfL5GIBYmzYHmKP8ugIBNVEEd-FKRcT6Lp6hvOOqb27m4yPhjbHEic3-oYderEw159-8mVgYd9rcbB1jTTNvuNZbbqjhobwTjeHjPErcb2W7pg_aAU57R-3OLu5-_mMtGZ8moSfM-1bdZdzlu1eH8IJIrbC1CUBsNFKY42eU6LGNlj2t5Q1D3L332rcSVLgZwH9XA138HI1I_NRumzc6jya3eBhhj4qqs5nODDlTNS2y2nNOPJPjXN-Q90ZQ6JetNdzd2SYFeTlRLDynHNAr5Sf8hgoWy5BPpvXHNE1eoSq5fw171BMlB-tEUqAVqQ2hPfyvNi0xEfrUT5URS6XixRboPQMQpFOrMXffLSVx5U0Acor4ibp7f7PrhAHnMcjV_ijVcq2AfGFw3C8a7WSci0Gk54soJuIPqdsdmZDmIITumnROscPZtLTbXSljid6Llz4vd6XVZUzD9gcdfmTnJxwvFRCHdgCPLFU2UN3k6x9WyPNw=",
  "id": "rs_09c089125edc36eb016ab41d146d9c87d0a869bd691ae05c63",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.32,\"right_z\":0.14},\"note\":\"With the left arm clear, both baskets are visibly empty; the tan plush was set down in front of them, not inside. I’m switching to the right arm, which has a more direct reach into the right basket, and positioning above the central tan plush.\"}",
  "call_id": "call_EasZsYNB55JH1ZW4gQ0oFzdd",
  "id": "fc_09c089125edc36eb016ab41d182e7887d0bb9cec3234114a39",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EasZsYNB55JH1ZW4gQ0oFzdd",
  "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]: [-0.1913, 1.0004, 0.8845, -0.7136, -0.2913, -0.1276, 0.9968, 1.0279, 1.8065, 1.2533, -0.3786, 0.7784, 0.7208, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=-0.0017 left_z=0.1891 left_yaw=0.1131 left_pitch=-0.2321 left_roll=0.1399 left_gripper=0.9968 right_x=0.3297 right_y=0.3132 right_z=0.134 right_yaw=0.0178 right_pitch=-0.045 right_roll=-0.0154 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.9744, 6.8718, 1.5116, -0.2955, -0.0269, 0.0024, 0.841, -8.8137, 8.212, 0.9988, 0.5446, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54decf0f18a94a09db29c80c6d46be17b26b3f30f67f1aaf6ecb2e5933feba30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06f7c0ec8b1c4ff98b7ced980df0e45c9c31cb7bb5b711b5346c0bdc7fde661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff49943b729e722519b20e90a98c213f9fcedd57219aa6c3d87623232e2194f",
      "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 32 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]: [-0.8722, 2.6221, 2.8624, -1.3502, -0.6724, -0.717, 0.2248, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4506 left_y=-0.3599 left_z=0.1732 left_yaw=0.0735 left_pitch=-0.2244 left_roll=0.1441 left_gripper=0.2248 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -13.9419, 8.1026, 1.3895, -0.4518, 0.4713, 0.2125, -0.1299, -1.2923, 7.241, 1.7265, -0.0562, -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]: [-0.1894, 0.9936, 0.8864, -0.7071, -0.3031, -0.1265, 0.9967, -0.0208, 0.8082, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0007 left_z=0.1932 left_yaw=0.1232 left_pitch=-0.2151 left_roll=0.1445 left_gripper=0.9967 right_x=0.2945 right_y=-0.0005 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.029 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8513, 5.9966, 1.5556, 0.0171, 0.105, 0.1392, -0.1026, -1.5795, 7.0769, 1.8144, -0.0415, -0.0757, -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]: [-0.1913, 1.0004, 0.8845, -0.7136, -0.2913, -0.1276, 0.9968, 1.0279, 1.8065, 1.2533, -0.3786, 0.7784, 0.7208, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=-0.0017 left_z=0.1891 left_yaw=0.1131 left_pitch=-0.2321 left_roll=0.1399 left_gripper=0.9968 right_x=0.3297 right_y=0.3132 right_z=0.134 right_yaw=0.0178 right_pitch=-0.045 right_roll=-0.0154 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.9744, 6.8718, 1.5116, -0.2955, -0.0269, 0.0024, 0.841, -8.8137, 8.212, 0.9988, 0.5446, 0.1001, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:54decf0f18a94a09db29c80c6d46be17b26b3f30f67f1aaf6ecb2e5933feba30",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f06f7c0ec8b1c4ff98b7ced980df0e45c9c31cb7bb5b711b5346c0bdc7fde661",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9ff49943b729e722519b20e90a98c213f9fcedd57219aa6c3d87623232e2194f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0fh1nuWZJAjomEb1iGaswaJz7UForiSmSoE1WPW7fU68SMbPTSp8MpXyhtF9zY2HtFgbQstlFa_n79NGoKUff24L9Lkaf5NygEUT2133HY3FZNMnnTydMGBjklvwOcKWO4a84xOP6YyT1I_kWNM4k25d5IzJneCUO5wbIN21p4dJi7jQy7aCyTtrDKSSV_8BRDBI-5oFrtSuOnU0CRLG06U5U9zjCBDX3EFxq1AVTuV444Mj_S4cxlenLTsRV9OSHF6MOfjNxq_7zZ_cMGjTrWUzCXSiY5--z7cv1LczHpAzUMHdioGdik5RDG5j3bMPflumy_Wq0ejkU8HZsPWvGkSL1IlxAKEKpRQcb6joVXJYYZ1XEelw6zCqwuAWCxDuvvFnqZTeO_QSMcV-sLK8hcfC-lwlF3nN_WM-niw04rJLJdDtBHniYD7f_E2BwuKVy3QOs-MAaIQGPx5cMYM9BDAIrl0A2cYzebZogsLrSdkHAIBwoPIXvJt5W3pRWpfo_6mr-Swx3XLNarKFmU6MBfJ_aEvkd8cuMntauQGsvNUhUhR6JYh9FuLoUMzWygr0QWA7V580y2DYRaUj2-C0dhTrFcvhRWgVbbErKWKhiRAYvlNvT15Hd_QiUCDF7Z-xwP_KD408UXSjUf3mo3XdRuSqEKnq-RvdHnN2TxbeHkSlCJkY-ZO22beT3IAliCkCBRTR3YpaYRto790jZCw6UxYVwPJ3noJd6AhcFO0jkAMmQjauVbXtilLoVQ-3IzCDELp6jX6abT7EDtuGYEpFC0tw4QyYYAqD38Ti54ZorcawbDgwzL46CP1EJ_Ame10mctOoATtXLfEoNnuEi-datfNrd3jEnAXJvw1Y-qjFViwJg3y1Fprv27MuPNAWPBzCzxGNjagqKCM7SQNbdh3v5-FHPO-Vr4ja7IVJJhoF1xrnFNPJ45BWG-v8JiqA5sQiP0gheP6Sasf32hn0p9vFpL2m9AzIdKLT-aTZMB4ojN9weDf6YiX2g87V7i1Y5gI9zw7kXpjCjOZLOriBH-lzRKPqOppF3ajHariEn-O9ebdJ2d20P-pL1zzDRR6Y31LK6wSGU4Br52clrUK7WRa1wGwmtsk0srR23v3SPtRBiSH1i3NVRda0nOXIkgzZCWSJUv3b6FfmJQEPZevvlfmb6DGIieHZi5jTh11qJY52S3ly6CtJPlSPz2L1UztPiQwJrBGMCacJjmjPQX1zjo_NmjUnnGA4efwK_aBPuK9FAPTmPBMwDgwe1m6y5qt7g5h6CpWPEBPZTUaHznHwdsOVuLhNtU4w-8H03KfybrGRVAB4aPkp83Yd7tZOr690kFCg_hpybaEjcSXDTiD5Q3PPo5NwsiEjuvKgRdYF5o9jsBsP9rahBeDJ1pPNSB6b3BItMzJ6EDZxNN7ErzF2_Ulv4sXqtI3ptN41SCIgHbGVMmE5GeqqO6NI5Uy64nrccXAA82kg3OLqzEMrpClg_LoIYp7u8OLAuc3OO6yRBl4e_rOngPlLBOXQCVAjBQ87xMMjYL7BXeZof5RjGBnUCcGbS7q8hqoE-s2v9SHmZF1NuE5L5kRHbZQM2f-baW_YzYlG6kwm8mela49RigmMl5OhJhzqBce-qMvhcfhUTQs92nHRZIwDmjHVuTJ0Es30HX0-CWe47847zlgGRx6IL3fLKpqdnqnx7hpCCz6Op0ofbdzCpX2G_243pIoourEFKHiOjnzfroIWgVC_bLgyQkyVJovpra2osAH37hy_G6oOIz7Q1HLL0WOl_W5BHr0v0FLb_YBGuaoi_6eBpeiulbMJPU0tvwp9YJ6N6UgxOZx8OG4K1AGifRjOFzZ4lhfEKw8EmPZWEx3y82AyCvmv_glyGHN44O9uGxbP9LylktvuEBz2bcmwZueOSa3dyETV6ArsNBx-4ny3EsSqArhAgOUm_jpSKzRg1cSP9xPUfXEQPXoI5urGmLAjFwmjx77IkYyk-YwUwg9qMB1Ng9nrBivlhljm3ESQYlPQLUoJz0OBKKsiiWfBVxwPcmbAJ_7k9JN8jg0I6-4t8tS_JnyidDety24kTa06dY4x7sr5yauXhTstnYMsxD8JBpLxHI8MIwhdraSrnMlx6RN2ZeQU8U0ZjrJmQN-f7g7wBholnDHHRhbIRYy6vOZVJ437vubugN1DUyjKMtDRvggsqaX7bjesdfz7hl4e20dRUQBaod_fpM50GS42GlkyLvIV4mKncfLpXwn6Pmzq_Nj5dxJaSNhHjiWsQyi9-rYnoCsS_I5gfskOgPbRWaPyizNh5Ts9aL2rok",
  "id": "rs_09c089125edc36eb016ab41d1cbbe487d095d5788fa7a96221",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.33,\"right_y\":0.38,\"right_z\":0.075},\"note\":\"The tan plush fills the lower-left of the right wrist view, while the right basket is ahead on the other side. I’m sliding the right jaws left over the plush and lowering to catch its body.\"}",
  "call_id": "call_3xwzZ7nYrwpclSHV4rmu90e2",
  "id": "fc_09c089125edc36eb016ab41d1efe5887d0bc23319bb0055082",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_3xwzZ7nYrwpclSHV4rmu90e2",
  "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]: [-0.1913, 1.0023, 0.8845, -0.7166, -0.2909, -0.1276, 0.9968, 1.0931, 2.0571, 1.4292, -0.3061, 0.8379, 0.8036, 0.9997]\nstate[eef_state]: left_x=0.294 left_y=-0.0017 left_z=0.1881 left_yaw=0.1131 left_pitch=-0.237 left_roll=0.1412 left_gripper=0.9968 right_x=0.3382 right_y=0.3754 right_z=0.0988 right_yaw=0.0027 right_pitch=-0.0044 right_roll=0.0277 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.5641, 6.8308, 1.4432, -0.1832, -0.0171, -0.0122, 1.0872, -8.4171, 6.3248, 0.6325, 0.188, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4becbce590d36019d567221ff657e255ca414b480f8dfd0acfebb2755505f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c3f54dd926eaff686800a1da6c94d7dff01096f2c7f009bab59a8a3bf7f55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafcc0bf3651af57b16b035900356efdb96cc40eef6037d3a843a8aef2f3873c",
      "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]: [-0.8635, 2.6228, 2.8758, -1.3685, -0.6693, -0.7071, 0.9952, -0.0208, 0.8032, 0.6079, -0.3855, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.452 left_y=-0.3545 left_z=0.175 left_yaw=0.0762 left_pitch=-0.2308 left_roll=0.1544 left_gripper=0.9952 right_x=0.2951 right_y=-0.0005 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0172 right_roll=-0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.3761, -14.3385, 7.665, 1.2772, -0.4127, 0.3199, -0.1343, -0.1026, -1.2923, 7.1179, 1.7167, -0.0171, -0.0757, -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]: [-0.1913, 1.0004, 0.8845, -0.7136, -0.2913, -0.1276, 0.9968, 1.0279, 1.8065, 1.2533, -0.3786, 0.7784, 0.7208, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=-0.0017 left_z=0.1891 left_yaw=0.1131 left_pitch=-0.2321 left_roll=0.1399 left_gripper=0.9968 right_x=0.3297 right_y=0.3132 right_z=0.134 right_yaw=0.0178 right_pitch=-0.045 right_roll=-0.0154 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.9744, 6.8718, 1.5116, -0.2955, -0.0269, 0.0024, 0.841, -8.8137, 8.212, 0.9988, 0.5446, 0.1001, -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]: [-0.1913, 1.0023, 0.8845, -0.7166, -0.2909, -0.1276, 0.9968, 1.0931, 2.0571, 1.4292, -0.3061, 0.8379, 0.8036, 0.9997]\nstate[eef_state]: left_x=0.294 left_y=-0.0017 left_z=0.1881 left_yaw=0.1131 left_pitch=-0.237 left_roll=0.1412 left_gripper=0.9968 right_x=0.3382 right_y=0.3754 right_z=0.0988 right_yaw=0.0027 right_pitch=-0.0044 right_roll=0.0277 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.5641, 6.8308, 1.4432, -0.1832, -0.0171, -0.0122, 1.0872, -8.4171, 6.3248, 0.6325, 0.188, -0.0855, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a4becbce590d36019d567221ff657e255ca414b480f8dfd0acfebb2755505f1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c3f54dd926eaff686800a1da6c94d7dff01096f2c7f009bab59a8a3bf7f55c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fafcc0bf3651af57b16b035900356efdb96cc40eef6037d3a843a8aef2f3873c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0jBqAVc4bqEd3yktCYY5DQ38T9qFWoQSprylJn0n0_BATWW0KActRJX_q0Aa44MUMYJhIdVDoL1RPEl66-avHv9-QBeTRv2JILqxmP7pWYpcpkhfig71lVYdM8_7HI5sWbUkhnBJGF1gDU4sLSP2nHJ_JdtML4wfaP1i9T1VySU8lJTd65GaNI009FzDTy6aSu0mGCGmk4Tkb3nZK1zDIxQJ-Vqca3smFPcya-jvEiGnQUmgK6wPCzxPZ3qG9dFsd5AQmB7ViFuNig0YMS21xO_OOBN3vAPnpk8Rr1PvcZlavKZsBnrbp_I52NH2AMIQInRP1IKFoFC0snBbS_UHc7jB0lvbNRKh7NNE9tZdb3lK9Wt1wmJINYO72Y_p0Ot51cyeywos-PEGZZMscvKcGeKUW8bOL1AgH-lsRx_Gla0fvZWcvp6-YMR6SuJItBJORHvErkbTm3Qc3qGqJyVAoPyP5e2GY5_FxZVXnmdJeoMd41vKJq0u8gfkeU2MVd00cSABP_NHWrAfjpnu9GShhWOr9O252Nurxn3AIrN-jqR-Y_4g8CZ0ItW8rpkIJ5MZHl5TJi4zYnEHQLxxIXFUBleBHKINWTZP7WtdCb0twKjHrX51Jpn2SgnR3n6wwlNcQKsZoPjsaPYeIKkfws9zutqSfIAyonBK5Vu0YGbyoC7nJ7JWj_5oMTQCAc0okdqPf6YYe4KoMCoLJNmWumbDLG_tOYiUXuYWo7A5yaxjn070gIVMGRb3gifXykUPzxogM2AKKC9WIa3V6O5sqx0PdcISPJ8nmLZDRLyjb7eSxwnQwvCdkeiijGxmZoh9gbNPqwIQvklJ_QCXLwDHO6iQhxbx-F_n254pBMqX2XwpHkY7M7ZtCuI8XHbFdiFG36rhCH7osOr0gsEVoLvr0gfAX4j8Z9lEI2sU5Jzbh29DAJnOhPzoSXS4uoNMleyneaKuDYXWPJ9olwU7fIAgIZ9W6crb5CVYKCkPcvbxDOlUySZLV9wQUxzoGql-Owl_M28A3T_KpqZ22MTgCeDtLP9PQqKAf5sprD0Bdb_MDNXrCmQWvTSWVdbKmInRdibUTEzV-n38dNMrrzHK7u5Zklct4wBF6cZEpr0_7gC1AloyYrmwCNO4ROozVyTRLNtuxYas7B0siBalo-BNGWbXC1XASIMw-4HAnepXDNzXxkYghSZWX8skQMFNrf9N-X4s8aoTBe39LVcqlJ6RHGkziJx9TJiKVIKckbygeyFrBxI-vn2yxiOht8CH2bnlvviOPmOn23mh-_kQ7N4w3YZhcI5CE-o0ge9Mk6S_fZJZVB6jI7lG6T9IEr3NoR4-G85r0By4x-fP00ESwrolz5hkdS_U1w10iYtBxcS_rbA36Bl4np4l_I0X4gv-zEop9ZBzoJp1l1Qv8RRNuggXLQoy8fuDzzE_E_nbgD_3lk7gTnkxxjguscxmXGYNgMW2N61zX7lNNq2fuSu-9yEAhncmovfQqUAI_nRuGxa-cwouQtFSr24qvA365BcqGE_TW7gnItxMFH7LluFFj9UVPq5wnxth327touuX8q-PUOKO3x2O1LpNb4XHhkTHTE-osdWoA2ofKl53ZIvxir1fblJGZycvT_eyQqcIOnw8UzcR1aCqGQYRad1buwWgTeD27K3aL_X7gDbCtMrllQZLKlZUs4T2KatTjMMgaf7PJfKywxIDVYBMbvBaUztVgJgLBnzxjUMaWDj-USWEu65aFqF-SclITt-aIJ7kJI0TAmJWo4u_6Rzpt2ubLsCMEBlDkTuIHKM-qy-7J47EASa2TyDRyQTnOjOKqyR1rHSzMiexVMtHdZsCM7Fy6P1FLqjFstDq_w7W_aNo7zpYmgWvfJIZ7atNTkU0sWOQGc1_wwdIdsLzTxUAo=",
  "id": "rs_09c089125edc36eb016ab41d21a1e887d08087937cb8a68b74",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.395,\"right_z\":0.055},\"note\":\"The plush is now between the right jaws laterally, but its head is still in front of the fingertips in the wrist image. I’m advancing a couple of centimeters and descending slightly so the fingers close on the toy rather than just brushing it.\"}",
  "call_id": "call_qId5gCMXJN4VTN19U6dUeKud",
  "id": "fc_09c089125edc36eb016ab41d22f3e087d09b2a9c2b896c683f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qId5gCMXJN4VTN19U6dUeKud",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "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]: [-0.1913, 1.0035, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0763, 2.1578, 1.496, -0.186, 0.8524, 0.8043, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=-0.0018 left_z=0.1878 left_yaw=0.1131 left_pitch=-0.2381 left_roll=0.141 left_gripper=0.9968 right_x=0.3605 right_y=0.396 right_z=0.089 right_yaw=-0.0251 right_pitch=0.045 right_roll=0.0999 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.359, 6.8034, 1.453, -0.1685, -0.0073, -0.0122, -0.4855, -8.7179, 5.7094, 0.3834, 0.0073, -0.3443, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab0a56805f6e0221ef4971cff5abcd6f95a866e0e24dbb53031e900274ed7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d4775d051686b6dd8eae64ac731189a91c3d31f92d7acd26e928a296147787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a7e59b509e73a1d0d6afbc603e96e857b1073579afdc71b63ef48e3702e2d0",
      "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]: [-0.1894, 0.9936, 0.8864, -0.7071, -0.3031, -0.1265, 0.9967, -0.0208, 0.8082, 0.6075, -0.392, -0.0116, -0.0265, 0.9997]\nstate[eef_state]: left_x=0.2953 left_y=0.0007 left_z=0.1932 left_yaw=0.1232 left_pitch=-0.2151 left_roll=0.1445 left_gripper=0.9967 right_x=0.2945 right_y=-0.0005 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.029 right_roll=-0.0011 right_gripper=0.9997\nstate[joint_eff]: [-0.2393, -2.8513, 5.9966, 1.5556, 0.0171, 0.105, 0.1392, -0.1026, -1.5795, 7.0769, 1.8144, -0.0415, -0.0757, -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]: [-0.1913, 1.0023, 0.8845, -0.7166, -0.2909, -0.1276, 0.9968, 1.0931, 2.0571, 1.4292, -0.3061, 0.8379, 0.8036, 0.9997]\nstate[eef_state]: left_x=0.294 left_y=-0.0017 left_z=0.1881 left_yaw=0.1131 left_pitch=-0.237 left_roll=0.1412 left_gripper=0.9968 right_x=0.3382 right_y=0.3754 right_z=0.0988 right_yaw=0.0027 right_pitch=-0.0044 right_roll=0.0277 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.5641, 6.8308, 1.4432, -0.1832, -0.0171, -0.0122, 1.0872, -8.4171, 6.3248, 0.6325, 0.188, -0.0855, -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]: [-0.1913, 1.0035, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0763, 2.1578, 1.496, -0.186, 0.8524, 0.8043, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=-0.0018 left_z=0.1878 left_yaw=0.1131 left_pitch=-0.2381 left_roll=0.141 left_gripper=0.9968 right_x=0.3605 right_y=0.396 right_z=0.089 right_yaw=-0.0251 right_pitch=0.045 right_roll=0.0999 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.359, 6.8034, 1.453, -0.1685, -0.0073, -0.0122, -0.4855, -8.7179, 5.7094, 0.3834, 0.0073, -0.3443, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eab0a56805f6e0221ef4971cff5abcd6f95a866e0e24dbb53031e900274ed7f4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45d4775d051686b6dd8eae64ac731189a91c3d31f92d7acd26e928a296147787",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a7e59b509e73a1d0d6afbc603e96e857b1073579afdc71b63ef48e3702e2d0",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0mgHVC7UMGfYTyoRuf0p1mmgXzgQrk-YRaF4rgk6t3zQm7tqXJ1F8TIr2bC7fkdM7ZybjE81EEuiuVw4nmiMBhAtlb2aesVzUTLMZZSB-MRryv5IkuYkLLiKZWhqqKu5MMVNK5F93Qz3quVjd9rTi6J4g7VXC2hBMHeoLUr_Ie_TEIyc_JWEhiiB4YiEGQglzbNl9xrwKarAaLTcZFkWkCbTLJT029tkfOzXccsIAAy0dMEJzBAB5LXC1QVbBcwjY4kPJEtUj1xcGxCGRRhAHtpYmnOorpH7gDf25aqmWrogpoN4gW3IuA-W8snjGEe9OID5MaC6OQX7dmQES-yEc-RoY7eLdxiaKonuZosbHeH7HMzvXpMEE0mkuhZyhM9NtC-H-CVb3erQF7z23AE_PYkfsoXdHpRsMRR9NmJolEm9zDhkp0ISiOvduITBXj46QoNaanbPpCWnB6zlvx_jEqYXmlM4xrOmsz6fhouOrJJ-JJL5ZNDE2Jo1MGWbZH7c5eZElrOOV7I4dpCxLyaqCFCB4ZTx8YRYpYD0X4DERm5EGGs_HbZeyzsgoguXfGW8WxgCqGFdA6CyPCCMv4O53ZctBIYxLVGW9FDt98q5s1vTiaFQSAz5Y8hOb4Wi8P48IlWBlZo0BsfU9SX4_NMzhzd2j2w__edCwrFfkrdHf8eCne259LtMv-3eyt23SLCIKLsqPCe6TF0RknkvLcklrvdZ_u2_ttd9GiQXWVBzwIhzgqpbu_j1cNhgqVXIyjppEbfq4WClh39xf-FihHb2mCkErFWcpGAh_3iW1pK9ZmTksDwEizDa7PrxkgCBhCsP28fdQ-priRvTr18503j5SUneQ31Rfw1Wkxykf7Ypd_chiXW1_HxwuI8JwoTnAME_ekOTx5CY-n94U3HhwqS4_E3lkD3QoHkL_RBMJoCVQ6BapgKFK_fJIeCjOTK629eSosauueT5tBHk_Zy4TLIQevHdbcvI2t4XLfGtOqLa8CD1ChpBQnr99FKVJ_BcHgtg8Pik36iHfkOY0oogFZjJM8XswNO7FwJincyHPQcNyms0ZFjz5h8vaEsPm_5Vu0ta95pDti_sWbGolom-b7c9Fq7Nf3q2seKw0-EmKc24nlTBHgg2DaUwmV5pj4r0PSc7m6rharoBOa-aUqW6D14nk3icIhLsZ3rnZJwDaqH6c8ApwyfKHDWXovak86SGGbW4vfYut5t1cT7smaC2veqOmThmfIjbPeMlEgb0-vpqrOPRRZcJbaqK-3xCkHa5pK6RsDmVKrZqUlqum8_DSwndv9mQ==",
  "id": "rs_09c089125edc36eb016ab41d24e8ac87d0aa9124bd9c0e4e5a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The right fingertips now straddle the tan plush’s broad body, and the descent stopped above the requested height as the fingers met it. I’m closing around the body and will test the grasp with a straight lift.\"}",
  "call_id": "call_dkCUpZFiCgZMPV7JGXnq1s2z",
  "id": "fc_09c089125edc36eb016ab41d253aa487d09822cb75fb272387",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_dkCUpZFiCgZMPV7JGXnq1s2z",
  "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]: [-0.1913, 1.0046, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0737, 2.17, 1.5028, -0.1371, 0.8566, 0.8066, 0.1088]\nstate[eef_state]: left_x=0.2942 left_y=-0.0018 left_z=0.1874 left_yaw=0.1131 left_pitch=-0.2392 left_roll=0.1413 left_gripper=0.9968 right_x=0.3657 right_y=0.4016 right_z=0.0918 right_yaw=-0.0339 right_pitch=0.0672 right_roll=0.1394 right_gripper=0.1088\nstate[joint_eff]: [-0.1846, -2.5641, 6.7214, 1.4969, -0.1538, -0.0415, -0.0122, 0.0068, -13.1624, 6.0376, 0.8718, 0.2955, -0.0122, 0.5495]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f335aa2512684e07b7f83ac238e10ac044bb992ed36b820f1596f62b32af97f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbd9bd55357b46af2594853736db7e17002bfefad6476ad0fdb84cb0ed33a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464602338dd12ed9c5e147a63a4aa7cd2960d9387e54de504fe4b9532eec9733",
      "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]: [-0.1913, 1.0004, 0.8845, -0.7136, -0.2913, -0.1276, 0.9968, 1.0279, 1.8065, 1.2533, -0.3786, 0.7784, 0.7208, 0.9997]\nstate[eef_state]: left_x=0.2944 left_y=-0.0017 left_z=0.1891 left_yaw=0.1131 left_pitch=-0.2321 left_roll=0.1399 left_gripper=0.9968 right_x=0.3297 right_y=0.3132 right_z=0.134 right_yaw=0.0178 right_pitch=-0.045 right_roll=-0.0154 right_gripper=0.9997\nstate[joint_eff]: [-0.0479, -2.9744, 6.8718, 1.5116, -0.2955, -0.0269, 0.0024, 0.841, -8.8137, 8.212, 0.9988, 0.5446, 0.1001, -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]: [-0.1913, 1.0035, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0763, 2.1578, 1.496, -0.186, 0.8524, 0.8043, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=-0.0018 left_z=0.1878 left_yaw=0.1131 left_pitch=-0.2381 left_roll=0.141 left_gripper=0.9968 right_x=0.3605 right_y=0.396 right_z=0.089 right_yaw=-0.0251 right_pitch=0.045 right_roll=0.0999 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.359, 6.8034, 1.453, -0.1685, -0.0073, -0.0122, -0.4855, -8.7179, 5.7094, 0.3834, 0.0073, -0.3443, -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]: [-0.1913, 1.0046, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0737, 2.17, 1.5028, -0.1371, 0.8566, 0.8066, 0.1088]\nstate[eef_state]: left_x=0.2942 left_y=-0.0018 left_z=0.1874 left_yaw=0.1131 left_pitch=-0.2392 left_roll=0.1413 left_gripper=0.9968 right_x=0.3657 right_y=0.4016 right_z=0.0918 right_yaw=-0.0339 right_pitch=0.0672 right_roll=0.1394 right_gripper=0.1088\nstate[joint_eff]: [-0.1846, -2.5641, 6.7214, 1.4969, -0.1538, -0.0415, -0.0122, 0.0068, -13.1624, 6.0376, 0.8718, 0.2955, -0.0122, 0.5495]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f335aa2512684e07b7f83ac238e10ac044bb992ed36b820f1596f62b32af97f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:adbd9bd55357b46af2594853736db7e17002bfefad6476ad0fdb84cb0ed33a0f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:464602338dd12ed9c5e147a63a4aa7cd2960d9387e54de504fe4b9532eec9733",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0pWWhNVoJ2K-Sq_p2rkolNc-Bq3G0_9LvR9A2oMhmhF9gOoTcNyqQ6kBD-9cNnIDogD8nKKvbob6ukqtU6i9Ei3FqVjx_JCpjmC6pue2yHB7ec9vbnbPAXU1lnF5NNeNbT8QPJFf_9yuZk-8CymmjqHESzS5jkFhE2G-zbt5ux2BwvgZEfszEcMQAlNfqM2jxEDg65xZBcgTyHIgd-2EPhMeihQGMD5zWiZ1X7PoZjNblFAfXGvRuOPxRPxD1kfzkXcOnXh0dnzZ9fAdfz5pQnpw4OfgZhnZ5JNo10RdfV7yfElE7tnIC1rCoYDnjHgTB_oCzdckf_ch6J5lzuaQK53kvLKzIPzHM1B3GJ9oatFIewApEa_-5Oe16JPzt-eGWmzFrGTJ8rMq-Zkt4SbzUnQSLSmE20vx1UQYFh2Xa_iAz0ay2e3-dh4HwesiqLogEvoa7Pthf6BHTCXFJII6nrcI2Vt4Uu-ziLvALB8FO6YIUQgSf3Ag8YZ7SL1fLGTBOlr8XlC-1sicbjm2sMiWNZwyeGJupCNdLRzUxABKf8Lt6qqnL2oKtVLLV3vFW8GD0iMExBvzDm5MpWXhuNibn51i7xCzIFM9DBXSTJS4_UjkwQqgJUhaiHH14kOd8zIimOkYCWhM1R0z-Q5NORvpRhEfCMFxV0VQcZHylb2m5lf-o0_b3xPdRXbJiVzM35AjxbX_U6ZxBWMkKTBeHzs8JTcfbmhkXXVq_KrQZO6w_yXl-PlIo78PztojwSNL7IHrTQueACVFjJKxuRau_6qSSrwmTWn9m2Ln7xPqNMDiUEoEOdyL3yw6vW4aOVXn2tqwm6Lx9s_WwiWY31CupjCBttg718NKVLtMSeR1SoWuy3Vd3t8W3943eJg_DIzroeuFlnsBindwgXD8-HKANKy1CdgsrvUZX81q8B7Lj-qXLH0v8rL2exNpCFtXG4Wr46vSMYkPNoHo4OU471X-3OBUVhRLaCb6o4rjF742JHx8BOR9V-Sx8JZh0Rfr93guzZq_YmBTiadNQg8vBxcWX4OCxgrbi1ri4Wpg8d-aNUjYpF7fk12L3NqqYox70Uyfe10cXhLZu7D36Pv_PMEPD0MmcEwo9IGCtSbLPR8YhlV-VWx4SXq7J-CcToSBmun20Z00NjHwsQkDSx5dAiYHkSU07ysAkIgRMGbj6bK4s-NAAQVWP8AANQ3-daOWK3s_lhjWjq010QE55juKMAXw3aTh57e3js-qyDyjT0ClJBZRzDQY2cp1xtw8Tnkc09-sc8LPtpSbM8rYRrryXn5wK8ZTUGFzQ85Tcwa-LiujUIeR-Fkd6Ydvb4hNArBXqATR0mDFh4uYAhwyWBdLRlR9MGZmHXbJ-Xv_pSeoDqwH1Z9a4G5CY=",
  "id": "rs_09c089125edc36eb016ab41d27fbf887d08f165ef6f081cff9",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.21},\"note\":\"The right jaws have settled around roughly 1 cm of plush fabric, and the toy shifted as they closed. I’m lifting vertically to check whether it is securely held before carrying it over the right basket.\"}",
  "call_id": "call_hr2Dy7mRexFBFc9JBuyeNMPn",
  "id": "fc_09c089125edc36eb016ab41d28748087d0b17e96672428e820",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_hr2Dy7mRexFBFc9JBuyeNMPn",
  "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]: [-0.1913, 1.008, 0.8845, -0.717, -0.2905, -0.1284, 0.9968, 1.0729, 2.1143, 1.7645, -0.5045, 0.8253, 0.8009, 0.1111]\nstate[eef_state]: left_x=0.2944 left_y=-0.0018 left_z=0.1865 left_yaw=0.1136 left_pitch=-0.2428 left_roll=0.1422 left_gripper=0.9968 right_x=0.365 right_y=0.4072 right_z=0.1673 right_yaw=-0.0089 right_pitch=0.0241 right_roll=0.1005 right_gripper=0.1111\nstate[joint_eff]: [-0.0889, -2.7419, 6.7897, 1.4335, -0.1734, -0.0708, -0.0122, -0.2803, -15.8838, 9.4974, 1.2918, 0.6032, -0.0122, 0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d693cba9574fc46c910e9dfc3849788fa7c0e05835be573d3202bbed953af3d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444fde15c373b2a0f807e16fae0e63b69d590b0e66bffabd760df716b1d67030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9265182d42538da61a193974ed3a3fb0a86bc57d79a25af37fde773970fa86d",
      "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]: [-0.1913, 1.0023, 0.8845, -0.7166, -0.2909, -0.1276, 0.9968, 1.0931, 2.0571, 1.4292, -0.3061, 0.8379, 0.8036, 0.9997]\nstate[eef_state]: left_x=0.294 left_y=-0.0017 left_z=0.1881 left_yaw=0.1131 left_pitch=-0.237 left_roll=0.1412 left_gripper=0.9968 right_x=0.3382 right_y=0.3754 right_z=0.0988 right_yaw=0.0027 right_pitch=-0.0044 right_roll=0.0277 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.5641, 6.8308, 1.4432, -0.1832, -0.0171, -0.0122, 1.0872, -8.4171, 6.3248, 0.6325, 0.188, -0.0855, -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]: [-0.1913, 1.0046, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0737, 2.17, 1.5028, -0.1371, 0.8566, 0.8066, 0.1088]\nstate[eef_state]: left_x=0.2942 left_y=-0.0018 left_z=0.1874 left_yaw=0.1131 left_pitch=-0.2392 left_roll=0.1413 left_gripper=0.9968 right_x=0.3657 right_y=0.4016 right_z=0.0918 right_yaw=-0.0339 right_pitch=0.0672 right_roll=0.1394 right_gripper=0.1088\nstate[joint_eff]: [-0.1846, -2.5641, 6.7214, 1.4969, -0.1538, -0.0415, -0.0122, 0.0068, -13.1624, 6.0376, 0.8718, 0.2955, -0.0122, 0.5495]\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]: [-0.1913, 1.008, 0.8845, -0.717, -0.2905, -0.1284, 0.9968, 1.0729, 2.1143, 1.7645, -0.5045, 0.8253, 0.8009, 0.1111]\nstate[eef_state]: left_x=0.2944 left_y=-0.0018 left_z=0.1865 left_yaw=0.1136 left_pitch=-0.2428 left_roll=0.1422 left_gripper=0.9968 right_x=0.365 right_y=0.4072 right_z=0.1673 right_yaw=-0.0089 right_pitch=0.0241 right_roll=0.1005 right_gripper=0.1111\nstate[joint_eff]: [-0.0889, -2.7419, 6.7897, 1.4335, -0.1734, -0.0708, -0.0122, -0.2803, -15.8838, 9.4974, 1.2918, 0.6032, -0.0122, 0.232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d693cba9574fc46c910e9dfc3849788fa7c0e05835be573d3202bbed953af3d1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:444fde15c373b2a0f807e16fae0e63b69d590b0e66bffabd760df716b1d67030",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9265182d42538da61a193974ed3a3fb0a86bc57d79a25af37fde773970fa86d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0tkILJJve4YxsHh2g-yV38WAe-JHgVaUVAnNuZNg4Uki4bd4vhzoEUHOHeziulxfHyF9qhmnUncAwbcgQ0p_1fVaGLpXUWoE0BkFW4OnbeIkwIEc05o8NbWD_X7a9JybzlPpGjPlGCh2EmSiDEY9-IX24irRW7MWMeTMNxidJtqqPvTN8CFWbq0GemgWKv2CIhjypBpCs3uym0cTqDsbTEd_EsqVVcFh2nCKvL1KAtKUYhJOCbuSQWYk3HkvIa9gMD7hRqFOkL00uMFOAHe8M-Ou37ag3YLSAdCtBZqelUSc0RiEHphI7V5QYv3DHqz2RcqYEqaCb6PMhYzYSNMjt-gUELK8OJs8SIDAC1_thkQs1reyhRNGIu1tU1Pq8aj2Nhr-PlQTfMPIYPwya0e8Tkbqda7AHtLCdi7lMnr9gVRJ-iHwvnDoL-AUh3kiZf8H6tjtXKKLqVUlshXDacZr4ZKEsFMqT3gTfKuTvBBoPxBxnS2wDrM_OPjvQWveaV8_yGf0m8e6IZM4fFyYvzba3SzMck11R9ChYLLVwxj631pglCROt28AXHSb6vEFBOqxNCut9xJhsJg6TDfiJ0k7y5D212a9cxfMR2fPSHwE9CZT8Wp_mqxWwDew3p_LnCeSVy2StBC0EGs1YoyBqxNAazonoIXbHPPF6hol4IwChzUX5g7kyR19Bt6e7LupP4icqr_S8aM58WXFq1OQ_wF5YHEhfxSaggSHF4hwNNC3FmiHdxttLLnOILh8eQ-gj84TmAM9Wr8dckt7b7YwZsH5ZoRSqFaqfu8kjVnanoFaF4r_nrJ-gyFHZXEGIdprVu0BHDTI2I_edM-gP1RsM6tEhgAJAh8iXxjlOGWugrD8hDErU_v_O525ByW8777YTWZLUnhzNtzknJMmmWL5_m3oWLkqNR2mSKoYtZDn_8Wfi76tKfSco_1yIlRoi3kdwLZo3kuAb7PRUy13VPinXbpScQszVg53Y9wc7joWNuyQ9T26_pGHdk7_OAd9KZQYarO_RyRVzqj3Ce7Lw3RymVZuGLqCAvY7BUEkE2WoVJGx-cMXQUFDmEh8v1jLIJRZbAMMi4eYPZZ8CILWQlASMDk_kyO0KiPKsg_0KSde-XBIJunsoG6AaQFr14EV-FtfVrIyiXybLsO8w9cZqyAiyCXA3QuPYnVaeefa3ixAuaoduMwklShgrd3vMMt9UQv8Vrg9TA8ziRrgoMWAfBeMlmkSMqjWJpN_1G-IWBP22DVUltfpCY0363nyeEJzzuVQriZdlfsOiySOtpkntcpcpqGR4FndKiBNInN1ycjsJENRJcKvNb-YXvFrtv1Anuh32SnfFueDgLKD80K4JHWho7MzfJ2CNDlrKfGaEnPFaW6wWluCCe3ue1_qJ_UIWBIIvpU0g_PslIkenpsgygiSixDCJccN441ZdfYf2LOALg_oHQ5-yIHx_OvFp-fmILBqErD_31m3xOjqC1awBer2FGBspHb-2A6dAwf_gw2MXmSUM634c_p-P9UdlwKPwpE5C3NG7OTr7yciqpdCWbc9q7mUGGWmwNoPfigcLy6f6szV7VDkIP6Cx2Jq2PTACy8an9ESuHzwabja3YvkFZYs_aNiGSTEywAC-Iz1mJ9e1Qo7NLmluVFbrpE4pwI7ZwJATNbdTboeb_b0fVTZ1yrunZLCd8s3QFH-m7ZdO7yxSd_7bLlD8jr038Pe-YC2W65rAnDFz6HQaNs3s71nFR_-4-dy08AEPTE9DugQ50oc5Rmh7qxXOFeBTCY53Ntrys-IRGtTZXk3hHYJlf2r53ns6tylYToNKFWzbL7gZ0VENTzF5cjpxDxR1dOid1_OsQHidhK-csJZ4i9GRDkLYcp4idR_ACmWPPpIZU5ST5tzIcZ-1FSrSNMs-qt5OcJspt-CXkvqqeOyGAGuYUWcjmcJ55d2qn05uSwIMY6fV7PJjzs1dZn-8=",
  "id": "rs_09c089125edc36eb016ab41d2aeaa087d0b9cb06f3e9e49094",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.44,\"right_y\":0.17,\"right_z\":0.22},\"note\":\"The tan plush is visibly suspended against the right gripper after the lift, confirming the grasp. I’m carrying it toward the center of the right-hand turquoise basket, above the rim.\"}",
  "call_id": "call_EGRZL9vDlNAkJhMZxP1uoFIZ",
  "id": "fc_09c089125edc36eb016ab41d2c5a9887d0a08a7195b88f8e90",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EGRZL9vDlNAkJhMZxP1uoFIZ",
  "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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2901, -0.128, 0.9968, 0.5205, 1.626, 1.2324, -0.2749, 0.4019, 0.3691, 0.1125]\nstate[eef_state]: left_x=0.2945 left_y=-0.0019 left_z=0.1865 left_yaw=0.1131 left_pitch=-0.2426 left_roll=0.1421 left_gripper=0.9968 right_x=0.4373 right_y=0.1752 right_z=0.193 right_yaw=-0.0156 right_pitch=-0.0447 right_roll=0.0714 right_gripper=0.1125\nstate[joint_eff]: [-0.0342, -2.2496, 6.7897, 1.4481, -0.1392, -0.0415, -0.0122, -0.4034, -11.5624, 6.9128, 1.9805, 0.1832, -0.1001, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e7a8721fd7ca2c9ebb729a064b93e1b064eb5534d8b4fb3fe392d7f9f54d57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867449d9f8669440a3e930dce7431b7654d45b2596e54e8d80521ea2ff7c3da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ef71b2cf57d74af5b26362c85758cce2299ee98ce6632b836d4201339a193e",
      "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]: [-0.1913, 1.0035, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0763, 2.1578, 1.496, -0.186, 0.8524, 0.8043, 0.9997]\nstate[eef_state]: left_x=0.2941 left_y=-0.0018 left_z=0.1878 left_yaw=0.1131 left_pitch=-0.2381 left_roll=0.141 left_gripper=0.9968 right_x=0.3605 right_y=0.396 right_z=0.089 right_yaw=-0.0251 right_pitch=0.045 right_roll=0.0999 right_gripper=0.9997\nstate[joint_eff]: [-0.0889, -2.359, 6.8034, 1.453, -0.1685, -0.0073, -0.0122, -0.4855, -8.7179, 5.7094, 0.3834, 0.0073, -0.3443, -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]: [-0.1913, 1.008, 0.8845, -0.717, -0.2905, -0.1284, 0.9968, 1.0729, 2.1143, 1.7645, -0.5045, 0.8253, 0.8009, 0.1111]\nstate[eef_state]: left_x=0.2944 left_y=-0.0018 left_z=0.1865 left_yaw=0.1136 left_pitch=-0.2428 left_roll=0.1422 left_gripper=0.9968 right_x=0.365 right_y=0.4072 right_z=0.1673 right_yaw=-0.0089 right_pitch=0.0241 right_roll=0.1005 right_gripper=0.1111\nstate[joint_eff]: [-0.0889, -2.7419, 6.7897, 1.4335, -0.1734, -0.0708, -0.0122, -0.2803, -15.8838, 9.4974, 1.2918, 0.6032, -0.0122, 0.232]\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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2901, -0.128, 0.9968, 0.5205, 1.626, 1.2324, -0.2749, 0.4019, 0.3691, 0.1125]\nstate[eef_state]: left_x=0.2945 left_y=-0.0019 left_z=0.1865 left_yaw=0.1131 left_pitch=-0.2426 left_roll=0.1421 left_gripper=0.9968 right_x=0.4373 right_y=0.1752 right_z=0.193 right_yaw=-0.0156 right_pitch=-0.0447 right_roll=0.0714 right_gripper=0.1125\nstate[joint_eff]: [-0.0342, -2.2496, 6.7897, 1.4481, -0.1392, -0.0415, -0.0122, -0.4034, -11.5624, 6.9128, 1.9805, 0.1832, -0.1001, 0.1343]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e7a8721fd7ca2c9ebb729a064b93e1b064eb5534d8b4fb3fe392d7f9f54d57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:867449d9f8669440a3e930dce7431b7654d45b2596e54e8d80521ea2ff7c3da6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a9ef71b2cf57d74af5b26362c85758cce2299ee98ce6632b836d4201339a193e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0yelwgC5RGYfAxs8Za5vjOPfTqctlNHich-LRys82en3f053AePFCqwAChXOCMwLccGa7n4aLCeDTY1AP_JEaJrNBGrRy7Pr3SmS1V3GOdDvH1rp37HBpITd8ciHrJSmLVXxE47EZNjahK0yAp0yeD6DJBMll4qcdeeWDrsgDp5sq-f6zhbpXAUmPaIlKsyB5hqp_h2Gk5wZHerV9yUIJ9a7phRdPhU3ePMWLJN4OTL5w2SwW30jVzUygYLdynjqSO6cgw6WjmB6e6WiblHgmiiyeZWIH0ix_I9jtIBVXUWgtqrpiIOxqALb6cVmZX9sMcawCMRaJHW_j8OSkv1MkrJrMv6U22IGRLivYewfBJlaJi6B00tBd6pMgM1KBI-_a6c8s-wBnP-vx24RWxQks1MmbEau0OzzZGTy5C4NGtqALxPFwzh8H9rkfaS7DL8RvkhepZhRsMMksKtPPKJkpaC7HBrJQDGLsGs0AnIs0_QOA2w_cGsLAJZEIhKGcCclSDuhzopwztEES2Dn7fx3q6xivHjCyUTOCh85ip9XPm17ELimOec0ZSyHQPP-GIwNKRjFK4c14mpN-XdRzTf49BkbytpW6BWMzURBnPtPC6SMh1CjG_6_qCL6BCqibXO7hlmwee8Db2uHMbLMst4U5-vJPeMh4ryxoccl4gQqhRAjw7eSyJttMTWB2rbnkigRgbBkKJ51dcodwNpqM8nZgOGJqCAhLxUnnlrc2jFmVx_w9SK69oKoGSz7wi-Ui_N5OTseloeDTqnDZCXlq_tbh0kD5uouU9_WP6fsWhWk1FkfMfYv4R25xJJcNfN2CPbFWzQ9jDIV5zPSmSWeT0wJ3OZFxTojLqXag84VDD8MVRw6qdGZeKZFRpfjiza-HPO0Ba2XQf4XFjaRYw7Yr3JHnV2N8_OdriO7bctxqqI2ndNe-e3XdmWZdMLGdhcaM7m9biMFLL9hw1srU6STnsVoPCTnvpkk8ShSiokgfaOelSRPuNi9nqsViLE_LXSuhRaOLLxd8dL9faFFwCWVs3arZLLdLNpl5TyIGcmlT7tLcD5q1NidLyJu-XYAvdPyipTMMbHZHwaetI76rOSoS9JuleY8AceoJYVKxahARS_e71hKE1w-I6XWN_-l7z3Y6F1ZEtk8EFlqfdzKVCzrQFewVDn6QL1TMmjlBxWJTGZ8Sr43FLjqE8b0zld8K_fIVvsjCAcpzAwjpanpttxj-7Bz4J1UrhblUng1nGo-cvnR7fOjEZxh75sEkyEeKjabee4JEn4XxF8S-H2J3QoSM7r6xJIc6RSD63vn3f_YxYZiUmvwSIFmXYId7qI6GRUrI--GHFauODFmnjoA6PjYBWyxUmRU-1txj6tykzO45riIcXsuNDpAKvgy91wUFYl3CKb5WQ8UivJl9pkSVxe7L3bDBCEgcMag5MMPghrc-HVC98xkIQnnBEF79abImCmfHj8GEO3kmPTJQLGOWoiBicu2T6DUkRFoL_R_RGUVgz9oVb8Ak7UhRiVhc3TYWB8m2Ih0mdUPSQWdFc1zjI2X6xbiQnhyexZhriW8jKfFpozBh5fQiKI0qpauseP4Pq6gHl5bOl9eJJ9_y8wYfvldxb5H4BWXvX3RGCJqyS40EvfjgJwNpM9Oj9mdZzB1-kFhSCpRHJPRw7CcHW1q_XNLLYePzkaIj70u7gjjuTbBC8CqElLSu1s2HagVAFKs4dwbfnHz0W0kLkEkaPCWWdq0PDOkor6l7Fizd9okzCTiU1vepXPv4vtSRsJmVSKdbhtFpy22IExNEa5AkxBPZyiitgb5ClERzqa5q6amsa2NI1agq1rCKkkP658Zf7X8G5hQ9kclHvzCR8Sqn1pDuQA98or8edOFNBoOstrUOna0nv-a6VzhoiFySCTbzRW2jKQwHzADI7wvMn0WB515HTRSqQfyrk7c7yjaf_gohVpr4bLpjy7SLGRbhAwUsDI1wUerTQ-QQKV4sIcj4-3KgEyPOxiNNynK5GCLHtLazeAm0z7mMqrHQg1Ex1GoLsazdFikdOFmYUXYhUrznLrsKkdgDmpn_Q0vB77K9N_DmUuIjRjv96_pmA8ZS3crfWnJCBMsHOt8PdyvPgiqwb0iF8rCBjhkcmFKeejynMQXax-wVFc4cplrCyuO6WeO-BrJpJ9-XPUHfrOB1dOz6qfD7KRqSIBipPn2KcxCBJfByYQ51LLuSpcwM8ZizxX4DbuS26COVVl4eWBwjW6B2hX4EfNeuthUnlOSivafOz5qyUVWWgX48WLRUuNaPYb1XdErgpZlVGhjJS",
  "id": "rs_09c089125edc36eb016ab41d30183487d094c74b8730545937",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.085,\"right_z\":0.21},\"note\":\"The held plush is still left of the right basket’s interior in the overhead view, so releasing now would miss. I’m shifting the right arm farther toward the basket’s center while keeping the toy above its rim.\"}",
  "call_id": "call_b3UZXJedxKGZoZYlWLZo6nIT",
  "id": "fc_09c089125edc36eb016ab41d31f6ac87d0851801306e67ed10",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_b3UZXJedxKGZoZYlWLZo6nIT",
  "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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2878, -0.1284, 0.9968, 0.268, 1.5818, 1.2068, -0.2771, 0.1806, 0.2195, 0.1133]\nstate[eef_state]: left_x=0.2945 left_y=-0.0023 left_z=0.1864 left_yaw=0.1113 left_pitch=-0.243 left_roll=0.1402 left_gripper=0.9968 right_x=0.4576 right_y=0.0965 right_z=0.1942 right_yaw=-0.0051 right_pitch=-0.0778 right_roll=0.0812 right_gripper=0.1133\nstate[joint_eff]: [-0.1436, -2.4547, 6.7487, 1.4676, -0.1636, -0.0562, -0.0122, -0.8137, -9.3744, 8.1026, 1.6532, 0.2906, -0.0855, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc770911f09b4376c4f44a41bbaf5048be48ff59d10335fe27678e893b013ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:745fdaa50813d902de232c03d500f306257981adefc6fbc2b96add1afe4c04e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd08db20629151b56e37d245a9b2b220734d3b1676584d861a242ef7e4201b1c",
      "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]: [-0.1913, 1.0046, 0.8845, -0.7166, -0.2905, -0.128, 0.9968, 1.0737, 2.17, 1.5028, -0.1371, 0.8566, 0.8066, 0.1088]\nstate[eef_state]: left_x=0.2942 left_y=-0.0018 left_z=0.1874 left_yaw=0.1131 left_pitch=-0.2392 left_roll=0.1413 left_gripper=0.9968 right_x=0.3657 right_y=0.4016 right_z=0.0918 right_yaw=-0.0339 right_pitch=0.0672 right_roll=0.1394 right_gripper=0.1088\nstate[joint_eff]: [-0.1846, -2.5641, 6.7214, 1.4969, -0.1538, -0.0415, -0.0122, 0.0068, -13.1624, 6.0376, 0.8718, 0.2955, -0.0122, 0.5495]\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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2901, -0.128, 0.9968, 0.5205, 1.626, 1.2324, -0.2749, 0.4019, 0.3691, 0.1125]\nstate[eef_state]: left_x=0.2945 left_y=-0.0019 left_z=0.1865 left_yaw=0.1131 left_pitch=-0.2426 left_roll=0.1421 left_gripper=0.9968 right_x=0.4373 right_y=0.1752 right_z=0.193 right_yaw=-0.0156 right_pitch=-0.0447 right_roll=0.0714 right_gripper=0.1125\nstate[joint_eff]: [-0.0342, -2.2496, 6.7897, 1.4481, -0.1392, -0.0415, -0.0122, -0.4034, -11.5624, 6.9128, 1.9805, 0.1832, -0.1001, 0.1343]\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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2878, -0.1284, 0.9968, 0.268, 1.5818, 1.2068, -0.2771, 0.1806, 0.2195, 0.1133]\nstate[eef_state]: left_x=0.2945 left_y=-0.0023 left_z=0.1864 left_yaw=0.1113 left_pitch=-0.243 left_roll=0.1402 left_gripper=0.9968 right_x=0.4576 right_y=0.0965 right_z=0.1942 right_yaw=-0.0051 right_pitch=-0.0778 right_roll=0.0812 right_gripper=0.1133\nstate[joint_eff]: [-0.1436, -2.4547, 6.7487, 1.4676, -0.1636, -0.0562, -0.0122, -0.8137, -9.3744, 8.1026, 1.6532, 0.2906, -0.0855, 0.0806]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cc770911f09b4376c4f44a41bbaf5048be48ff59d10335fe27678e893b013ba6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:745fdaa50813d902de232c03d500f306257981adefc6fbc2b96add1afe4c04e8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd08db20629151b56e37d245a9b2b220734d3b1676584d861a242ef7e4201b1c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB03j4ryA_FBn6aAmuvVdST7mE3lrrbgiNUnKbzQ_3aREf5pJOhl4pezm_ZnLh4U7nNSJ0kUaeaGMA7HPknOaj4rRAPduGkVOW2m8kjVY6x_vsMG-JGlmZOuqZ_B8F31wLCS4WkIG-pFyMKC9JcfapbZ1tasQNle2X8ll56ygIriwnL4phr0zmNmX74mNGibuaC7ZJuO9MC6eVqI02PqHNgIH7xZjzZrPZ1fe6N-d6obAHTEZMUjqC962bI7IUgoElcTtt0LLx1w8nd_Ai4bjzR_zOioG1cNmdr73YNRjHZRcxvB_EHEqyocbBkGTsz-SnidpVJa0bT_thXryghPVAEkr3T4u-WnJFpQUj066jm7DHT7z8u_pFEFNoLHw3q5ywpsHreU8aYdcT786rXatw2946Z4fRcZoFgazF2RnVKlZNC4sW9puKDmn7Uz4xnJ-mzcDgissgcs35DBJI50PhffNeSF0ARd5DxNxOp3XzLAUUr0Mw_Ix0Sh8V3h9aZg-B1bcWkcE8aCA_gKypfFbe6Vebeo7tmLgjZsYq3fvDrh_RTrlEhbhSzPUwrQ5hEkABgmOc5amJYadR8vB00H0JvLmc38st1I87Ij2_ODLMll5T8cw3FctRuOMwgsN4kcKx02rCTHIAtUo264l7EQYE1uYsuIFZ_hc3pVjK4THv0TmydfqTDattwJS7QIXSDZpMPn5AeV-H0VO_MPDVhO-zsMkN22QJMUdI_GhSDh3MoqxpKoyxvnptes2qBpAG2-2VnmHbsKbYAPQn7HPVBhzytX5wFdNVM1_GRKWNpE8tSj11kLwsv15zw6I5ziccRxUWTwDV9_hLvmhW9Gy3yc8PntFVPzVOXwckb0aI_fh8US0oiwIb2x6SCUZsumpWBRyzawl0mQpf3NtNpNeFiCWlbZPJf0stvBbk1uh9E1FWGU_rjFhPKlfd70-6DxMGRnOPejVfmNhWm9ivpuWNHKfrNJuI9xjc42vjnE-W8UYsFJoYEWQcAecaTm9413-q8wuQCLZJknZgnTf-_nnw-C89btIdSoOW4dA-qBHGRr2VX8foCdtY1iVDt4TP31TPcrZtH1Ykhr_k_FqWDM1LS0XgLV0ZMww408OH_88pUBS_aAeuAumQCllKANdOc4mQtlNYiWKufPp2NKSdB55PJd3DV9441jnN48XoIKh0HO9YHaeBMRgOSdZmjjRNIgcMQhDb3p6D4KHxcF2P8F6Ecxahal-2phTRuPBfTKMvVTRzf6e8lvbYYTNHTxyneyAzVlKWqjHgv-twFIZx5nYQsvWoqRBDfll3sHGFhZPu0Bc5gaLpCFwKs9bHLroxzW07hFNOcR3-AN9G8DVTBodxgHYV39CAel7m5sJ6uLqIyjJAYTVG-IHhCF10MSF0SHoychJIzo8wmkyIZtjL4G-7YPeCi_0u9n-fzWfENnqwZPHdSrHhe7Tdyu7mSxFZor6_K7bRC1CbKNg_JgMcc4iLSFtPTUM5I9hDCxvlk6CNWmLdwPujePngCgd-4l2N-SbN7Vkoow9FeLiczw6mZJf9VNEyUjQN9AyH6E1L5atQS76zc6wX0UiDiIc9rp-arQ8svz9_zaNLt5UEyCWgAdur2uxtf67XBuEPPCN8HzWaiCjqeNwJ_uhcyWlaEWnkV0qfoR_Xe8PHVWR3qwaIHC5ES2SHTZiruIeTq2MbmDKLa6X7vPp-dJ1NFwdYK9afnveupmMHp03D_gAxTb1-s-oNugTmdPECYJejV4fHG1O7ArVGM7Zz8y5XslBJSpBp_DvGyHtCpa0a9UaD3pquMaK_I1AMT1CM1BTtNt_ceEDG2nBMJSSQdSuuipYHtKWjGIcFZiZg1KQ_qmyOCGz_hB7oMEjhWpmT6J7y0_sFVYt1LYFcUkY1crqRkxkTyo_QYzu8j5-N2fmvSmTHzHqDVJuFaX0kFfx2n-fQauU0masNztbOYPysbxlwXB7aESiq7BAX-9oBucxOoG8e33lgRwK0Ie36VMn1Nx5s6Du9pfdZtOKv54QrM-mX31Y4ea2KTGD7aF8hUZDOBFzZgdFjoJpsXgaNi-JWNrTSKK1T99pXL2rzOer-fxXfszurq6aMxwHUDVUARjl7ZvXNluwiW9ZlVKfwN01U4iNAbrNnAlcdcmy2lHDTxPF50gzbpZhxPfCZYe08wG4-8b_YaOb-iPwUnDLI8QUXb3t0wOSFxjTUMZskeTkHbrLZc5FzdI2H_UVXLfmvCHKlRsVi96UW12E63-A3EVmAtn9IFDVUTI9tMS9KaDx8U=",
  "id": "rs_09c089125edc36eb016ab41d34789887d0a0679fcf63af654b",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":0.015,\"right_z\":0.25},\"note\":\"The plush is now beside the left wall of the right basket, not yet over its open floor. I’m moving it another few centimeters right and asking for extra clearance before the drop.\"}",
  "call_id": "call_4pSRm1zOgKFVUAlT9UpD8TfI",
  "id": "fc_09c089125edc36eb016ab41d369eb087d089eb425271947db0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_4pSRm1zOgKFVUAlT9UpD8TfI",
  "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]: [-0.1921, 1.008, 0.8845, -0.7162, -0.2878, -0.1307, 0.9968, 0.0395, 1.5642, 1.3205, -0.4698, -0.0086, 0.094, 0.114]\nstate[eef_state]: left_x=0.2945 left_y=-0.0025 left_z=0.1865 left_yaw=0.1118 left_pitch=-0.2425 left_roll=0.1384 left_gripper=0.9968 right_x=0.4566 right_y=0.0231 right_z=0.2138 right_yaw=-0.0066 right_pitch=-0.1522 right_roll=0.0916 right_gripper=0.114\nstate[joint_eff]: [-0.294, -2.4547, 6.735, 1.4432, -0.1783, 0.0024, -0.0122, -0.7863, -10.4821, 10.6188, 1.707, 0.0024, -0.0562, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de564de5f0c240de2f1d92a922eb4eb7ee19216ca26c956f1eb4849abb5e221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62c92bf59c330ceb97fd3215c38c5e30e7193a139bd484b32b3424aaff11e3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd766b7e2def5edad4463b6ceaacb0bfeb841571b34905c8e6002e8f8d389019",
      "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]: [-0.1913, 1.008, 0.8845, -0.717, -0.2905, -0.1284, 0.9968, 1.0729, 2.1143, 1.7645, -0.5045, 0.8253, 0.8009, 0.1111]\nstate[eef_state]: left_x=0.2944 left_y=-0.0018 left_z=0.1865 left_yaw=0.1136 left_pitch=-0.2428 left_roll=0.1422 left_gripper=0.9968 right_x=0.365 right_y=0.4072 right_z=0.1673 right_yaw=-0.0089 right_pitch=0.0241 right_roll=0.1005 right_gripper=0.1111\nstate[joint_eff]: [-0.0889, -2.7419, 6.7897, 1.4335, -0.1734, -0.0708, -0.0122, -0.2803, -15.8838, 9.4974, 1.2918, 0.6032, -0.0122, 0.232]\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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2878, -0.1284, 0.9968, 0.268, 1.5818, 1.2068, -0.2771, 0.1806, 0.2195, 0.1133]\nstate[eef_state]: left_x=0.2945 left_y=-0.0023 left_z=0.1864 left_yaw=0.1113 left_pitch=-0.243 left_roll=0.1402 left_gripper=0.9968 right_x=0.4576 right_y=0.0965 right_z=0.1942 right_yaw=-0.0051 right_pitch=-0.0778 right_roll=0.0812 right_gripper=0.1133\nstate[joint_eff]: [-0.1436, -2.4547, 6.7487, 1.4676, -0.1636, -0.0562, -0.0122, -0.8137, -9.3744, 8.1026, 1.6532, 0.2906, -0.0855, 0.0806]\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]: [-0.1921, 1.008, 0.8845, -0.7162, -0.2878, -0.1307, 0.9968, 0.0395, 1.5642, 1.3205, -0.4698, -0.0086, 0.094, 0.114]\nstate[eef_state]: left_x=0.2945 left_y=-0.0025 left_z=0.1865 left_yaw=0.1118 left_pitch=-0.2425 left_roll=0.1384 left_gripper=0.9968 right_x=0.4566 right_y=0.0231 right_z=0.2138 right_yaw=-0.0066 right_pitch=-0.1522 right_roll=0.0916 right_gripper=0.114\nstate[joint_eff]: [-0.294, -2.4547, 6.735, 1.4432, -0.1783, 0.0024, -0.0122, -0.7863, -10.4821, 10.6188, 1.707, 0.0024, -0.0562, 0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3de564de5f0c240de2f1d92a922eb4eb7ee19216ca26c956f1eb4849abb5e221",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f62c92bf59c330ceb97fd3215c38c5e30e7193a139bd484b32b3424aaff11e3e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd766b7e2def5edad4463b6ceaacb0bfeb841571b34905c8e6002e8f8d389019",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB07fp8JMFOj1abdXLIuduhh3RCj_Efm1--cbTylVUuE_JDPNbKZdFsmnhSTSyb3xHvR7lO0nOvbOIneOz_CFdSYwPPUG_uIzqmmZukC8RmRgZULnxdQkM7xmtUdUUNk9YxYBL2yZd6zWxSXukZ1Q9VF14-0rYy1Z3kY4dBOPBA9_sUAXtxFsvaNaK_SFH8k-kBeYsaOa4gXiFu5xmMyrbTaR4g9grm-3Tivh5MZ-lT57UZ3_mvPsOyiUZ1HFm2idvrVZAHUiD6CEajONdJePlKlkJ_F-SDvtyUWsbMGkZD1fHBITZgrvi78coUM8qzzxVV4dJfPRTWtzpuoyr2XdBFP_M3WaEPA-HwVu5pyD6A5a6TpJHl_iiE0ZEYN7zPKG7Mw5DTtwbFkuMdyOiBWdUXuKy9bntJj0kPe2AsaxwoApAoq2bOFX2OUY6yyB2SIZfKmwt6L5hgt8yfzrf-ZMGHrdst0I59Q9s2PsovOlpsyOT-CStTnsntVPz3oqUI9GjJ5H9bho4_yHhJMjjngw0-KqAoXGLdweB5UMHeZBpSOhPXWj294gJaC9D64tYuQkj1W_Pnt3-ytvVi1ZgJ54u04RiVwSjidezICOabwOfDpszlXZotNuoKLpTjnr8_bcE_IUiA5mYe2I_03_8DU865isEsDXDTpp2leLtoPVrduh5Jf-uj1Qqt1nsG-ORXAXH5dBkxbH9jOsXIV_DilFYs7k0XkUzGOALHRdF-EOxTkHE-vDmgVxmcQ7KNNsu4hEi_QiygaAU-Ix-xDkFt8DyES62yIU3V9R8BIcGjHJpPtwP2ELZI-cfzC6aV8lbpU-me63X0c058UmEZtv173GswRchNbgP1qbIKjZBZqHJ-ZYwDzbiNoIIXUBIyyytyQK8brNcbG4L1M1DRKnfLwUCFtGc59IxiNg17bcJmP1GYlmOeIoDLWCr_jOjOmFJRruIw8-Pat6gMMLifBNSDMKEAiOBTlEunq29OHuSWnc0gkrxZ6Zq3ZCnQypY9AJIGeRsgMpIpwCfhWkpUp8nrFoSMfLKoUmzcBF7-DDD4bnSozYXGuXpJC1pXL9bzHkPM_ZKDnkfi7FDIEJn_rlosWkxZjy7aRP52VN7CtF3r4XGL12z3r7go2zLMDbGMkR-Yu1IX9t4WsklZap1XBtyAEHmBpP8pcbs-mcKXy28sorDIXkeIcf-t01QmjU-wVxRprRodMiKy9QoLeZL4n4qcp61e_kZoRuDUyy1aSjsXEcz9l9SkFLcvOJ2yVsXBnoS0lrWqXlqpYlz2KC9-rlyQL7JmXSKrKdS1GJHrrQPR5T4kgDSDKNdbnbuTzghQz-Sq7od84ggptw4HUbWHCURX-4zlb474DgzOZs0E2ip4TruLi0UXRJbIaTrGsazhnl0zCck9Ih6ivXNIaSSr9y7GTeNSRi-M_PD6uFIFPo6QCs0kf5fuxpwNAxSwPYXB0gWh3WnsrGeCfxZMAFFEEjJtTgr0SnQCdGULc_NcqU75jBhfRORdSHhRQRZ120XqJXJSU0Km7tIu1SKtM6xoOa0yCh6OvilzGSZBeJoHa39XkLbsB2fnLxxoF0c6yArUz2UREQ1Tt0uxUqB7sSYhxDhub-IuiWy3FUQx6bB0a2c8OBipgHH1XXfIUC0_6Sq-BFqlbrfestCRPBtk_PgOTDwgZL1VTdcAtmBAOruQYcWIgUHRmuWwykW3bNoLJzL1rbkUBD9resAr_QrLEtqK_vgDHVlNjoTb1V-64O7imlPOQp-1G9dNQFykwW4jmjPD_P1RC9wQmtyHGx2DtjsyiEQeTJcrJogHxStinud742b8PUEpa2Nw=",
  "id": "rs_09c089125edc36eb016ab41d390fb087d0868b490665a7ab9d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_y\":-0.055,\"right_z\":0.255},\"note\":\"The plush is hanging across the right basket’s left lip rather than squarely over the opening. I’m shifting it a final few centimeters to the right so the whole toy, not just the gripper, clears the rim.\"}",
  "call_id": "call_BlVZ4k6xFJ2l6HDprO7ezsn5",
  "id": "fc_09c089125edc36eb016ab41d3a6e3887d09827716ff9aa08a6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_BlVZ4k6xFJ2l6HDprO7ezsn5",
  "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.1307, 0.9968, -0.1848, 1.5955, 1.4773, -0.6395, -0.1608, -0.0429, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1115 left_pitch=-0.2429 left_roll=0.1382 left_gripper=0.9968 right_x=0.4526 right_y=-0.0522 right_z=0.2387 right_yaw=-0.0261 right_pitch=-0.1846 right_roll=0.0942 right_gripper=0.1141\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4481, -0.1685, -0.0415, -0.0122, -0.294, -7.2274, 10.0308, 1.4676, -0.2369, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eba640a48f0621ae96b454eb5aeaea4b34c886be906245dd17d4bc062407b10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533aec0b610aa9e935bf2422b43e7030dbdc9e4f063b72abcd9734f535ed4a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abcad45f3fc478bbf6ec61569dc1a7819e969917e69e0edd91eea265ad6aedd",
      "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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2901, -0.128, 0.9968, 0.5205, 1.626, 1.2324, -0.2749, 0.4019, 0.3691, 0.1125]\nstate[eef_state]: left_x=0.2945 left_y=-0.0019 left_z=0.1865 left_yaw=0.1131 left_pitch=-0.2426 left_roll=0.1421 left_gripper=0.9968 right_x=0.4373 right_y=0.1752 right_z=0.193 right_yaw=-0.0156 right_pitch=-0.0447 right_roll=0.0714 right_gripper=0.1125\nstate[joint_eff]: [-0.0342, -2.2496, 6.7897, 1.4481, -0.1392, -0.0415, -0.0122, -0.4034, -11.5624, 6.9128, 1.9805, 0.1832, -0.1001, 0.1343]\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]: [-0.1921, 1.008, 0.8845, -0.7162, -0.2878, -0.1307, 0.9968, 0.0395, 1.5642, 1.3205, -0.4698, -0.0086, 0.094, 0.114]\nstate[eef_state]: left_x=0.2945 left_y=-0.0025 left_z=0.1865 left_yaw=0.1118 left_pitch=-0.2425 left_roll=0.1384 left_gripper=0.9968 right_x=0.4566 right_y=0.0231 right_z=0.2138 right_yaw=-0.0066 right_pitch=-0.1522 right_roll=0.0916 right_gripper=0.114\nstate[joint_eff]: [-0.294, -2.4547, 6.735, 1.4432, -0.1783, 0.0024, -0.0122, -0.7863, -10.4821, 10.6188, 1.707, 0.0024, -0.0562, 0.0562]",
      "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.1307, 0.9968, -0.1848, 1.5955, 1.4773, -0.6395, -0.1608, -0.0429, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1115 left_pitch=-0.2429 left_roll=0.1382 left_gripper=0.9968 right_x=0.4526 right_y=-0.0522 right_z=0.2387 right_yaw=-0.0261 right_pitch=-0.1846 right_roll=0.0942 right_gripper=0.1141\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4481, -0.1685, -0.0415, -0.0122, -0.294, -7.2274, 10.0308, 1.4676, -0.2369, -0.0317, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1eba640a48f0621ae96b454eb5aeaea4b34c886be906245dd17d4bc062407b10",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:533aec0b610aa9e935bf2422b43e7030dbdc9e4f063b72abcd9734f535ed4a86",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5abcad45f3fc478bbf6ec61569dc1a7819e969917e69e0edd91eea265ad6aedd",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB0_aaYVzm3fNgU6VGC3ymQA3est1QVNwLZMcfznnXxVSltBfnQCjaTbrBbKwB6BCA9BuURAW8CdfjdSiG4joChm0smG2xMooAMBaHyguXPrSRzKjKxfOgqfkX074iUTqbzK-4LBSgzGXuav6dDkhobQbw9P65sglaZhf6zcA_eQhBEFozc8yl3q4caj4minNZvyViHLiNvUiKVhDyvSy1nd7wKwuDJ6uvp_RcrbEYutgfXzolvAgoT0PNqFPCP4LD0nuxHsaPcAMoRj6hYs4P_lXPOzukvykCiSzO7UOLcYG-CxG3ytBmsh1U4OX_fxNqacrPOgaqCe5jhoRdvsQc1xT8xaZkETh_1_ycMsa0WzkFvV_N9VBMW1L41O0pznrqv4fgkHa2ni8diJO3piVHgJbiwGSVwwCH51Ygwv_yoTCT8HArRkmscxPmLt4NqN44ly7bMCNg0y6Qi2MXu08SfWp_xFaRVWBV73sc-DO5hdnHIq_OuC2ZWWB6lKYo961CMYfGjXUrjAx85w7offvcLe1u0X_TmwEdnKXa6dnA_TmxxUzu4-vuOrCy1fFOtHadli6xWqs4AHaDV0k0qMngHT8Zfbe08DPXqnWnjG0mjao0SOOEUJfGG9CxNXSuSqY7Uqsla6VfvCMzC4fSEHAY7nSHz81mTuxpCamZgftHl5YkoTFEr2yn7EtNKDidkRzZkfq3bA2iydkSAUAawHbGDNVh_jmKZLjtZyeoCao2TzFbFKhteu8-74CyWeXAGEuGegPmlUsk6PaRcyA2ScDpXlFjrXk0m_BF-RLCAqwabp2ht6K7cDIh0idy5vyJYv_FDqpj8Jb1xSjsRc2OGEkGhW3veGbZ0tMbAy0dC4c2X5cd5fvUoRnANJVNkZQG3jbKnYdIZuwlyCsBOag2vWNzzMqvNDLpF8rH5wVRLAN-MbnD5Xred74MZIm7OWCtbez-mkOFD5SyREATeywM-MynAF3H-pZVI4u6zydD8Mf5_5mKFv0KDK4P1HdE9huZdxMLHOUBvOq_XWCo7GU9Nn5OibzotZkWOAKQD4-gyZhzPE2IaQCRnM2GXdtjT_03jyg7XeRwSPGdMSaQKoQBTto7zrSWbuDJ_EH69vJX6BzG-UMCuMYGDL3ht5MVKtVex5AFm9NO9bSdr9e6vJACyYWBsL9i6wx_2GuqFWupPoU0zTOxx8Nurqs8QbXiU0Kabw9tjxfx2DYB9jDS_iYvgb-ewWFC_j7bwZk0DR9ZjdUMNuWSLoAtP534JuHxM44Xf-QWWWu9j_omYzTXtnJ5UTLEmwC7KcSyfkZvjCDggMvSXHWUv-QJzaIx67wI6K8gM4y3d0SBBftY7HJbLFnjlovQDtUwqP6ls2O515Zb-7tsqNj8IZvkMGzdzJH1FB3IfH000xej3i1pnfTGGopzVk3FkaMLvR1BJW2eozbx9Aa04cwAuo5tsWCVpNPWZmoUNBs3LFdteHI88JEUYn4H_BL4LCvBkvaldRudJSjpFncLfkOzy7O0RBSI-6rISd4d5wWiTQLIbf6aV_8gpoJnlz8h_FC88vlmJzlW_BejZNPtkgoGB9HeTeJmhWLeRUt75oeckjAj6YusAA6GrPk98brWIrhFpDESbj19S22dKnac1Wjkzr9MSilWma-xzX-Z86qaH-PJLn5E7THQ3UivNnmBXkp1wQWZ4zKrSghS3bCzw5bCAaERV3f7IYKj1-BLeqO5dyibGJvcDbWBld3TOreVw1NokR6ceZ5qXU5f4F8gUXU3YcYpI15_vEDuKMY4H4nZDrwFXhOOM1GKK980yu9Zycmv3YZ0O5jBOAi0rC31W3LxmSWRudLJqBDHYF1sEY0awgG8tM7C2fBjuhmLe99ICAQA==",
  "id": "rs_09c089125edc36eb016ab41d3d131087d0875ad445dfae9c01",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_z\":0.15},\"note\":\"The tan plush now overlaps the open interior of the right basket in the overhead view. I’m lowering it into the basket before opening, so it cannot tumble off the rim.\"}",
  "call_id": "call_EuoYzzdVCW7FlA0CcyB5abrC",
  "id": "fc_09c089125edc36eb016ab41d3eb4cc87d0aa807d9ae37eb1f6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_EuoYzzdVCW7FlA0CcyB5abrC",
  "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1909, 1.5932, 1.1843, -0.3069, -0.165, -0.0597, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4569 right_y=-0.0551 right_z=0.1734 right_yaw=-0.0207 right_pitch=-0.142 right_roll=0.0774 right_gripper=0.1141\nstate[joint_eff]: [-0.2393, -2.5231, 6.7214, 1.4969, -0.1734, -0.0659, -0.0122, 0.4718, -6.1744, 5.0256, 1.0818, -0.0415, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2235b1f0386d1857c89a98f7d14860725c50dafdeb70685dbdc2974d407f23ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa634141717f598c176e3d01e6948359013b19ad76af55edb941c36590513f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f49cff5b4806c91bc238f689c58c70b21dc9c69388237faa1c248f97e25f1f",
      "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]: [-0.1913, 1.008, 0.8845, -0.7166, -0.2878, -0.1284, 0.9968, 0.268, 1.5818, 1.2068, -0.2771, 0.1806, 0.2195, 0.1133]\nstate[eef_state]: left_x=0.2945 left_y=-0.0023 left_z=0.1864 left_yaw=0.1113 left_pitch=-0.243 left_roll=0.1402 left_gripper=0.9968 right_x=0.4576 right_y=0.0965 right_z=0.1942 right_yaw=-0.0051 right_pitch=-0.0778 right_roll=0.0812 right_gripper=0.1133\nstate[joint_eff]: [-0.1436, -2.4547, 6.7487, 1.4676, -0.1636, -0.0562, -0.0122, -0.8137, -9.3744, 8.1026, 1.6532, 0.2906, -0.0855, 0.0806]\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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.1307, 0.9968, -0.1848, 1.5955, 1.4773, -0.6395, -0.1608, -0.0429, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1115 left_pitch=-0.2429 left_roll=0.1382 left_gripper=0.9968 right_x=0.4526 right_y=-0.0522 right_z=0.2387 right_yaw=-0.0261 right_pitch=-0.1846 right_roll=0.0942 right_gripper=0.1141\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4481, -0.1685, -0.0415, -0.0122, -0.294, -7.2274, 10.0308, 1.4676, -0.2369, -0.0317, -0.0024]\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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1909, 1.5932, 1.1843, -0.3069, -0.165, -0.0597, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4569 right_y=-0.0551 right_z=0.1734 right_yaw=-0.0207 right_pitch=-0.142 right_roll=0.0774 right_gripper=0.1141\nstate[joint_eff]: [-0.2393, -2.5231, 6.7214, 1.4969, -0.1734, -0.0659, -0.0122, 0.4718, -6.1744, 5.0256, 1.0818, -0.0415, 0.1392, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2235b1f0386d1857c89a98f7d14860725c50dafdeb70685dbdc2974d407f23ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aa634141717f598c176e3d01e6948359013b19ad76af55edb941c36590513f0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40f49cff5b4806c91bc238f689c58c70b21dc9c69388237faa1c248f97e25f1f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1CIGweGqRNStv62rqcE38iaXhS6HYVBBQ8j7VWRMcw8-ctWWS6SD5-Pnjg-ydemShwrUpP4fWR_OmJ_xyCEVDEsq_PXsYfLOVYWe3wq3-TEPB-w4i-54IDUQbaONNc0NECjx7eet-rMgACckwMYlWf7QlTP8BrWp-Yy061PEuimDRcB5-EEckPzwRKiVv0EMDEFe8VeLpCacv449yETgiVPjimGTO4OsuEQzKNUkvOwzGG1bgorts_r4TIQVis7o7LR8YA2ykvedbXeNe-XlHWWvF0JINElNLDHtn5NzMC3cvU3Yzr65-xKttJkR93C3iD-PnC3oqxecLevJEgdbtn53y8Kv6tJc4s0vXUO_MfzkT50URNi3golikcIHSK7n1O1XnpJOIpDpiW_nQGYAzYzhwhzPUVvtj7AV5MrQERrKK47Eptx6eedQ6uEHmPdd7N3k2WkE26qXpNTV8Rg7n1xXlUaP0JisdzmXMoxJ8dhJT8J3z3woOY-C7p1lgqsZFloWUW4tu8jdt2QcPQVcGt92WiXvAhxFUnGAdid19xGMRau9l4HJoMwePA4VznRoGoyIZ-j4tLkIO2z3WUfdv8YSrZf7675F3CBmkHxOjaZgBv8hVlYz0ttD1nYVT7QPqefk4Zdi5iRDYzKQr4hygnwLSJhH1FWkvQiPFihE3BPIRfB5Vx_Yqe4NXXgQYKpk_iDdim0HtZY4JxelbVLIfuz_npscTJEM1l58wbVs6_LhX2WLmSiNXcEYhkNwVTcBATAtBqNZ7Bf7Np7QIvwOxCPhe7Llf-EY1-A-rMXw9jbmaH2oygdMHAnQncHOv9XY5kIqRw-QYhDKZJkVGSu8QwV-4XHfhQhQBaderaU17z02968fTX2bf5uiEgtDAujRcCaQK5BlwE7KfexeUsJB7bJqWDcGwF4DeAIB2WED2_JESGTAfwpXJN6ho-oO1Uh4_7qKzJ1Z8wr_T1NfdEcCT6uBI0T6PSgdZKv34B0B0J3rqty2ohx8HUuszSsudN8UPqo0iTRpgmez-fM6mNn0935BIabbrVZMQFEHr9_4VcBvkv_3eaNpydkKA5AwZq_6DcvOw6W597kyGFvHj6DKiZCn--j2X_xMvbU_oebw2fys4dhkVsLg3Jmfmg_OgNwFU74neLwcdLwC6CK3mOkuhk4P0Bh9u7visi-RmY0oAwoZmwKML82cZcTxncZ6yiJQZvvdOAJlJF3wxb5eTTtHb7NCFbXfygdMDpFxBQJGgK1NxHpBQllrF1MbAOgqOPwVzFQshetT_vgT28vEIsQIg1GXXlbQiWqiRtLyNATtoC_i5jXxzGf1yxn2Siw0T7YdY_TjVlkD7lXZwbjJOEB_Amzg==",
  "id": "rs_09c089125edc36eb016ab41d41a01087d0b2c5ce595e726d76",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The plush is resting inside the right basket, and the downward motion has stopped slightly above its target, consistent with support from the basket. I’m opening the right jaws to leave it there.\"}",
  "call_id": "call_IF1lwdW9GJXP5KNyEzhgdgr5",
  "id": "fc_09c089125edc36eb016ab41d41fa8087d09da1439c739b1887",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_IF1lwdW9GJXP5KNyEzhgdgr5",
  "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1902, 1.5932, 1.1698, -0.2863, -0.1627, -0.0669, 0.9947]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4572 right_y=-0.0552 right_z=0.1709 right_yaw=-0.0182 right_pitch=-0.136 right_roll=0.0692 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -2.3453, 6.7214, 1.4774, -0.1636, -0.0415, -0.0122, -0.1709, -7.7607, 8.0479, 1.5702, -0.0952, 0.0366, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc2a3311a010eda8a5ece3f2676a5496d54779deabe8a0a1d20cfc8d00a6e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c803ee074855b95cd054fcb8acad9857597fa9ad17413f51c017fe58824d0d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf574ecca36f02cbf990b6613a75c434798e0a2e8fcbcd2dba1b5d8580c618f",
      "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]: [-0.1921, 1.008, 0.8845, -0.7162, -0.2878, -0.1307, 0.9968, 0.0395, 1.5642, 1.3205, -0.4698, -0.0086, 0.094, 0.114]\nstate[eef_state]: left_x=0.2945 left_y=-0.0025 left_z=0.1865 left_yaw=0.1118 left_pitch=-0.2425 left_roll=0.1384 left_gripper=0.9968 right_x=0.4566 right_y=0.0231 right_z=0.2138 right_yaw=-0.0066 right_pitch=-0.1522 right_roll=0.0916 right_gripper=0.114\nstate[joint_eff]: [-0.294, -2.4547, 6.735, 1.4432, -0.1783, 0.0024, -0.0122, -0.7863, -10.4821, 10.6188, 1.707, 0.0024, -0.0562, 0.0562]",
      "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1909, 1.5932, 1.1843, -0.3069, -0.165, -0.0597, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4569 right_y=-0.0551 right_z=0.1734 right_yaw=-0.0207 right_pitch=-0.142 right_roll=0.0774 right_gripper=0.1141\nstate[joint_eff]: [-0.2393, -2.5231, 6.7214, 1.4969, -0.1734, -0.0659, -0.0122, 0.4718, -6.1744, 5.0256, 1.0818, -0.0415, 0.1392, -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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1902, 1.5932, 1.1698, -0.2863, -0.1627, -0.0669, 0.9947]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4572 right_y=-0.0552 right_z=0.1709 right_yaw=-0.0182 right_pitch=-0.136 right_roll=0.0692 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -2.3453, 6.7214, 1.4774, -0.1636, -0.0415, -0.0122, -0.1709, -7.7607, 8.0479, 1.5702, -0.0952, 0.0366, -0.1343]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1cc2a3311a010eda8a5ece3f2676a5496d54779deabe8a0a1d20cfc8d00a6e22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c803ee074855b95cd054fcb8acad9857597fa9ad17413f51c017fe58824d0d7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dcf574ecca36f02cbf990b6613a75c434798e0a2e8fcbcd2dba1b5d8580c618f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1GU6TpRx7jrLh09vli0iFG_6zhGzLJkhf1I6VSvbXSV4ASUmPrvZ0WF1j4NSfn2b8g0L7uaU4ZZGCVnXSljK0OeCBKyQXYRzH5LUrmrDt6qXsrYFJ9oqsB01i283CS5n_YVSkfuIJcJ1xuLSfXVawAxOOuTN6lFzIFs62iowZVYH8vRC6aGyn3kxo_ArwVv6cfaqmyvs6_rGUDktL65THK8G7fI2O5nJkbUXrQKMzlwd3MBh09FUCtsyJtTkcD-TYrI9sjELuVr7cH3NRxAPDLMuMRSI9OwXpteNPjiUpwRtu3fM6whyTXKe3vEhEYoEIkG904rUhwusgEH0efV7JU4RBMJFwhAOIUqXCFAbQEsT4tPJVWQIYnwJsqVZ4d9V0mo0zeeUuR0tsrj0T8COp87aKkRGZlzrX78NRI7XAP6Qjz1gaKCQfPpLjvNeFHghfDNDikKb0OYvCNGNvf1Vu2uY4vGlMpJxL3rezfnwbo_9T1hMZ08A3T3Zj5BjlSzSligZBtd8Vl5fwKMEVvRXFh0Y1hQLyrpLSuygAjCX1DpFQpuXVTWcasi6iHuUjd1ooDaJYRrHJTtZTz6Z2XGF0wrDi4JcPzFBdJluAsvM3uOVtpJZEirW5Awmg2GT2Piv2zxp77bcgKAEwmXpnbL0C_jjnhflyB_Sxml-az-qhrK4VfzHp2J2a3KnJACoH9t4KmuD4OU3JZbp9jmyuHOXlGC1-URLZ1mreLlk8fzeqZ8OqDVzXd1TUuk_1XGP0xuv74sPwMZufhpNK6QOn321ln7DY8Ey02nCXYxS0cAXrtT0KPGJ-rSG82lGYtKfTZFDQXYJRll6rVse4iesLZ1krly0sgu-86cpf8AVmDTnIkLt7w62Uw81jjeQYHM3z1Y0njsblt3mf-lB3DUJOYBtIxdLume-1YT5mOlMxvwekcIhrtd1gYJBMkSRNDVTZaDI5jt5qVNU0WOo3IaKJVZf_4_SsV8vbY87m2q_-rH_dTggAKqaVHDiEs2obLzuRjzREJ0K-rY9Eh5Ufw0vcZKXGaUA-pwYewT5bhI3hbu7WBLfRTk2qhwEv9gLctahbNrHVMuLjrIIOtnpD6dRnVYHt_AdwyX2pTn_GW_5WQeoctUpEOTnwki_qTWTQB38eyDbUZUYSFsbrv3x0_4lYrLfsCupidJ6V3UPojctR3oWlG1V1VfGSRJW_XTWGAYHtuYqh7KwcXcDFtYks0ifIUygt5PnL0_fcS1u7FMB7L7BT2CB46M_TWyWwSYlIcVEoAP-a8KB0EKdCAtA8oXtwmVR_oWvuHM1HvGzaZqigH5H1WaPNXo1_IDe0TRLlbpPE4BTQQUawfzz65MJ1DbZz6tTf85IhtHT3GAiWklV1rIOj7Oow4X2rnXCFhSXLitthFXBvv637h0F5o0RjsuH6NuKfBpqjNfYMs2pWgwZri6I68mrEVyP950tBuJ6wNXKkfI5Ko",
  "id": "rs_09c089125edc36eb016ab41d451dcc87d0a40d99c87ea2e89a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.0,\"right_z\":0.2},\"note\":\"The jaws are open and the toy remains visible in the right basket. I’m withdrawing the right arm to verify the placement and clear access to the remaining objects.\"}",
  "call_id": "call_m8nFsUn85UVOBxZlIEKuSXNO",
  "id": "fc_09c089125edc36eb016ab41d45a7bc87d0992b2eb8c7ffffc0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_m8nFsUn85UVOBxZlIEKuSXNO",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "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]: [-0.1921, 1.0138, 0.8845, -0.7151, -0.2874, -0.131, 0.9968, -0.0532, 0.9138, 0.8173, -0.5762, -0.0723, 0.0044, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=-0.0027 left_z=0.1851 left_yaw=0.112 left_pitch=-0.2469 left_roll=0.1393 left_gripper=0.9968 right_x=0.3016 right_y=0.0003 right_z=0.2039 right_yaw=0.0032 right_pitch=-0.108 right_roll=0.063 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -2.7692, 6.7214, 1.4383, -0.1783, -0.0708, -0.0122, 0.294, -2.2359, 6.8444, 1.7656, 0.0611, 0.1001, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a51f4af3eda3e5d4a0a8f4f8b3262ee930a7b1306e3ee6fec738dfcbfde7696",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a53bc174ae905df0968053524a4489f3644d2bc368e304e1e9628fd72d2d34f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb017a7dacda0accafbd8887201d72ed91adb965774d22577988e010eca22339",
      "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.1307, 0.9968, -0.1848, 1.5955, 1.4773, -0.6395, -0.1608, -0.0429, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1115 left_pitch=-0.2429 left_roll=0.1382 left_gripper=0.9968 right_x=0.4526 right_y=-0.0522 right_z=0.2387 right_yaw=-0.0261 right_pitch=-0.1846 right_roll=0.0942 right_gripper=0.1141\nstate[joint_eff]: [-0.1983, -2.4821, 6.7077, 1.4481, -0.1685, -0.0415, -0.0122, -0.294, -7.2274, 10.0308, 1.4676, -0.2369, -0.0317, -0.0024]\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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1902, 1.5932, 1.1698, -0.2863, -0.1627, -0.0669, 0.9947]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4572 right_y=-0.0552 right_z=0.1709 right_yaw=-0.0182 right_pitch=-0.136 right_roll=0.0692 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -2.3453, 6.7214, 1.4774, -0.1636, -0.0415, -0.0122, -0.1709, -7.7607, 8.0479, 1.5702, -0.0952, 0.0366, -0.1343]",
      "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]: [-0.1921, 1.0138, 0.8845, -0.7151, -0.2874, -0.131, 0.9968, -0.0532, 0.9138, 0.8173, -0.5762, -0.0723, 0.0044, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=-0.0027 left_z=0.1851 left_yaw=0.112 left_pitch=-0.2469 left_roll=0.1393 left_gripper=0.9968 right_x=0.3016 right_y=0.0003 right_z=0.2039 right_yaw=0.0032 right_pitch=-0.108 right_roll=0.063 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -2.7692, 6.7214, 1.4383, -0.1783, -0.0708, -0.0122, 0.294, -2.2359, 6.8444, 1.7656, 0.0611, 0.1001, 0.1441]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a51f4af3eda3e5d4a0a8f4f8b3262ee930a7b1306e3ee6fec738dfcbfde7696",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9a53bc174ae905df0968053524a4489f3644d2bc368e304e1e9628fd72d2d34f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eb017a7dacda0accafbd8887201d72ed91adb965774d22577988e010eca22339",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09c089125edc36eb016ab41d4942b887d0a0f91a49ed2ccaf4",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.32,\"left_y\":0.0,\"left_z\":0.075},\"note\":\"The tan plush is draped over the near edge of the right basket; I’ll revisit that after sorting the others. A white, woolly plush is directly ahead of the parked left gripper, so I’m lowering onto its body for the left basket.\"}",
  "call_id": "call_gyg58erZ6lHzLL0vJKwYufy9",
  "id": "fc_09c089125edc36eb016ab41d4cb27c87d088bc6db7cbf57921",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_gyg58erZ6lHzLL0vJKwYufy9",
  "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]: [-0.157, 1.1938, 0.551, -0.263, -0.2749, -0.1181, 0.9968, -0.0479, 0.9192, 0.8158, -0.598, -0.0639, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3074 left_y=0.0035 left_z=0.0698 left_yaw=0.1345 left_pitch=-0.3096 left_roll=0.1574 left_gripper=0.9968 right_x=0.2985 right_y=0.0006 right_z=0.1975 right_yaw=0.0024 right_pitch=-0.1368 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.212, -3.9316, 6.5436, 1.6288, 0.0073, 0.1099, -0.0122, -0.7453, -2.3316, 7.1453, 1.8437, -0.1197, -0.0366, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96f452f7ae2019c751c97b40cfb7a06ee88354a6dbf44d838deea1579efe903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9888c2523ec72b18f71ff1ef3103d75bf8f6ccad2efac15dd8d4a20a67a839",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1100e54fa6fcec46ea1cbd122da5ad68c081fb1b6e4a24b1a35aa0e198e608",
      "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1909, 1.5932, 1.1843, -0.3069, -0.165, -0.0597, 0.1141]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4569 right_y=-0.0551 right_z=0.1734 right_yaw=-0.0207 right_pitch=-0.142 right_roll=0.0774 right_gripper=0.1141\nstate[joint_eff]: [-0.2393, -2.5231, 6.7214, 1.4969, -0.1734, -0.0659, -0.0122, 0.4718, -6.1744, 5.0256, 1.0818, -0.0415, 0.1392, -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]: [-0.1921, 1.0138, 0.8845, -0.7151, -0.2874, -0.131, 0.9968, -0.0532, 0.9138, 0.8173, -0.5762, -0.0723, 0.0044, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=-0.0027 left_z=0.1851 left_yaw=0.112 left_pitch=-0.2469 left_roll=0.1393 left_gripper=0.9968 right_x=0.3016 right_y=0.0003 right_z=0.2039 right_yaw=0.0032 right_pitch=-0.108 right_roll=0.063 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -2.7692, 6.7214, 1.4383, -0.1783, -0.0708, -0.0122, 0.294, -2.2359, 6.8444, 1.7656, 0.0611, 0.1001, 0.1441]",
      "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]: [-0.157, 1.1938, 0.551, -0.263, -0.2749, -0.1181, 0.9968, -0.0479, 0.9192, 0.8158, -0.598, -0.0639, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3074 left_y=0.0035 left_z=0.0698 left_yaw=0.1345 left_pitch=-0.3096 left_roll=0.1574 left_gripper=0.9968 right_x=0.2985 right_y=0.0006 right_z=0.1975 right_yaw=0.0024 right_pitch=-0.1368 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.212, -3.9316, 6.5436, 1.6288, 0.0073, 0.1099, -0.0122, -0.7453, -2.3316, 7.1453, 1.8437, -0.1197, -0.0366, 0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b96f452f7ae2019c751c97b40cfb7a06ee88354a6dbf44d838deea1579efe903",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad9888c2523ec72b18f71ff1ef3103d75bf8f6ccad2efac15dd8d4a20a67a839",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac1100e54fa6fcec46ea1cbd122da5ad68c081fb1b6e4a24b1a35aa0e198e608",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1RlOLLYaKL3e6ZVNBw44Wfs-Dj2oAvn2C9AU0cQqSNHcey5swa2jaY1A8kG72g-5nMAf3nJLfEMTT1dCeDM7DqrtP1gHI82BCmIfFzRATrQTr3RK1O4rlgsA4LSfxT2808mNv_0_Tt6Bvx8tSjuCRKXwDvZ00dvyn_AMMbb4j5YKVUUYsuEb0CGPK8cX-9F3XmiDI1bL3HVRcBVDRlAaTK1n_tyLARGL0PVWvcHvB9tW6okAFqbePR8Jof34SPJ6vhoJsfM1MtonQTFNpggQomuHbiATpVDzjuezZjCXscfFS4mskx_LZed32IThg6NySLBismL7WdEC5t3vK2KGxJ1_FJPm3oflg4Sx8UlqnxctsMB07q9kl97hWcj_15WXM90bnMOJZ7FOgZnWr7LhjmCjBwLBczGXOb-c0IP3q-1E-4obs2dkqSA_0MmhFVQZSZOUXi7Q1c6VRs8fVpTLakm_KY22R_GZsk4X7bRJRdfXXPJq2qUHJfKcuAD0a6vE1MMdDHWroB02-HwyDQk92xzZMxxpsoaR9FHeYCjdGGBKt2gTGZmU743uEF76NQhjdTpBMFwEMweNjUgj54wZBLizpBmt_Q7Hl4DsOzxKwEYJKKepAG3mF2SxasdNThGaw9uWbs3WLXSubGSCs-ZrmqQJS_uIWwkPHM9JH3XtBLfM0cHEdfZyuwuDx9-dtEtJrWMbNJkm4ywyNaDiwxFKhMBoLHt4PJlBvHYw1eJ8V9Qbfj7g2pkiBDVYQfBdCnD8eC3tgI3oIpj_osAVAyDSHSWxBa6AsLik5MQbJvigiNMMbgGPPdezzGOdzWPwrzQMlHqBZtgsbItKPsp_uIdC8kRz5ZoDw3HZztNFUl4kG-6mDYaxTzfF8v_0MxnZ_9Nz-NY-Xr-EpMHks9hCiaYYWjFeL_-gGPTXYLntGUjPF33km4gSYZD6FjlTtFWb27zR6Vz1DYvpvgHt0Jc1ycOvjBly8xnYPBN1H6IzRBrKVjkwRpM0wptRujE9dTHYroT1pW1z_uwcY37YW3pTPiq-gkcZf89u93oA4j427ufo1xwDZdh9OBh7ftmRWBHCr248tIOTf4By2D0qrHW2AdHKYWOWoqMBD1uyy2vxstZ-kkekQRl_esWTpDao75swEDaAJ054sojv8lNyFr1tT67u8kJOj5G0_ebv0aJSaaQuZkmNojdfBUGdAwYAKnGQts-MGylSTnCIovHBWKludr3d3vlIUQjqO7zhC9mU9CY4s_aq8Z61GDC6ZRW7CrT93c5B9YpUerEmSBVnASzgt2WvDf7JjJZomHDGdB3LhOcuTIGG8_nd0kXkNYC6Izpim71DSbwKDWQoq_HP4SoqrYLv1tUA==",
  "id": "rs_09c089125edc36eb016ab41d50989c87d0af66474ac64ff4cf",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The woolly white toy’s torso now fills the space between the left fingers. I’m closing around its fleece before lifting it to test the hold.\"}",
  "call_id": "call_sIZNwL2GjGSsQYzNNY4ONSSI",
  "id": "fc_09c089125edc36eb016ab41d50f23487d09c763f8e0129ec78",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_sIZNwL2GjGSsQYzNNY4ONSSI",
  "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]: [-0.1574, 1.2079, 0.5327, -0.242, -0.2756, -0.1204, 0.0158, -0.0486, 0.9211, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3054 left_y=0.0038 left_z=0.062 left_yaw=0.1371 left_pitch=-0.3201 left_roll=0.16 left_gripper=0.0158 right_x=0.2994 right_y=0.0002 right_z=0.1978 right_yaw=0.0013 right_pitch=-0.1341 right_roll=0.0576 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -4.7795, 8.0342, 1.1746, -0.149, -0.0122, 0.652, -0.0342, -2.0718, 6.9128, 1.5507, -0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22abcc4e5c00cef1c946f4c7de8efed464394117bd55c37a29cfd1a61d9d2ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6ea7839052f8eebc52c80058989c9abfae06777dd3606170031f6eac545e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b746c77c49a134b3a35c84623ab48331c850132ebbba68fa4517bf51bcce2c",
      "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]: [-0.1921, 1.008, 0.8845, -0.7166, -0.2874, -0.131, 0.9968, -0.1902, 1.5932, 1.1698, -0.2863, -0.1627, -0.0669, 0.9947]\nstate[eef_state]: left_x=0.2945 left_y=-0.0026 left_z=0.1864 left_yaw=0.1117 left_pitch=-0.2429 left_roll=0.138 left_gripper=0.9968 right_x=0.4572 right_y=-0.0552 right_z=0.1709 right_yaw=-0.0182 right_pitch=-0.136 right_roll=0.0692 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -2.3453, 6.7214, 1.4774, -0.1636, -0.0415, -0.0122, -0.1709, -7.7607, 8.0479, 1.5702, -0.0952, 0.0366, -0.1343]",
      "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]: [-0.157, 1.1938, 0.551, -0.263, -0.2749, -0.1181, 0.9968, -0.0479, 0.9192, 0.8158, -0.598, -0.0639, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3074 left_y=0.0035 left_z=0.0698 left_yaw=0.1345 left_pitch=-0.3096 left_roll=0.1574 left_gripper=0.9968 right_x=0.2985 right_y=0.0006 right_z=0.1975 right_yaw=0.0024 right_pitch=-0.1368 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.212, -3.9316, 6.5436, 1.6288, 0.0073, 0.1099, -0.0122, -0.7453, -2.3316, 7.1453, 1.8437, -0.1197, -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]: [-0.1574, 1.2079, 0.5327, -0.242, -0.2756, -0.1204, 0.0158, -0.0486, 0.9211, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3054 left_y=0.0038 left_z=0.062 left_yaw=0.1371 left_pitch=-0.3201 left_roll=0.16 left_gripper=0.0158 right_x=0.2994 right_y=0.0002 right_z=0.1978 right_yaw=0.0013 right_pitch=-0.1341 right_roll=0.0576 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -4.7795, 8.0342, 1.1746, -0.149, -0.0122, 0.652, -0.0342, -2.0718, 6.9128, 1.5507, -0.0904, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c22abcc4e5c00cef1c946f4c7de8efed464394117bd55c37a29cfd1a61d9d2ab",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6ea7839052f8eebc52c80058989c9abfae06777dd3606170031f6eac545e6b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9b746c77c49a134b3a35c84623ab48331c850132ebbba68fa4517bf51bcce2c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1VH7gNGB48BPPrSmgJHZWMWYR9gKj3g2wKeExl2mWS1R0YgnZ8HegqUbLmpydbViZtw67ytwSUunyKNDW7rHuIl0s7iIDaVTTumkcK5JdDDwuaXz9KJl20H97G-PtKG2bjID3lgW57N9Hj2C4WxyDVh2kKFC6zK2ae9lspno1aCAwqgWyQPttHbo1cuBbcUwij23SQ3TGzZvnKnkdO6HxWeBMOXGvmiCwWSmWxwnDcXLI6q2t7_shM6WnEUAWveZMh1EB9KjoCSXXlBfPXP0-AcdMMdCuGds62zqaPFmz3H9ixoCU3evhrYscFWrEJgxQJBoJYHZraL_-tPbReMpv-Hn7OOr_J8tjJ__2WHQkmLaSxoNlT4KbXYtzAOuMXYMRIpBQfe-pMJ2XGw-BzyDIRWni_lFGdwvAss5r2_6bpJZH7F0_ajho5i3NzEkKvlrWujaT69ja1FTxwJfHYvkytl2UhhcbuVZ75BRI6Rsd3M4AoasMANVWlSlcD_MidhJm6mY3Znaf2CSsYHPB_lQ5wWa9hDDJ4XcE5vuBASPUCMmscMZBPzgNXbX6euy64H0C_UMHn4SHSwxfJ1ZkkI41h81XqG7uZuD6C7wKiHFHR040OIGobTz2v0S39vWCOFojKRq6-mXqaaP6tkHuq7uwF4nEm0zjgkYNPeEp1obf9qW_RA5ieYBryzd8dN4hPLl1EydoUw0AYm4ZQjICl9xIljXOBkCGJT85fskpYe1FTJsZSa23L8SnnjbaaSJg5sVOO625Kqs3LiEaEkEfqy7o4oINJsJShhj-YdSQ_gnifHTTAfLIbk4L6955jqD1-g9EUxqNUKFzo-7qo5whujtWSZl47HwQPIAXa7tFJJ3xq2_2pErHIER_wAosp8ce5mfdlH0AjhkCv2N4Dwa3wg3fpU0jZgTcFKn1HAQoyPJI1If_5TQR4o7hVnA8nVBYWFFci2cJuVJXFssRCYN98YkCbtRgryH_vYMJFn14lEYTy4bPSJ_gcqUMKTe4dhOuoolldtfI6nMdxPsgBFKXaXPwRcWjad4hMg697-d9oMYzVVyvPxXx_54pWeMHhXqIz1cu9PoCR8JgcryxvXAz2PX8J_HcVeg1e9-ofFq_oLokww96yibns4NF4bJw5Cb7b5c9guqyWcuaTxzQEw-hljFkdzsImpXdWvM8wVnDO1iLryJG6qtZPniFLhlkx7QNo2VtW7txamBPc2CrxzXOyd-FzU9qLUcNuC0EqpkHDq7OZZlTGRcvZkFVVHl66l6b2mW0_LUWqUkCn_Kszsefz35pqW-UhoUiC6m8liT1Rsp3oZiSSRkjCyVtk27pCa4csrh3bGL9Uw14SPqImK3iumYDTOPxr_mu2eH-rYbkPQDJKYWuyDRNOFv2Vk_8f_5AGZWnPmIELJKhTYXjJ5Agq-12-_IVriVsAkHp8uaqvQfnqzdjQ8J8Irt_Mwrec7l9R1Qm6wxJh4ZYBkr7zRiUuXHVbfg==",
  "id": "rs_09c089125edc36eb016ab41d53b11487d0949f895eb6eac9a6",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.34,\"left_z\":0.055},\"note\":\"The left gripper closed essentially empty, so the white toy is still just ahead of the fingertips despite filling the wrist image. I’m reopening and advancing roughly 3 cm at its body height for a better-centered retry.\"}",
  "call_id": "call_MUxrrJ4pWKBEu1sfw9qZ6rmj",
  "id": "fc_09c089125edc36eb016ab41d5422b887d0ab8153fca0f3fca6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_MUxrrJ4pWKBEu1sfw9qZ6rmj",
  "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]: [-0.1387, 1.3659, 0.5987, -0.1486, -0.276, -0.104, 0.9954, -0.0486, 0.9257, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3345 left_y=0.0055 left_z=0.0534 left_yaw=0.1469 left_pitch=-0.3201 left_roll=0.1709 left_gripper=0.9954 right_x=0.2997 right_y=0.0002 right_z=0.1965 right_yaw=0.0013 right_pitch=-0.1387 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -3.6444, 7.8017, 1.3211, -0.0024, 0.0024, -0.1783, -0.1436, -2.359, 6.9675, 1.5849, -0.0757, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0b4a76f0c7d7fc5ca190933a97d2e0025ea0415294ea2d587bdf00b3b3679f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0333a5f77d6466df6b1693cc144e0c3074fa2949d2d7d7f13bc73bdb231e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47533bcc26a4314ee8ac44e4f67bf83c0382efddf957398756de7b72cfd04a7e",
      "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]: [-0.1921, 1.0138, 0.8845, -0.7151, -0.2874, -0.131, 0.9968, -0.0532, 0.9138, 0.8173, -0.5762, -0.0723, 0.0044, 0.9963]\nstate[eef_state]: left_x=0.2951 left_y=-0.0027 left_z=0.1851 left_yaw=0.112 left_pitch=-0.2469 left_roll=0.1393 left_gripper=0.9968 right_x=0.3016 right_y=0.0003 right_z=0.2039 right_yaw=0.0032 right_pitch=-0.108 right_roll=0.063 right_gripper=0.9963\nstate[joint_eff]: [-0.335, -2.7692, 6.7214, 1.4383, -0.1783, -0.0708, -0.0122, 0.294, -2.2359, 6.8444, 1.7656, 0.0611, 0.1001, 0.1441]",
      "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]: [-0.1574, 1.2079, 0.5327, -0.242, -0.2756, -0.1204, 0.0158, -0.0486, 0.9211, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3054 left_y=0.0038 left_z=0.062 left_yaw=0.1371 left_pitch=-0.3201 left_roll=0.16 left_gripper=0.0158 right_x=0.2994 right_y=0.0002 right_z=0.1978 right_yaw=0.0013 right_pitch=-0.1341 right_roll=0.0576 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -4.7795, 8.0342, 1.1746, -0.149, -0.0122, 0.652, -0.0342, -2.0718, 6.9128, 1.5507, -0.0904, -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]: [-0.1387, 1.3659, 0.5987, -0.1486, -0.276, -0.104, 0.9954, -0.0486, 0.9257, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3345 left_y=0.0055 left_z=0.0534 left_yaw=0.1469 left_pitch=-0.3201 left_roll=0.1709 left_gripper=0.9954 right_x=0.2997 right_y=0.0002 right_z=0.1965 right_yaw=0.0013 right_pitch=-0.1387 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -3.6444, 7.8017, 1.3211, -0.0024, 0.0024, -0.1783, -0.1436, -2.359, 6.9675, 1.5849, -0.0757, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db0b4a76f0c7d7fc5ca190933a97d2e0025ea0415294ea2d587bdf00b3b3679f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4a0333a5f77d6466df6b1693cc144e0c3074fa2949d2d7d7f13bc73bdb231e6c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47533bcc26a4314ee8ac44e4f67bf83c0382efddf957398756de7b72cfd04a7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1YOeRXVBl0bfvECXAWLDBYQdAdrJq86uZDI536W2BjD2GMV9a5JGX4ms8elu_27FJe5Q1pZwastz7EH4lKg09U9PqcusAQzYLNau_QSJrtUcKso2clEV0pPt2t4eNyuVeZq4yO1VrMq1BL_6JkRPDFrGh9n63xtQuVE4NMJE-5E4CYfxrtUyGp5jiAuRQV6dYwQAFt__7Er5HOrpY9BeFYyYiJ5OQYPrhAPI6QYzsAjZVL58BpP8WbkGgO25T1BurN7dwEnLzO0nU9Gka9rV4AQEFx5DjTSuKHJRB3TP0fV01pXpRn1MVqpyvtZm2N6ZlpCFvFwlGiHPAoAAX6ao-A0ZIh_l8RAHnrdXb71mrJ7SOpZDh5E2QO-RsqB6QcKpz_fgXZsacR9DGTLeMtWeg7tvISNtc6yUw8S519pA8TAJO_2fsXa1a8qDKA1Hwlwce4QH1eRUWimIY4okMOJoMCLzZFlojUHVmmbPoTa0r65_3ivLQxxfLA5WplOTC7H8UnSXwUNa_01njoMxUxheazF1LxcP6o_jIyBkrebgkuGZxIRnb3bTOcYVyEFOIsuU3Ki9ICkupMTaDwtqAYbAUsfnqiEpgh4OazIu072lhl8M-S-xcQPgrLBq28N7P2mBzYGBly7o8-RU1AbFJUIdUZMeGILFd7McSp0db7ZJ_EPJJQsqfXCA7Koya5w3SFt8cpAcO1eUYd4S_0cH1OmPAlGtQ4yDecLmkZElqqZmvbkM1FaRLlIDe15aD-up2Zw5W-ntTQ7uu7on_i6HXTqjXHmTo39vdItNnlff_ln2ijvA3FoL3iZbxexW046hyZrhV97kt0zJS2JHGgpnLEfTWlHkfzH8I972E04PPSh3PoQ-aOGoE19HXIURcENWf-k9draMDD8V1UsfTpG8irUyujXLZh9xCZoEn3hv0cO4L5mPRxGFXV8XY-K-aMm1M6u2bo6SlEBeoPUudpsd3cAvaqhCUB4IiZbl-FuMJ7Um7hpmGP6-GDPFaSvLxZdSkZYUm_Viz4q8amo48NPlAGYodwUcbX90eKzyrl4tfGTqzFUkB8FkHPji4Gp63hwxFZNlAOl3e-MMlzekVILu--qAYiAmx6NXnYq1DkFwiVcApW5PNYeoRZX5Xc9AKXWVTVWs0Jl_YZuNpe33d-Ni8pg_JSRg4cv5nMIdnube85FmVYAKCKWMu5JFJ1S7cQyfJfpi8TEj7rOmud__Awdz81gxgNFgT7Oj4s31PAFDQoOfTeP0mqb78nVYpCL4XN97NLT06y3LoNcyzJrausQnmsxw2kOUmNUTsqbwIrZg08Y4p7xRPr_i9nIvQm7ygmxkjolAew6g5I7-mKH1qnGCJ0Cogdfw==",
  "id": "rs_09c089125edc36eb016ab41d57736487d08decb7c00dccc666",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"After advancing, the white toy’s fleece runs directly between the left fingertips in the wrist view. I’m trying the grasp again at this deeper position.\"}",
  "call_id": "call_1FNOkQfoyii6EW51vlPu2JqL",
  "id": "fc_09c089125edc36eb016ab41d57b15887d0bdf72f6738e9a427",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_1FNOkQfoyii6EW51vlPu2JqL",
  "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]: [-0.1387, 1.3727, 0.6022, -0.1326, -0.2882, -0.1055, 0.0302, -0.0486, 0.926, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3381 left_y=0.0071 left_z=0.0553 left_yaw=0.1571 left_pitch=-0.3051 left_roll=0.1757 left_gripper=0.0302 right_x=0.2998 right_y=0.0002 right_z=0.1964 right_yaw=0.0013 right_pitch=-0.1391 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.4769, 5.8735, 1.2772, -0.0659, 0.0366, 0.9988, -0.1026, -2.0308, 6.8718, 1.5897, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8208ea36c6063ad3af23d224743550e9efa338181cec977298e1e37b2d90d74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec823d6fb9ce80c14cdef4892455e38fed9c868007cd8ba23ca32ccd16447ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e495a9fa26dd2cb14b411bed3336971858e74e3a2199a6496b4bda567519740a",
      "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]: [-0.157, 1.1938, 0.551, -0.263, -0.2749, -0.1181, 0.9968, -0.0479, 0.9192, 0.8158, -0.598, -0.0639, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3074 left_y=0.0035 left_z=0.0698 left_yaw=0.1345 left_pitch=-0.3096 left_roll=0.1574 left_gripper=0.9968 right_x=0.2985 right_y=0.0006 right_z=0.1975 right_yaw=0.0024 right_pitch=-0.1368 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.212, -3.9316, 6.5436, 1.6288, 0.0073, 0.1099, -0.0122, -0.7453, -2.3316, 7.1453, 1.8437, -0.1197, -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]: [-0.1387, 1.3659, 0.5987, -0.1486, -0.276, -0.104, 0.9954, -0.0486, 0.9257, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3345 left_y=0.0055 left_z=0.0534 left_yaw=0.1469 left_pitch=-0.3201 left_roll=0.1709 left_gripper=0.9954 right_x=0.2997 right_y=0.0002 right_z=0.1965 right_yaw=0.0013 right_pitch=-0.1387 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -3.6444, 7.8017, 1.3211, -0.0024, 0.0024, -0.1783, -0.1436, -2.359, 6.9675, 1.5849, -0.0757, -0.0415, -0.0122]\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]: [-0.1387, 1.3727, 0.6022, -0.1326, -0.2882, -0.1055, 0.0302, -0.0486, 0.926, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3381 left_y=0.0071 left_z=0.0553 left_yaw=0.1571 left_pitch=-0.3051 left_roll=0.1757 left_gripper=0.0302 right_x=0.2998 right_y=0.0002 right_z=0.1964 right_yaw=0.0013 right_pitch=-0.1391 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.4769, 5.8735, 1.2772, -0.0659, 0.0366, 0.9988, -0.1026, -2.0308, 6.8718, 1.5897, -0.0708, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8208ea36c6063ad3af23d224743550e9efa338181cec977298e1e37b2d90d74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eec823d6fb9ce80c14cdef4892455e38fed9c868007cd8ba23ca32ccd16447ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e495a9fa26dd2cb14b411bed3336971858e74e3a2199a6496b4bda567519740a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1ijzbFTeowge2J7u7aQ8C4Aah86VyFRd2J3NXgMYCS6x-F2UkDrzpcq0W6qTUT3aSSgmXC68Od1P1QpaCgx_Xw-frDulHcj3POhua2AYexHorEvu5oKmTtz08l0PpDa4v-VcWZ5E6WpR-CWLudIl--5gl5VGFWMejmuTh78HsnQZzAtjFIQFpcnRru82xhRSRKVEO3O16XOw1C3I_bGYTd2ke1OGrtDV0Cx15i8T2uJMaKXyISKkr0pcDtqlEPW9LtpKrJiGI5w6VEq62N44Q9EttdQgkWzvIfJgUi4DcDCYstNlvagtOSw5llaGnFg_Q2Swbn5Rf_2VcZX-8A3mSLrzxBPlpWbpLoQDrH2lEv13RzEIMbBvO9zkoS-Ywid1WS2eVakPJN1JrMZFsyt2XlIHphOPRKuH_gEdwKIw1s2by2fECrrVVucrdsh56k-02AJ9ijggGwbMi6WMp7Swwg6GlvLhux1dqMUSxzzqASLh-O_HQqYoccQP1Y_a56LVanSKvbeXs9YXQ4dCKmaEDiBtxSRkdmKbqwUoBsVCCGXThM2TmJClirc0nKh_Lizehz7MEIVbH1Ud84qLt9_upqyFtfMQrxkZGJ3hkfmWLngpxQJyrejE8IBcnbJLDPaVWAVJ4aL51u26F8mbsdD9re-jQqL12OBBnXq5hgWeOtFkZizQ_-SF2r3g1g6CY6Qb0Wz1IwAx7C66GtOkTvhzXlQfviIzuR8LyF1MsmNJPyCkk2U-c7GA2oeHVp922sgOFSpr-TWAZdFmjBHJjdff8g17R-MmTLT0CTdIR_yW3D4SvYftCwpsAq6J8deJ0JuDxu3Jo-UnOYG2oKFGF5lqgSpj1vbx1AEMWYvQSJyCFQ_HzVDUIGXql_RXtUy51oZzc_wJQ4Wy_8FTIALkaTgk3VLZIXAWU1qGTFEUqYg8X2RfympXYoUVoq6Eu6dctpjtTt40CLMK_DiAoz-KTYueX6fvjkKJ7rrIzWaWrwK0nyjLqSMZMXUPH_JJkvONwtJxRfXBmPTYxHXrX0D0f0DqTLnRel8deQHHJB0VL7FL2VSAeeU3N42WUKYG16hUHfmXVPiqCRWkbYrN49J4tVdFFwMqXMXPTDORXlUwWpjlMpP83x-Z7bDlFbyVKLujg8SSN49QXLJHKt_v2BdvjfWJxsgC7toHJnf-CwyPqc6uX3MwMZTS027rArtNG_3U-fVCoMJkkTSkl7XlWwI8T-IHVMs_IJts1KPN_9RWsdVGIHPfVMgRcVFhfvLtxV9POnxYIXsw-_LEDYwDlw_WFVR_xgH38-SslGMABkIT4mb2k8MYDitV0K5LkNe0wvDYuCJyvL3c1MBj7yq8fs7ocMyyDoxR9_3V1i3yGw3WNLWFlwVLsUbvY3VJPQ0y1Z1tC0JL0nC6GFX0k9mfYxWf7S8lkHKCJc0FvxiaUvxf67pKPpPYtjtIDXUnwcCdGUznU8TxpfyXCebf8Adh7en4DIJWLXxMAQ8pHslxvH3omW7zcE7WFROFLRF_a7EE7CjlAq8-v_1d-ZN8_3ZNtpY07P7iqX6NtPW0Cg7jtHTbnkrWwcHT1Obj3J9wo14gfd_AHlSt2FjF2OPJz9YtEACumN0KJXlKodhPoIRS4kOyIxbeAYluvqBCwxrPrDB4ozXrohFDoqWkmDysd8Z91RcNvl71g7K-7ZMbjuNS3gRMJxzsl_gXpyvyZacntBCv5lE1wJ7cKPkl66GVvPI8fD4DuaKpFVel-jES7SvOBsIo0eaa1MxCsztvc5WYezN8tcOmwQ4mqaZ5ciCVhgok9jADFVnY9PEn5slORW1qOi1DkVGhNQtYLSaCe5e1dgsQxShAvmuklYfcFdYn3XNMxc8VLEt2AMt8guMrXDa8ukbtfgAbOqlaViv-kCCRwtqapXhmP-LlKjhow8uEh8VJWtXIB69-24grNxz5JVr8CWmfO19ZYQvnOJwTpVNH0otuL3JHqryLa-NktmEOPnb9rCKikH25uJKg67o_1KsSrfcDAzNCYiLb77DpJqJYMq_1UQ60c7nYMYbG-uvosHzipqouyAYRwhVUxPHg-ejzSjlnL5ZppY4XiX6osXeI0Q0jhDSC0Y-au7M2OtnFuE3GbyAhgiZhc3iWTgja2jtNOeeLuRDOqjmFXdIajvQUyCzEumeP1WV9bj8pueFlyKjc1_IHlY-r-gfdB1aHvLRufyQn8XCL7BCtFKWagrCf_f3OHczOXklNSSU1e2zGpu-gqBDy4-SyMwDqHhLs1AhoL2a8X-bwlvVzL5zEKZw0hPpadcANv8oigGQ7LBkzWK7yFs5YpS1kC_pXPxVVr-URK3QUUTfcn0Tv_7Y5HRFMKFs2EtX-as9gz1dHBOJV4W_aJALInsdYapN5cGrILuZapWvbCpdEpT-FdtKqCk8SkjGcQJUp8oHSwdsM7qXoN84_0sJV7pL6kSdt5mDuWl48ZfOuKgRVeHcSQFUSOrXEcIOMFP_bEe5y6f0g4n91WPCtK3CnkBI0QHXjbni98rvYgBU0nHY9kiMHBTsZ3BoaXPu-2Ju26iSFLBOg1BuqOVq_7UU8W7IFONENrgenbx_9siX7AL-BBtbV2WCU-R9VXTQn2L3O8vYt9DuKWKZ0g-emvroCYucf0S7Z2PMsQ6bQKhk58LMKr_zM_2slodQlDHU6Ci1qcc1VQ8jDUNa0sX_D5UKDICfBWwCMcvOyzlSlsGBzDLKCh1BCDtX6H0frre9Y6pdO5d6pns6ULNd911QPcVP5eh0FM_nJiDNoQ_0ks1mv4t3F5li-M5TRYFhI6S2a8UypoffQbvblhk2KLLFmkhrzxmHSymtYnbqc3ehahExOsirKMWBBgXyUSSxI7x9K-ZbLXe9QYzEOvKip2MN5NsZR7bUTQ-n5yMDiGI6qFYG913P3b0z-eSS4jN2eInvqur9ovalR5Hd-oqR4uigHwEzZU4rVWno_4X2mgFeHkLj55Yhl0LPMO3OOX1mE48ipQdRUGK54XmP3reNB_1CZ85iizCvouJpLQgNuPCXjNWJbqmoZrE_KVSOKBOcxdAnu8I5z4NWC3j2856ME4hAmG6kirIlA9ILDhuqX-n5Ij1qrjPfuU9Kq2EZqTI-cuOHOvfaCrioI9YALNUjM5cLF2T702AvXw1vEDEMh4VRH2kwvaSZ6aNtCZPpL4f2kETDc_7-GkdJ-ni0V1_cFssykgZa0_aaPVZer4PPgDOJ2iALG3SBrVX-n1HAdvPHhqgNZHAFZ2LY9h5b7_bKDUd4OxgWcy5aXTd5n0wRL6ytQ1X-mkx2Wdt6JWYNWRrAzA334aRIDi7BAZcTC7pD59FkNCBRDXpduXRPBYBckU-yWc_xBx95QlAZ0J_6Zpba808EAHyv2YdA_nXhwzBvbHD9fljBLu7SQ0-dggPTHc0THErN3TM9iwfAQ9ItIPXRJfWgBWrGaFQ3Pe29oiIppoo8DJ34_adUKcgWvzHlNBL-kmAYx34yatmupR1GwTOyUh2NGAW8VODSzAiIB0eNe-7zlChT6fm8Uz5fR9k4A_U4r4KoJ_RRFPCGII8kvzrhQsOGu6zV6jOYuRcJ6heObmzfat2f2BQgZwODVOTrZx1BbiuY0x1wLI37KvMGxTvo347TumnpZ1Y7oo92lXwT-19N6aL7f4uSVKpX57u5it40uG2GZ9EO0bbxb298gCYYYO3j6j8qwyLGeOUoAXmwWZ7JDcWnLus1SNFC3a2Ko7YtlTEBhlAPp8K_OjwC7R23GEbeUMS4ZoaboZ8Yxg_EJLb1EXmkVW-uduryQ==",
  "id": "rs_09c089125edc36eb016ab41d5aad7087d0a30b58a539e6ee0c",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1i9jltYkcndLKj_eUhtWI4qletpT4nO1iKWrMUGA-H_SGqUAyIti1p8424BoT8K2hx_SOnJcMAfIwkwHa46vxE5fkk2vSivYf-ip4I1Xj3njBlbz7LWNHoODydh9tjvgts_ZKnvn6h1YDQ_Hen8Nd_E3XE_hDRAiGwXNJtddHhzANuZDePIGMbfKiOz-w7x3iCJ_ROCaWWTaAdf7KwY5_BBZwBsJ2ulCUrqaWI7C8Ze5jrlZF1Nb7YtrPlreBTYBYXUpGovvvSeciYIxDIra32_trQbtDbPix53SG12mxmwnTODF20d7VFznSAMMOCGoGJLRcKm7KJw7zGPaHUdthPeAKCmNrzjFWHuwXWXKcyAcPw9LdSpa0q0dJJQkhR_NQbePfJfZcXwPhB9L6xNjiv7jcuMyYSDchIy8SdGIHscyTf7_6XB2oF61nyk3ImJWKUtZW-uS_RQ5XtQg2Y25w6avYwwUiuwIkbPgdJbC0YTrCnW_BnBMgPt2TvYhQEfhsJLq6LBEW7RgBxCCfU4Og_vvLoYOTHu4oZ5onZPAkzp5qV7ODpjOs_q_6S1HTeJendVlP9njIs_z2g0BZtU5edvcIM5xY94uQw-7Cn07IsC-nKQQe8IRJLq-lyXLi7p4ySLS6q-hmZpPVwYhHabWJkGNqm9blWbU6BNZ89wQ0DbNR_88d_7QrSz1hGIoXc-3qo6tbEeThbXN9gSQ8LVJLS9bj-EIpTXu-KpW2jpL38hB3JeRgGcFT-Jm4hobcvHdtSpOkjV3ljs1HQEUL7XvnPDYFFwaap5ka0aoCiMiAn4bfkTbQIwkioI4OqS89p_jefkslhqlI9i1X13g44P__zgh3JgnpQgS0fBJu4G4uaMp7pitq9TUM9B_nnROPkjDAFGrW11O3lTsVhHMt25DSnkaL52o9rZHtauB6mvHbEyAwCCzZc7g12DOUAT_-Pt6d3I2eN7Y0oI38MdezgKagbJAwZ8EVfYQSdpPJ_ukwIqGNjbuz61YfAWskbN3g1MhDFacxpqWqOWMQfp9AZ3yFGvg7anbZDNZi672FLC8PLIs03qkHFt5FfiGL53oikkIqWuiWfYMD7OxqLwYDZtgjN4pA6TyDkJBfpeHoUQbuOvZCRvozpB6B8mpph6s4EJDXfBr0E4hgRbI7i0PpQktCmiZ-BKb3fsBIdSzj3f8DHZjH776K024QyzS5gP2q3Ts4KQIeU00ITeCCFgWnQd0bQtpKNN6NR_UvpHPuvLWAXnlYNes017772BNedH4trOG3C6__LAtnfq8Nj-ryO_t8O93dtq5povDpGBl_l3QEN8_iqZp6utb7ZfumCxOjygLcN2s86cJgGv3wG3uhSMk5_hbLHlEPZflv_PdExUImSqdEBihjqvunDumzu6eydYS0p9euo3K7EQ-1CijPiknRpYR3xCQpu-p64zWuSg1Sw8jBPuZA5PIqetENFBTVDuuiKoABtgZvBBKBltdIEzbStGELTthtoVVKfiq6gOKoER11DvuVf_vCeFAtkMoNLymAQV8s-NSsUw5DTZ6z3rn9fa8_bHM1gKEyRhX7Vv5TQJZzj7yMQiqQ7Wl6pSTneZM13k4lYyozzevgtFLaoG8ticDoIwTnVe4BgSG9jHoCbzF43aP3UEyEWnl__w_3IZ4AkI2Pn72hUYyqb9NM3Lb2DJZ6Ajr_uXa5Y0IZB_QTHqTHw11XBDktrirtEzjE6V8dkRHKqE0qYhFk7HNxvZtQsT_Mmv9wYMYYx_13LUn9amcgcITsOgqZ7_tcrGyDXjjjKEkahKm8I2JSXZ5PpwHcRgpZLoJCQA_yYGld0YH7yPpI5EGE0Kyd4lva-hbxSGfDEp272dPBrQR0infsY44_427YqzV_V4mP79Fm_-GNhx673chKn07R7H-pT1HWtjo1Se1mEUEkjkEhAvdxae4JJC3gB66Wgd_CpAEpA4yD4PnDahY1ogjH8vV38avCC9TFRZRrXZNXgsa4wLbuYEx5N743aull4PRC-i0H6mvNbsMC1izyehx8z5nx6H8zwjpQuka9QpBL6ir0sX1YUxDNESSOyb-hyCHNOY7InLHAnwO4FXbVDkRVuJiz8VHNyqBl7WzSL5cVjwbYvPLC3TupSlGJa_t2PxS9J_W-H0cje-R9U52I4CxEj6SmQjCYK0ZRjHhTxQp-PRsdZSZJPGElusm-qF7kCxfiMOnJT3exxQjxvcbJvXyZf_ManSRlSNfkZXrNhmPeA400hqLc64ecaKyWuvV3tbE7n88G6uXC9mvslyJaUSUm24KvOaWjoT4boqLuciiGQQZH-W73e-zk5AXYZHzYkdtY_5zPVZj0XAnHMHh9adERf9DHOW7LkrPrQrRvd6ZwGw0AqAa6NEHn0LPRRXBKboA4BsC-TQzE43fclKrqfWiHniIqD8BJ7yiVgjYmrhCCKLkVebD4htfZHwYBeKRRuNhR9IjggFTQnU5AbQc2ekMjFIXJcAiRloZzh49hSstYI8b6VJUPgzXsUH_0vvLIBwvwig8adBPUszdksdw4xYJRylyee27Mj7BCTHQQtFT7ZWJiv0PtIHBnBhbuIFkvBhJ8z408meLbOjfw=",
  "id": "rs_09c089125edc36eb016ab41d5f3bfc87d08faa8531405e3986",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.375,\"left_y\":-0.035,\"left_z\":0.065},\"note\":\"The second close was empty too. From the overhead and wrist views, the wide fleece is being pushed aside, so I’m repositioning to the toy’s narrower head instead of repeating a body grasp.\"}",
  "call_id": "call_xFggPOy4e3UzR0BjPYuIapcr",
  "id": "fc_09c089125edc36eb016ab41d617c2487d08f22ce2aaef38e76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_xFggPOy4e3UzR0BjPYuIapcr",
  "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]: [-0.2661, 1.5242, 0.7631, -0.1848, -0.3668, -0.2127, 0.995, -0.049, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3688 left_y=-0.0311 left_z=0.0598 left_yaw=0.1593 left_pitch=-0.3122 left_roll=0.1803 left_gripper=0.995 right_x=0.2999 right_y=0.0001 right_z=0.1958 right_yaw=0.001 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.4359, 8.0615, 1.3358, -0.2613, 0.0366, 0.0464, -0.294, -2.1538, 7.1726, 1.6142, -0.0659, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2914954107dd7ff7d392cf257b06caad6d71d1185b9b590193503342c21b85b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84500c1c02c6a3890ef5ed55ae164e24fd535160f18534342487796ad9b23e9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627d388b5b9bc2c6a1d1ceeef8fd9f1a5e0915fe6308201b191077dce6ca86b5",
      "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 109 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]: [-0.1574, 1.2079, 0.5327, -0.242, -0.2756, -0.1204, 0.0158, -0.0486, 0.9211, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3054 left_y=0.0038 left_z=0.062 left_yaw=0.1371 left_pitch=-0.3201 left_roll=0.16 left_gripper=0.0158 right_x=0.2994 right_y=0.0002 right_z=0.1978 right_yaw=0.0013 right_pitch=-0.1341 right_roll=0.0576 right_gripper=0.9964\nstate[joint_eff]: [-0.0342, -4.7795, 8.0342, 1.1746, -0.149, -0.0122, 0.652, -0.0342, -2.0718, 6.9128, 1.5507, -0.0904, -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]: [-0.1387, 1.3727, 0.6022, -0.1326, -0.2882, -0.1055, 0.0302, -0.0486, 0.926, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3381 left_y=0.0071 left_z=0.0553 left_yaw=0.1571 left_pitch=-0.3051 left_roll=0.1757 left_gripper=0.0302 right_x=0.2998 right_y=0.0002 right_z=0.1964 right_yaw=0.0013 right_pitch=-0.1391 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.4769, 5.8735, 1.2772, -0.0659, 0.0366, 0.9988, -0.1026, -2.0308, 6.8718, 1.5897, -0.0708, -0.0611, -0.0122]\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]: [-0.2661, 1.5242, 0.7631, -0.1848, -0.3668, -0.2127, 0.995, -0.049, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3688 left_y=-0.0311 left_z=0.0598 left_yaw=0.1593 left_pitch=-0.3122 left_roll=0.1803 left_gripper=0.995 right_x=0.2999 right_y=0.0001 right_z=0.1958 right_yaw=0.001 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.4359, 8.0615, 1.3358, -0.2613, 0.0366, 0.0464, -0.294, -2.1538, 7.1726, 1.6142, -0.0659, -0.0513, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2914954107dd7ff7d392cf257b06caad6d71d1185b9b590193503342c21b85b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84500c1c02c6a3890ef5ed55ae164e24fd535160f18534342487796ad9b23e9d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:627d388b5b9bc2c6a1d1ceeef8fd9f1a5e0915fe6308201b191077dce6ca86b5",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1maQqkQQsNCYDlmF1Pn3OWc7ZxG84OyMfbhkI_2hxkLw7ppr8q3rqRln0rOg7X3AeJrz0-6TqCwsMrMrNcAxwrfTat4dPujq3Hw5Jg-svnbNw3bDPMQqDfULkXS0vVzzozTAFQW0_iroDjoGhylFtc5mJiwcH3XaUMNRzmxCmQk72UYCux3uP4DpaT4oVNJ3FZwHU3H0OFJNXJz5VFoGxKVadY4076jrPhJdCx8RM3K8UpC2jdQ0amRDWX27svlDjJ4LVL-stL-YwUkn9XN7E7z7R0M_CsoK02FlEHWca9oS1zUMmdlYdGbUS-nWHZqTEfexcJ9P2oGUXxyChZOdlTdaclPFoWfluSRwP33ABoW4X7KcFUIO75g04h_sOgY59ajNvqpXWQLCvuudIsJ7A2RT4_8YquXtN4h9PshmaerhwVMTOw1B5ja-vRzG4t8aJYc6J77Rdoah8kPTsKczefo0-keHXpNKiabMYiDpdI49_VTqNXv5XJ6AF-yhvoqdQ_OdD7gNKCT6rl7ZyjWSQMZgVYr2R2oSP2OnCBEpSCcsWH3ngKYI4Jhuon2aHYzJ7oy0K-YYJeeCz6axVqiBtkcIwgjZpGUxM8-sJj4yvCp9IC6uMV3I2106JcbYSoG1B8aGDNajQ-8-IcrdMaPqK2bMXjWnkdOLySVuLQLc3MINB-1u8Gq4PEmf9Ja5auNvyzjduslW0Y2kPCVLATZAKEL6P72T2j39kUZMscypVk3z-qT6QURNW5fBK8DM8Ke-OqMoHJM6lFo1bnyaI5pFx3Vw3ECcMWmEOhH0MBYhsws5BS-pGEJq-u7DuFYvSQnwKESSlKqIBfxkCSvwlsq6yVBBuwpC2HPWHE5NO3DVxK9DYc2jgX9Hfywxsgt9-nnrPvKnvnTtMttoSbZic98p2oSvNXikMMCmpBwTY9_a_DfjPP9KIJ6Xg_2bq2XH_6SRzqEQXSRV8iQyVHLcJPIn8Nukr3Of16hFpqvSoAUVUyQSSAtO4SHgnFhfzUZHmWWHxJFrU4iHDa43yGAqaCGzIghPZRzXgzF93DbLVGlomNo-ysG3RhE9MItatWo2tG6GtEXKqUQ7iHMEXsGc9KqlNu65C9r_Pq41SOGP3yXW_39_i32ILd4jE-Z0gOnFWvydg_hohBe1cyMdkKiMzHbqFwQuWLPnor9D4su0hj9V3d_ONrmINHfgIRqowDkNK4d0y__kXhZK4LP89WbViYyTuaxWDI_YLglgMIMPow8Yfm83bwVfNGpshtRboN2iboVlS9mqUoxnDMAlqXUvrWa4tJ7YOTAsexHbId7BDC1Tag0lF6UC8VYzv_36MsjFjdjwSjorc8nze9m8f12krLxITvTIY6LhNagwnWk8QO4gMIfqtCGhBXlxEVpxtfbHvNgGCNBbS4Pa7aDc_onsXnj_aHiTlEmtnlCUxkN6h4feYEdzg=",
  "id": "rs_09c089125edc36eb016ab41d64fd2887d0875ff694d298ea41",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The left fingers now bracket the white toy’s narrower shoulder and neck, rather than its widest fleece. I’m closing at this new angle to see whether the jaws can catch it.\"}",
  "call_id": "call_qloRYg0XCOHkgKmZ3YUT8ptX",
  "id": "fc_09c089125edc36eb016ab41d6574a487d083f01ef1e04d470e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qloRYg0XCOHkgKmZ3YUT8ptX",
  "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]: [-0.2672, 1.5326, 0.7723, -0.186, -0.3843, -0.2173, 0.0164, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.371 left_y=-0.0292 left_z=0.0609 left_yaw=0.1751 left_pitch=-0.3061 left_roll=0.1909 left_gripper=0.0164 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -6.8855, 5.2991, 1.2967, -0.0415, 0.0171, 0.7253, -0.1846, -1.853, 6.8581, 1.58, -0.0855, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb186c0234e102ce61f263e24e7241ca4007cd1a6d9c1afda6aa8b3023fff41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fea65ac73f8f1cf044af1b7b7c353fee894eae2e83649da15739b2f62619ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85eed281976fb33e5a6a29aa1b028f4b6d075273dce5c0e8a7851f268d09177c",
      "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 109 changed as sent

message 113 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]: [-0.1387, 1.3659, 0.5987, -0.1486, -0.276, -0.104, 0.9954, -0.0486, 0.9257, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3345 left_y=0.0055 left_z=0.0534 left_yaw=0.1469 left_pitch=-0.3201 left_roll=0.1709 left_gripper=0.9954 right_x=0.2997 right_y=0.0002 right_z=0.1965 right_yaw=0.0013 right_pitch=-0.1387 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [0.335, -3.6444, 7.8017, 1.3211, -0.0024, 0.0024, -0.1783, -0.1436, -2.359, 6.9675, 1.5849, -0.0757, -0.0415, -0.0122]\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]: [-0.2661, 1.5242, 0.7631, -0.1848, -0.3668, -0.2127, 0.995, -0.049, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3688 left_y=-0.0311 left_z=0.0598 left_yaw=0.1593 left_pitch=-0.3122 left_roll=0.1803 left_gripper=0.995 right_x=0.2999 right_y=0.0001 right_z=0.1958 right_yaw=0.001 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.4359, 8.0615, 1.3358, -0.2613, 0.0366, 0.0464, -0.294, -2.1538, 7.1726, 1.6142, -0.0659, -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]: [-0.2672, 1.5326, 0.7723, -0.186, -0.3843, -0.2173, 0.0164, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.371 left_y=-0.0292 left_z=0.0609 left_yaw=0.1751 left_pitch=-0.3061 left_roll=0.1909 left_gripper=0.0164 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -6.8855, 5.2991, 1.2967, -0.0415, 0.0171, 0.7253, -0.1846, -1.853, 6.8581, 1.58, -0.0855, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceb186c0234e102ce61f263e24e7241ca4007cd1a6d9c1afda6aa8b3023fff41",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fea65ac73f8f1cf044af1b7b7c353fee894eae2e83649da15739b2f62619ac6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85eed281976fb33e5a6a29aa1b028f4b6d075273dce5c0e8a7851f268d09177c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1qQVdZIjuM5r6EhUOWk3eeW3pna45MyWQWPQqYISzaUujtyXwHeGpVExTQfRc7vDpWXlUqWBrva7iORuCKWgnYkrxGYWy3699SK9yKYFGiCYooBXrFB50T5x6WBOQwmPhzTTIsmf6HmKpLec1VWKue6ae5QjG7J1ScoGBTOulqmYY8FhF0-PSeiPoQCUN-U1KIPff77l07-6LP80Wp156MyfjODO1JqFtjwQ0cCU6UF4gnClJP5SDHKcBoIW0Q6HOx8elP-lE6NUWoUSe7DFVXBs-wZU8ETjibLUy5kGFXbSI8u3Em2s4GlMSchr3922NuKahtuDaAlSwZiFJlPi-HWmwH_7zJBxNI-JeXkzzni7TiSrYPQ2nbN4IXhSq1nz5Yvda8OSOH43dDwc2zJ79BEmOu0e_A_r6_mUveOuK3_u8rsyK5cBoPz2cNAkrWC-OFVvni2Nvyw7kz5v5-yVIz1lkg2qrW7GQb0qTmaLjCdDeeNlnoz4Z_oqZESfgfbwF_VzYcIyBNm5a3HMD-ACH5fu-92S_90owTVTsDSvEulGyJDFaxTxSwdZRLuIxF2iBSnFI2TA0NymISu9csSmzyWohtYutoEqRAWqCPwWormBMuMg_acD3qwqdflotlH10fS85mpA79H0H8YQZyRuB7wtVUmgP3lYwheTSm7TbU69ARZ-6c6RxKfYRLa5K5HF2zr-ySCrI2US8M3c8rT1KAGHO1g4njUA6ILxYnTMdputsH0HU3sWcPnV5wfbP-y-jWNnsxKVaS1MODcAfCL6XiVzGBchFfMMEEmcTE-ulvKR4tE4QFQk95IJL8zjtmxqItB7H-7piDSyC11gEHUpXrCjcVba0HJYJdI_JjmagR1hxGjrAUAWt0YkxWuIwBvs0KAZIRTVR6al9JrnAwX6MrdXfmRDeyaTWfSuZedcp82l3KDP5qEnEm9jVWtqrm6s4CYPdarNObt2lrOlxtNW0-xJcuFt2sGMaHa5r-EuiOweXW3ST5jnEGqa9AOWGCWCXFNzSqSDPQgEMJiiX5UzHIgs_0TFCkVDfTDmiEbN8PY4jA4XiJNyoZGr5BeIivrUNrdZTdYA6g1SB-2Jj65tKg__DE-Ms_46NWQxFv_oOIPqtI7YKJ4Wtx21CfKZntcYRDM9XEaSrpexcQ7oJzb7eQoCvGo9G6UjZWVkSNWO9dD4bZ-t733CpgawsKNO6KIrqx7EVyIX__NfRZ7P2uEonFsPss4N9SS_dL35nslBrH7npUjYhTHhLLhAF_XTiutzlql5_SplBUNYHXH8Cp-4V0y5Fead6MoWyytSEjpbPBwPpd35nJ5LS1Ih9FbjfKw3Dk9dO-CUZHfMjTPUtI_AMnAl2ZtS11EDsnjoD7DVy9V1mw7HRfuTvik8pdo8FEZxg1ajph9SSmoDTSwAe9ScxSk-OIlYCJVHPEU1sZGlHug7CJlLaxFrHp0xc5K_mr3hsMF5rVe9w5nSw06Jy-lzv05PXMCapr9ik5Mq7JCV7wJ0Is4MTS-QWN7CyzNbi2p00rhMETn0n2kUnv-jxRdHoJa1gWlVdf0DehHSdN2Zv-jWAKsd3MTRvHBwXRYqNH_cG-G-zoH2twwSkqtCCRZwleU8-XDYgM_cWCpRCPIdwniSY1tsSA2Uj5X3zqQ1wpOP3OScFWkl1uIgtNRYepX9MKHbpX4FIMSbG7V2RNXqCMD3lgo9tdgB5lvcEzmtRFQCtHSbJJVfEbdldxbQdJTIHOAXRE8HinOp2253d9nUH3lYGFHf3F46WrQUT3oBFuWCRCgG-wawHq3hFhdLe8HZSvfhDrhMqXQkwoJkz0jugVRyhywQHsqM5gHTZz06OdmoZffxsy-6PjLaLMX5ZACQCHDOv_QgljX1b56LTvIPYLeaDEAyBq9fUBN7hQHvG8ANUojIpmX-VElnycwnVSh7sNXab37hiXQvSkFONLdjmmM9ENXQjFt5YzTjdzBef7jqQIQcW_O_8vAqhbXcVFjhRlQlXIxgDdYGZSg26xQwtK5eVpFZqqoaMIsWy3VxRsf51GFCJi3oB5-P_jlduOvZJo9W3bxGIT1BKIyJHm6cIFHSdwC89yXr3uiIhfH9qOd4eKY1HpIgNZ-Be5ppUhnrrYz4qqlOo0TXZt6-uQS1l648plIHIXBVe9KfJB5IrqjHB63wM6qlY115e6ZC8GX3Spnz1l9pQw4_OjBiNn5ccWLTU2DjC6Y9uLxE4h0eJ-p8F3",
  "id": "rs_09c089125edc36eb016ab41d6862ac87d0a38f4c106d5477f1",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.415,\"left_y\":-0.055,\"left_z\":0.045},\"note\":\"This third close also missed, and the wrist camera still shows the toy forward of the finger tips. I’m opening and advancing toward its head while dropping slightly, rather than squeezing the same patch of fleece again.\"}",
  "call_id": "call_8xh5ApDxiFk5gUkqZWZSglnS",
  "id": "fc_09c089125edc36eb016ab41d6a0bf087d0ba74ddbf65804e3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_8xh5ApDxiFk5gUkqZWZSglnS",
  "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]: [-0.3054, 1.7218, 0.9131, -0.1497, -0.4351, -0.2554, 0.9951, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0472 left_z=0.0489 left_yaw=0.2003 left_pitch=-0.2939 left_roll=0.209 left_gripper=0.9951 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -6.1333, 7.4462, 1.3016, 0.0513, -0.0073, -0.0855, -0.1846, -2.0034, 6.8718, 1.5946, -0.0513, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827e31b7495e483449e37187009dc1c8f2e50dcb8b2292f7684b289908f2b835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a70919058a2c19557cc545d54a66a3d928d587148f27fb96aadc08e34d70fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ffd27cb8238c5cc4ddc744f171fdb87f53de55fdc1fb5c5b8b3a88b4df047a",
      "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 113 changed as sent

message 117 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]: [-0.1387, 1.3727, 0.6022, -0.1326, -0.2882, -0.1055, 0.0302, -0.0486, 0.926, 0.8158, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3381 left_y=0.0071 left_z=0.0553 left_yaw=0.1571 left_pitch=-0.3051 left_roll=0.1757 left_gripper=0.0302 right_x=0.2998 right_y=0.0002 right_z=0.1964 right_yaw=0.0013 right_pitch=-0.1391 right_roll=0.0578 right_gripper=0.9964\nstate[joint_eff]: [-0.0889, -5.4769, 5.8735, 1.2772, -0.0659, 0.0366, 0.9988, -0.1026, -2.0308, 6.8718, 1.5897, -0.0708, -0.0611, -0.0122]\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]: [-0.2672, 1.5326, 0.7723, -0.186, -0.3843, -0.2173, 0.0164, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.371 left_y=-0.0292 left_z=0.0609 left_yaw=0.1751 left_pitch=-0.3061 left_roll=0.1909 left_gripper=0.0164 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -6.8855, 5.2991, 1.2967, -0.0415, 0.0171, 0.7253, -0.1846, -1.853, 6.8581, 1.58, -0.0855, -0.0317, -0.0122]\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]: [-0.3054, 1.7218, 0.9131, -0.1497, -0.4351, -0.2554, 0.9951, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0472 left_z=0.0489 left_yaw=0.2003 left_pitch=-0.2939 left_roll=0.209 left_gripper=0.9951 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -6.1333, 7.4462, 1.3016, 0.0513, -0.0073, -0.0855, -0.1846, -2.0034, 6.8718, 1.5946, -0.0513, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:827e31b7495e483449e37187009dc1c8f2e50dcb8b2292f7684b289908f2b835",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a70919058a2c19557cc545d54a66a3d928d587148f27fb96aadc08e34d70fd3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2ffd27cb8238c5cc4ddc744f171fdb87f53de55fdc1fb5c5b8b3a88b4df047a",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1u-JxGLnSR1lPV6dX6dLHOOMBKOEAXFuMKpvdySrzJ0kJoOd6raF028yrBhcm6pl_c40J0hTcmDDuf9v70RLkHA8yyAOpxs9Mf7HhzLhbr4eAnq2jackQl022MEam5QA64x0w2-ybsgS97yhGMoxJtubzE67pSDpQ-c0zTN5Nf_5MmfbRMnsHNyHoGRN32UMJvjZC9YQksH4Tgy7qdqa9zwGeXSqXn70ZrSWW5VDLlZeHke6nssTHZJDUVXQnrEtS3-G3hU40Shmmj0wMmW5LSnfQhMl05dRPvlbyOg2kD_GMBite1SGpo58ypSCi95oDEqEh4-MCKRjocCcPdp3lSL_IIFFjMM0avcmUzIxLU-sQaFtsYVang597VKOsj8wLp1F2tt6atRqifyGu1CJm5UNSHLmTqPnue1eul31pG_-5P7c1JD4BciBkoOxg71PiI30PLplkHFFPNfU8Mbk-3_UFwRqmYepueWeFuIUehlKRuaO3eFs-AEfN9JCynlmpcvYZQExbiOM77HJkgg5lXnm-zNrwruQWqrbwbbMuk-jIDuY3IQ0nxeYon8eEf55bmqJ8ncH88HXoy_8wL8ghNk-T48ziwsERMhHSAtro9t4OWi7Oy1RAQ902G5it54hg1btT-FB2MRAPl9Yv-wb4s2XsOa8q8Pa3Ma3insiCB5IR_2cAW24wLei6e_rzudc7Mh8syzQv2OnPgDOyA9yy398lFMCxNK6pcK1jNpcPCpEytI-FGQvYJ3LcF24nnub9Rl4rQyKJCahBKcQEtItcVarqmt7Rx7Dp5LSZR8A6bQtrq1tdVaph-rFRksN91uZqAVnSEETzdt3kLNP6pM32bxZHqAxxilLepYYXcp-W6MHUR-KXhBEd-FofIlLkcZdpVAb--uarvMQhgFE1Pf_b-Eor9jfrGDbTqUdCTs3BE2smFwQvtbjgtzlwMDog605zFLkqWGvBIQZccG1nU_v--9XWtPfVvzih1PaSc36FOE_LXtEufnzfUcNCb1RUm_aOk9HoqzLf1D_ZZlFj4PMFOMqca-V7Ji9xCiWi38RzrV1FEhE4vj-O4gq8J2nJngJgpvcLb9THtfZuslh1Alrr7b6RqoJUVEZ0vuMTOzJA2mYeFscPGFK0YI21k6uxDna4vU1REEz7Z-aUvqgHHhAnxY0E3GRgFnWvfAuH5r7-ezPvlfCLcgOUcyGCjZmnfm8a937BBuwTifqDxr1UT1yRNFPYKvfB1FvGZLss65TJbpxUJw0iOXQKke_WUmriivoR9se0MUQxay57Q9Nz6LPpzwJzOPZZftlRJhQWsIKN7Vm-pcTIJI3RXgb0QlDk6-TUiqG6-CRmk2ZOS95GmgUudLQ==",
  "id": "rs_09c089125edc36eb016ab41d6d38b487d0a68391cefbc9285f",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The white toy’s head and body have moved lower in the wrist image and now overlap the actual fingertip level. I’m closing once at this advanced position to test whether the gripper can finally catch the plush.\"}",
  "call_id": "call_ucM7HMgTFL8rinFhh1ajGaMV",
  "id": "fc_09c089125edc36eb016ab41d6d938087d09a879f6294da02c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_ucM7HMgTFL8rinFhh1ajGaMV",
  "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]: [-0.3035, 1.7294, 0.9218, -0.1364, -0.4713, -0.2623, 0.0161, -0.0486, 0.9279, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4143 left_y=-0.0419 left_z=0.053 left_yaw=0.2322 left_pitch=-0.2658 left_roll=0.2234 left_gripper=0.0161 right_x=0.2999 right_y=0.0002 right_z=0.1957 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -8.6496, 5.2855, 1.1355, 0.149, 0.0415, 1.2625, -0.1299, -1.9761, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec088e89aceab9370a96cc9486f5dd16a4a5713ce60bd94740e0acd53869a991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28e4af407c7182129f8d5f3fe4b80095dafc9daea1d495981ff19746f61b185d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dadd30c2bd5610b48cc16eff7d79595d44f258491e8a3e1fa7446e0b0c8907c",
      "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 109 changed as sent

message 117 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]: [-0.2661, 1.5242, 0.7631, -0.1848, -0.3668, -0.2127, 0.995, -0.049, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3688 left_y=-0.0311 left_z=0.0598 left_yaw=0.1593 left_pitch=-0.3122 left_roll=0.1803 left_gripper=0.995 right_x=0.2999 right_y=0.0001 right_z=0.1958 right_yaw=0.001 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.4359, 8.0615, 1.3358, -0.2613, 0.0366, 0.0464, -0.294, -2.1538, 7.1726, 1.6142, -0.0659, -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]: [-0.3054, 1.7218, 0.9131, -0.1497, -0.4351, -0.2554, 0.9951, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0472 left_z=0.0489 left_yaw=0.2003 left_pitch=-0.2939 left_roll=0.209 left_gripper=0.9951 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -6.1333, 7.4462, 1.3016, 0.0513, -0.0073, -0.0855, -0.1846, -2.0034, 6.8718, 1.5946, -0.0513, -0.0659, -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]: [-0.3035, 1.7294, 0.9218, -0.1364, -0.4713, -0.2623, 0.0161, -0.0486, 0.9279, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4143 left_y=-0.0419 left_z=0.053 left_yaw=0.2322 left_pitch=-0.2658 left_roll=0.2234 left_gripper=0.0161 right_x=0.2999 right_y=0.0002 right_z=0.1957 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -8.6496, 5.2855, 1.1355, 0.149, 0.0415, 1.2625, -0.1299, -1.9761, 6.9265, 1.6093, -0.0513, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec088e89aceab9370a96cc9486f5dd16a4a5713ce60bd94740e0acd53869a991",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28e4af407c7182129f8d5f3fe4b80095dafc9daea1d495981ff19746f61b185d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0dadd30c2bd5610b48cc16eff7d79595d44f258491e8a3e1fa7446e0b0c8907c",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09c089125edc36eb016ab41d70bd7c87d094f96cfd223eeed1",
  "summary": [],
  "type": "reasoning"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB143bCDeRU76kNVHmJpIuRnx_ny3-7V26KA6hXapQjQa7cRj8tq6KDqKta8RYH8YpSEZEmn_rhc5Z3Mt0ALwEiNHO0DrJump_aBdXpI8y9XXdnrtPQuUQq4rYbAHs81kyaCzAJZiUu8r32GnsRfji4UsTCDXnQVjofuWcTr1ZkbXqhrAw5O3WmmKMN4LaSpENYik3XX2eWAy6L9ZKxlNc3F6BZQf_rUhJzCO32TtDJQxLV4j_OiPO9L9UcOemcQgrFbieWS25rEnGXH27A0xM5KABUggfoaCEINepJnQnW3Pt3ew2DWm1U6jK7xvIilcXUwuvWGugnySl4-PLVeo-wj0xSXmx6SpmdC0mrYiGq6Gqr0af7kDWslJd8fvSOUeJwUX_Ri8aWh9A47QSP_jdZgB74b8EO2F1VpLlAvW1wV4lTU80-kzAXzZeBdHYw0H1XdaVZ_zQCEuLMf61Ism-5p6y-l23CzoYNJqPYb40QeBuorVzSESqez8_OhpYXwHsXtIp-w_KN64JxA4YR6tn3AukWQu5ihV5zt-snqyxqlB1IxQYh8R7THs4DcjTSjZRHFAscPP3q7gzL2x8EjcSjLFxy2Tx6Hw2tQU9NF2qqDERxuwwTMJDcypJA2qzbSsGcZUXKlppzv5sJuhnF_3y3mEGdCfozG3UVq4Sh_7aDgelzdQbjPxXqnxmCEYkudGthtlacpqyyiB095pQTHKDCoWIhS3P45YLDF1TGlc3D4BS6s-TrTOjO811zp402T6k7uU9B8yC9MtME_rENoxhKCSZFBEqmKuvZwEsuAy4zrdOMxvTK7VQQeJBtGYW2ZEaQ5n3asWZ47q0XakiSBJvD125BA7cJ1kXGMf_IC5q13nXsmPqvPSe9ZmN3R8Ze4otvnfDxPBtlEYO-nOuscyV6Apo5bh1I3XxcyYfPi4esTXVjSv_Whq23_b9tTTAX3rVzwsKqGihq10KXihF4E6F_a9Ntkyog4AR2cFjxPxcMYzMUX-jWPRiRIZl-NtGLdwxtJT1DjFP1yNctPHxHrOKjP4khPfD6EvvUMYffpRGeTI7il9ERzb4X0jBgEUCFEz6XRbADIdLOD_YqZe2jBLbwg1f--CwhhFlVbXNKhPTd5H3WRwm637PUhO9cwtEpRzdzJSyA4S5IrHrQ2ch9lA9WN6p5oC7olgpNtrMRAZQ_Pj-1coKQFbJ-j2uLdXIxUk5xjCHk5BzqQxx_FaxOQxZ7Ho8WgDhEwzQ_LG0ZhK6eqCAGDUuTY8DrHRmXuVLLNeG2bZlTkMIVGTATW593yFZP7UwithbDacs1Boy8tS7-4sR1NV7ZSUYbIx9QexeyAJbrIScFoChTJrkSA8Rk1CYiVSYiwFruFjU8y4amDBc8lTJaC1cuY5FYt806hdp52kleZCMbYBhspAcQu-EVru3dTsR8ZzRD2aVTc4dN29PMHolHvggBA5gs_msd7_qyq3dOxQZzrkrVIdrKkJWbssREQ8EXOTdLWKhe_FEpj-8TyvhRpYpYTwzMO8WC9rw-urD-iW-6Uka2SuxzLV0ibjz7iOPxTcM3u0pQ0Wm6fVIG62TXPDISG6ILayXVqu5Dq_Aec69m94e9EgplwERGJj6XfvJyEbUpkOwZ5j-IB-nxWUq_ppShVxU9mv6LLLzGBrd1a5BTKg_VV6of3PXew5aB-KSQ9YVpZ3iFXG2aQfE5Hhzm88qRBg_viS-XxWGTpoYwkwfa7Ujc74CbsmpERHEsw6eF3oFIrsSwYJNBwvvu2ehcU0oA03cO5AhtO4De_o-sTl-1ctfU_mMNuMbuSjs0dceAud4k0LSHJXUrLop-FTz0XABsaFyY7TOGrUba95X0pEAYVKXWmEFFVCldMb8d35AUtnqjHXAGfcid8AvUIlACpWrOOABmbzUJko2wOoD4BbHo0jGA_z68TJOiBGlYSz_9bxkgSocBTs_EkJGDkuEz_iUndlji5BQdHKZjmS8hwCq4zp-563FKM5g6gTut222zq5mhRNvjeXi4cVqYq1vsGABwNG4_AdG4E6-gvSL_DKvtFhBt327Cr1E5Lw1V9pZ7MIhmRqIDkhWTSi8hMIVDk7ZJYJb5fDleLT75gMy_DiGARY7NbB_JRDutVizuVD87v7aG9dELZFwHLxmKd-uQ=",
  "id": "rs_09c089125edc36eb016ab41d74fa9487d08b3b230d52abb286",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":1,\"left_x\":0.30,\"left_y\":-0.17,\"left_z\":0.12},\"note\":\"The oversized fluffy toy has slipped free on multiple attempts; the gripper is closing empty against its broad fleece. I’m moving to the much smaller upright brown object at the table center, which should be graspable, rather than repeatedly pinching the large plush.\"}",
  "call_id": "call_7OQ5qWSrU5gmZUhfKL71pyCm",
  "id": "fc_09c089125edc36eb016ab41d76ad4087d0b177c459593ed22b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_7OQ5qWSrU5gmZUhfKL71pyCm",
  "output": [
    {
      "text": "executing move_to over 12 steps (1.2s)",
      "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]: [-0.8558, 1.6024, 1.0737, -0.7345, -0.6899, -0.8146, 0.9957, -0.0486, 0.9279, 0.8154, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3056 left_y=-0.175 left_z=0.1076 left_yaw=0.1851 left_pitch=-0.2847 left_roll=0.2166 left_gripper=0.9957 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.8427, 7.8974, 0.6813, -0.569, -0.022, -0.1099, -0.0615, -2.0034, 7.0085, 1.663, -0.0708, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fc2cf4a3c96889120677b7ee4e262a3a18cae6579fdfb69c59cc51cbffc1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5fd67b57a89ec78bab7eb721d20f82cf2b08e7d889f3b0d7f5a04666343d62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646e0c94d2b979ff30ac49258ce97c92a006c72442d8a2da0b6a7635292cb3a4",
      "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 113 changed as sent

message 121 changed as sent

message 126 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]: [-0.2672, 1.5326, 0.7723, -0.186, -0.3843, -0.2173, 0.0164, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.371 left_y=-0.0292 left_z=0.0609 left_yaw=0.1751 left_pitch=-0.3061 left_roll=0.1909 left_gripper=0.0164 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0615, -6.8855, 5.2991, 1.2967, -0.0415, 0.0171, 0.7253, -0.1846, -1.853, 6.8581, 1.58, -0.0855, -0.0317, -0.0122]\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]: [-0.3035, 1.7294, 0.9218, -0.1364, -0.4713, -0.2623, 0.0161, -0.0486, 0.9279, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4143 left_y=-0.0419 left_z=0.053 left_yaw=0.2322 left_pitch=-0.2658 left_roll=0.2234 left_gripper=0.0161 right_x=0.2999 right_y=0.0002 right_z=0.1957 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -8.6496, 5.2855, 1.1355, 0.149, 0.0415, 1.2625, -0.1299, -1.9761, 6.9265, 1.6093, -0.0513, -0.0366, -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]: [-0.8558, 1.6024, 1.0737, -0.7345, -0.6899, -0.8146, 0.9957, -0.0486, 0.9279, 0.8154, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3056 left_y=-0.175 left_z=0.1076 left_yaw=0.1851 left_pitch=-0.2847 left_roll=0.2166 left_gripper=0.9957 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.8427, 7.8974, 0.6813, -0.569, -0.022, -0.1099, -0.0615, -2.0034, 7.0085, 1.663, -0.0708, -0.0611, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5fc2cf4a3c96889120677b7ee4e262a3a18cae6579fdfb69c59cc51cbffc1b4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8f5fd67b57a89ec78bab7eb721d20f82cf2b08e7d889f3b0d7f5a04666343d62",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:646e0c94d2b979ff30ac49258ce97c92a006c72442d8a2da0b6a7635292cb3a4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB1_xkYLmMwOoy8tw8qZGgn0Z1lX0_b_RkoM3eZeIWhhbUvqaeD32IP3owzBQelFmqATbFGv0WF5c5KSXhemoIYpbBtC5RNQrfiVKsTM6PzMcgMtV2CCIo7QsJmXuYaYsiV3Da-6reO3wF5SGj6UprmsQX4Fe3OzvvdEEMRVNeDpTUcO7OuQSemlAgwbqCmFZK-tZ5i2IVi0vrY6KlQcz65_ptkf573RDMZZl1986L4oE6mE6l5sM3Swo-MspdNTcp5S-tK_W86E3m7TksNODAvFOPP2hmyFqAZW62ZgVYBTR2YTMpRa6tsCgamMNRKiPvs9f71KYy7s0Wszs3xLlepH2lq88PnGhKN3T-QSRyhFx1Ci1rZzOguwYP0zxySrNkHb0lPdjLpyVbpi8tMp_JxzyOH8v5RX-KFYgz4g1quWMlb7HyD-eMgjuoZtVeuQeaKe-uTefTvhgqzlP06VLTdwUOvKqLSZQrwUxsNmXlRNUrbZvZpxnkFn4pu8p8Ks4yYRdybUeztEcS54FLVN2P4_UJlpJriqE_bIFsFRGleArnM2RT4pENwOqAIyhpNbvfo-eNN-_hP2FTVSw15TRrJ7yyIRUSQP9uqy-HIxclX2opLYG1UJ__vHuy-IAHQ0oDqF9hIB190GVOcTc9CcXb-FbmDa8rbdX2vtX5Z4NbWwPfXbk6ZLk5cqWU9kqylO-QylZQQoHK8ix7aJHrcOaK90Ig9ppmBcEZANLLeM8BlOQCPbJZEKnt4u_5YI3uLCrwNjYFtzk872f6h4HBDlvLq2GU__CKPMdjbRpDVMACvzD6d0LMICFNXiC3xXnq8w5ighhyJz8WxfgsepjpwhGBFN2heXSUdcCEwzeTkXGulgzYJLhOzvvXoS9U9XrR0RKnwRc9DgyF6fWEXHNItZD9VJE0s_CSEn-2zT_a4lk1Sg3_2AldRrX6liuYWn_2P5heOuc30G-23V1b3dTmbfEk15FBNxR2No5-Vt2UsfHtGPAG0mx7ZZ3nzhNunzjYiaBWHVNzI0p8LZMeXE8BoMh3i9mOhjfPqPjmMBD_m4iIgB1I8TRGCNw20tyCxSGcObmOzlYEuiKm5mSMUVeDv8dKLyAspCc5Z-wUCsrf_9EcGCNS7lqpsRoGBUiiDs2-8ZZ_4KoPgeFQ1vNt2RwPg9bDHsZcbibuo7r9pUrOUIz3Yexi4Nr_vn2JxNeZCBt9WplvcdX5R6zTMszUOALCoWW8MD8jDd9spmzVcx5TCZ-LZvlrOme4qhvq7fZWZclrCCOt_B8BI2kQDr7rplOKa4HbpiNbmwq-ysoXI1OfTWNiOTYwVz4Cq9-DejoEOgRY-BSXVeK4HLb8NWinPUcFhABXGphJ3MoyakJBFLw942ge6XS01PNyiM8j401FAErmFHrSnB_HWSlesOrcnEDL_Yap5dxZ8S_sssaHHQyqtQWl5G08W0eL-vPPK8NiMuinl2tuQvX4HHt92mII99mgVU0iFi0bKhx46bR4NdVuZ2E7hLsBhMM_fYBwaFJQrW042mYZUEFzHj6y4iswzy57w5Huke2-6PQ3x5T6okKkGZUXdyJoLtTAvGMOO5kyuxsTbR9JwC3HE6jzlc8xQJKY25OFfGiX0DV4B-vFBDGUyBlfl2K4TFcaHhcpbUfOfrHoHxhorQvmUDidgRBMPaqsX_P2LFDJGSKFKeeZgArkl0-9DlvF1zbZE8CDaibd6UeYdLSjhjoA9pNInwq3FRwT0mrXglS4bZEgllDb6flV8xLE4oR4fwNjARCyae5cWyYeWWWteKyFxght-Ph6CLYY0GPpa_5uVXKiWRsCoiCo96ujBIExtHoxRhK5knqCrdiAK0ps8FQ9HlvqVNq9vFKwpiEGGJOTRCGmFJYTKybxj8ZYylqHLhe4p0fgcpFCL9AHgL_uPzQsF7pclEinYSzPnsXJ2JVENjaiHQ6JtKr9JrFQgzxqRUkP0CizNlk03cHqqLt19FPBd2NqIDY6r5aR7G4-gl_8M1ZToqEnjeXda8tsQ4bHBuhnKSt-HL4_Jw-JLSxosGlzOeSdjPd_c2lKmpt_HKx06h23P9YfIV3WiIQk6cdLfM5DWCVRx3qIu284HSe0WgF_aLaoJA-SXf3ycS6olFwDfRLCSCKemAQqwjSpFJxET-wuW_gK4O4YgZ4swJOx8cN8_mCnm4S6_7iX-hRczwaWPVVuPuW_lDA-qF2exhzl02iOH2ildpDOCOMVD18pHUM3u_YQLpiowEmLi22eTv-tG5976qyKyYjO_30uanehIef8ivXYWBvYMjWw8x4skpcV1PeBWAgCpOac9Zm4CyWhyGZpQ5zMtjhbZ1NYcmWN28ZkUchS36A-XSDiwnLj5KVkwOREqcADbdsmLl76VFKA_8GyymBppscPiSYFXb4T-cK2fLn-PRQ8Z74E3GkWGrPN511Zmc_6435jidNyUB0IU_jGgYWSRLDRLAyA8BK0nW7tOJ7eZMl3v9xy5SNz0R-aep13hwKbSlFOxEuInXHyIvry7y8EhRv-kMasTe5KBSmeOlpecAP7hgRuQ3FbsgDdwVVC45tL6s7S1mrYpPuuHoeVxYdik8CPYde9y1KOVb-AqbLDs8QhBlsaF3CrHM4HttWi5LzftH79X6qXm9IaNTw1kwMMRLnarhTxTybBA=",
  "id": "rs_09c089125edc36eb016ab41d7bad4087d0b7b6d749efe34150",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.2,\"left_z\":0.035},\"note\":\"The small brown figurine is visible between the left fingers near the bottom of the wrist view, slightly to the right of center. I’m aligning laterally and lowering to its narrow upright body.\"}",
  "call_id": "call_TjIgUN5ok368VRamXU6CzO7B",
  "id": "fc_09c089125edc36eb016ab41d7eace887d0a4305e984bc00eea",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_TjIgUN5ok368VRamXU6CzO7B",
  "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]: [-0.9424, 1.7596, 0.9672, -0.5793, -0.7029, -0.9073, 0.9967, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2861 left_y=-0.1934 left_z=0.0384 left_yaw=0.1832 left_pitch=-0.3122 left_roll=0.2592 left_gripper=0.9967 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -7.6923, 4.9436, 0.6569, -0.4811, -0.0952, 0.1001, -0.1299, -1.9077, 7.0632, 1.619, -0.0757, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b672ec8140929570da7e28de99af2942cc44bdf96981869dd93dddb66048d44e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb612c4b3a5a3f26164ef5626f8bdfac2238a0c603ff3365f91dbd5da3c3719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b5ba6a2b3bcaa66a87dacea72c122eae5fb711741d9b7cd29396aeb1bb554e",
      "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 117 changed as sent

message 126 changed as sent

message 130 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]: [-0.3054, 1.7218, 0.9131, -0.1497, -0.4351, -0.2554, 0.9951, -0.0486, 0.9276, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4094 left_y=-0.0472 left_z=0.0489 left_yaw=0.2003 left_pitch=-0.2939 left_roll=0.209 left_gripper=0.9951 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -6.1333, 7.4462, 1.3016, 0.0513, -0.0073, -0.0855, -0.1846, -2.0034, 6.8718, 1.5946, -0.0513, -0.0659, -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]: [-0.8558, 1.6024, 1.0737, -0.7345, -0.6899, -0.8146, 0.9957, -0.0486, 0.9279, 0.8154, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3056 left_y=-0.175 left_z=0.1076 left_yaw=0.1851 left_pitch=-0.2847 left_roll=0.2166 left_gripper=0.9957 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.8427, 7.8974, 0.6813, -0.569, -0.022, -0.1099, -0.0615, -2.0034, 7.0085, 1.663, -0.0708, -0.0611, -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]: [-0.9424, 1.7596, 0.9672, -0.5793, -0.7029, -0.9073, 0.9967, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2861 left_y=-0.1934 left_z=0.0384 left_yaw=0.1832 left_pitch=-0.3122 left_roll=0.2592 left_gripper=0.9967 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -7.6923, 4.9436, 0.6569, -0.4811, -0.0952, 0.1001, -0.1299, -1.9077, 7.0632, 1.619, -0.0757, -0.0366, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b672ec8140929570da7e28de99af2942cc44bdf96981869dd93dddb66048d44e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8bb612c4b3a5a3f26164ef5626f8bdfac2238a0c603ff3365f91dbd5da3c3719",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74b5ba6a2b3bcaa66a87dacea72c122eae5fb711741d9b7cd29396aeb1bb554e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
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  "id": "rs_09c089125edc36eb016ab41d81279487d0b35812adcc86f6f7",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_gripper\":0},\"note\":\"The brown-and-white figurine’s narrow body is now squarely between the left fingers. I’m closing on it and will verify the jaw width before transporting it to the brown-type basket.\"}",
  "call_id": "call_kBlR8K9Y5oS7Zvb9BKjtEKpA",
  "id": "fc_09c089125edc36eb016ab41d84576087d0a53a371c7ca35186",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_kBlR8K9Y5oS7Zvb9BKjtEKpA",
  "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]: [-0.9485, 1.7832, 0.9642, -0.5289, -0.7036, -0.9356, 0.1136, -0.0486, 0.9279, 0.815, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2893 left_y=-0.201 left_z=0.0325 left_yaw=0.1858 left_pitch=-0.2977 left_roll=0.2177 left_gripper=0.1136 right_x=0.2998 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1418 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.5402, 4.7658, 0.735, -0.4713, 0.0317, 0.7155, -0.0342, -1.9897, 6.8991, 1.58, -0.0855, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07c9b1cf3f059764996f341593ebe353f445ca107156e3dcf40853a28a4aa06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169b48cb0a70350ef37dfdd6f4972f761f09e9ce91562bb183522ab65f336db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149a24a99d42dd7f9cd3d05ad4917183b9d0748bab6312abebbfc0c60b9112d1",
      "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 130 changed as sent

message 134 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]: [-0.3035, 1.7294, 0.9218, -0.1364, -0.4713, -0.2623, 0.0161, -0.0486, 0.9279, 0.8154, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.4143 left_y=-0.0419 left_z=0.053 left_yaw=0.2322 left_pitch=-0.2658 left_roll=0.2234 left_gripper=0.0161 right_x=0.2999 right_y=0.0002 right_z=0.1957 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -8.6496, 5.2855, 1.1355, 0.149, 0.0415, 1.2625, -0.1299, -1.9761, 6.9265, 1.6093, -0.0513, -0.0366, -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]: [-0.9424, 1.7596, 0.9672, -0.5793, -0.7029, -0.9073, 0.9967, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2861 left_y=-0.1934 left_z=0.0384 left_yaw=0.1832 left_pitch=-0.3122 left_roll=0.2592 left_gripper=0.9967 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -7.6923, 4.9436, 0.6569, -0.4811, -0.0952, 0.1001, -0.1299, -1.9077, 7.0632, 1.619, -0.0757, -0.0366, -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]: [-0.9485, 1.7832, 0.9642, -0.5289, -0.7036, -0.9356, 0.1136, -0.0486, 0.9279, 0.815, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2893 left_y=-0.201 left_z=0.0325 left_yaw=0.1858 left_pitch=-0.2977 left_roll=0.2177 left_gripper=0.1136 right_x=0.2998 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1418 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.5402, 4.7658, 0.735, -0.4713, 0.0317, 0.7155, -0.0342, -1.9897, 6.8991, 1.58, -0.0855, -0.0415, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07c9b1cf3f059764996f341593ebe353f445ca107156e3dcf40853a28a4aa06",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:169b48cb0a70350ef37dfdd6f4972f761f09e9ce91562bb183522ab65f336db7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:149a24a99d42dd7f9cd3d05ad4917183b9d0748bab6312abebbfc0c60b9112d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2Ix1kAOyIsCj-ukV5r60_U8V2yOeTYlOef-4C4jrqM6-Tv1A5IqQP6LVe9iNfMcs2RlvaEq51EgP-EmBsewnlptfB6er-0PbkaJC9DsLplFIC9PXmqhA_mnZLnacegKnGKMqwyEZ16gAon0pQ0l76UQzgvXZEu39Kq8x3gk7e_7FeuN9Zbz-Xq9Y6KS3nT9kwkEiC3E7JwTnebp6EAn6EoX0VCEMDND40qBsKPEowb8oJE8ocaTIHZmJugMOz_5-Zd8cq_QolM3MnEvexaNzYUI4FasIhgqg4PwIx6qscsG4Zy6G8LcskRV8aRpMvnR3p6S5YS1gh6TwEbfP2TrJWyjRMy1kHia_jA2Y3BlZM5M7NgGyUqh3YgqXGXJdPhwBJe-g10kuhr6GTnyN-68UvhYauykHKsoOfUXlQuCo0TZKrqQVCrmfRnhmboPk2f3EROyNrhhSr5nwnOTEYo8THkR2UmN-NjtN0gH6mgumncWZtG_rz0E575F0QYSK7nLNLnehdBqbeyK5I55bY3bkwplMBfFp51fXo9pdvTtxm4kpUNp9b6YOK3dAvj31rJcrCx2RPdKrkb6Hy3mBbsNsvu1Ms5xSeeSSAIb0y_N1-NufhOGjnT7g9Fqtb0E90GWliDKmkmut6jcF3oxR4fu_l6mwUtPeoJQB3XyMTE17jUHn_ykYaMQ5dnaU7hXfkOlcaWNIK-b8-9uY1gPTUMVQQMemjZ-63DPi_xXh0Jmzf6Xc_1CRB1PDytKhlvUOK1nQV-e9tNJs-2CiEyvN4BW3ZOlRdkAGtdM3u7BB6Y_8GISozeCBfvQrJ9rkBZTV-GNzfajuOI56R2g7tt2J26HLlYfRv5eL55vzKAHB_qwD7iG4ukLlOTUc3oWWJsBvAHbVMKZKwBoajH3PkyReS9gOa7P_Bu9OpoengxG0pKiBBoAVgvt7HDnMlf8F4CD1f_t-qS9_z5KJuHbK0jcmknltEeUnyuNX_t2tlYp94XXPfXF9rd_L8uoM6uPknLwSb-hXdn9Ctg_rMYl19l8hM-MimCjvEMeLWa0SlaaHwvLIoT9IZYi00jBFN7_Ma5rWSLpz0xBC-4T0FhGUaL6ZEpsrwv_A1l2cPed_N9sNtz82rz72z6k6Xc6lPMPVW_D74jWNx2NWmmWnRFXBlx90QfIfwEuyuSlVXQtAA4_HVAogSo-dSlONOkQ7e9CLHoeyfBSMYIn4ba9DdgqcOmAyuEmECEFg==",
  "id": "rs_09c089125edc36eb016ab41d87f56487d0ad7fa9c449422a12",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_z\":0.18},\"note\":\"The left gripper has settled with about 1 cm of fabric between its jaws, which is consistent with a hold on the brown figurine. I’m lifting it vertically to verify that it leaves the table.\"}",
  "call_id": "call_QwZLrAmGnr7jHS2MRoc2RIwj",
  "id": "fc_09c089125edc36eb016ab41d8838d487d093c90b264e162f3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_QwZLrAmGnr7jHS2MRoc2RIwj",
  "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]: [-0.9485, 1.6619, 1.3575, -1.0519, -0.6842, -0.9443, 0.1135, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2916 left_y=-0.2088 left_z=0.1566 left_yaw=0.1862 left_pitch=-0.3175 left_roll=0.2113 left_gripper=0.1135 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -10.2359, 7.7197, 0.6276, -0.6227, 0.0269, 0.7497, -0.0615, -2.0034, 7.1316, 1.5849, -0.0904, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a3e7cdc8e7d7d915dc1c19d609077e0a6a3f3264aee0da427277b369624f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97956f7b255da8e559520e226aeead911993708b55ed06618de176bfe75ce63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3011a93b2f91ee51301065df20819677d654d3cfcc3906fb94f4e60b12ded5f",
      "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 126 changed as sent

message 134 changed as sent

message 138 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]: [-0.8558, 1.6024, 1.0737, -0.7345, -0.6899, -0.8146, 0.9957, -0.0486, 0.9279, 0.8154, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.3056 left_y=-0.175 left_z=0.1076 left_yaw=0.1851 left_pitch=-0.2847 left_roll=0.2166 left_gripper=0.9957 right_x=0.2999 right_y=0.0002 right_z=0.1958 right_yaw=0.0014 right_pitch=-0.141 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1299, -7.8427, 7.8974, 0.6813, -0.569, -0.022, -0.1099, -0.0615, -2.0034, 7.0085, 1.663, -0.0708, -0.0611, -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]: [-0.9485, 1.7832, 0.9642, -0.5289, -0.7036, -0.9356, 0.1136, -0.0486, 0.9279, 0.815, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2893 left_y=-0.201 left_z=0.0325 left_yaw=0.1858 left_pitch=-0.2977 left_roll=0.2177 left_gripper=0.1136 right_x=0.2998 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1418 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.5402, 4.7658, 0.735, -0.4713, 0.0317, 0.7155, -0.0342, -1.9897, 6.8991, 1.58, -0.0855, -0.0415, -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]: [-0.9485, 1.6619, 1.3575, -1.0519, -0.6842, -0.9443, 0.1135, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2916 left_y=-0.2088 left_z=0.1566 left_yaw=0.1862 left_pitch=-0.3175 left_roll=0.2113 left_gripper=0.1135 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -10.2359, 7.7197, 0.6276, -0.6227, 0.0269, 0.7497, -0.0615, -2.0034, 7.1316, 1.5849, -0.0904, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:35a3e7cdc8e7d7d915dc1c19d609077e0a6a3f3264aee0da427277b369624f34",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b97956f7b255da8e559520e226aeead911993708b55ed06618de176bfe75ce63",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 340):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3011a93b2f91ee51301065df20819677d654d3cfcc3906fb94f4e60b12ded5f",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "summary": [],
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  "id": "rs_09c089125edc36eb016ab41d8f742087d0aec057ed1365da79",
  "summary": [],
  "type": "reasoning"
}

{
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  "id": "rs_09c089125edc36eb016ab41d9354e487d099a2afd83ce2e446",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.39,\"left_z\":0.18},\"note\":\"The small brown figurine is suspended beneath the left gripper. I’m carrying it over toward the right basket, which holds the other brown plush, and will check whether this arm can get its hanging body fully inside the opening.\"}",
  "call_id": "call_WuRjjeKV08SZODKpzG6CPWpD",
  "id": "fc_09c089125edc36eb016ab41d95dd9c87d098960eaf5c319f97",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_WuRjjeKV08SZODKpzG6CPWpD",
  "output": [
    {
      "text": "executing move_to over 17 steps (1.7s)",
      "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]: [-0.8799, 2.6514, 2.8788, -1.5761, -0.6437, -0.9092, 0.1137, -0.0486, 0.936, 0.8143, -0.5934, -0.0635, -0.0002, 0.9964]\nstate[eef_state]: left_x=0.4187 left_y=-0.3344 left_z=0.1439 left_yaw=0.2184 left_pitch=-0.3537 left_roll=0.2091 left_gripper=0.1137 right_x=0.3004 right_y=0.0002 right_z=0.193 right_yaw=0.0031 right_pitch=-0.1504 right_roll=0.0561 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -12.9983, 7.3231, 1.2234, -0.6422, 0.525, 0.3541, -0.1983, -2.7009, 6.9675, 1.58, -0.0611, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2436a08af564018f72b06b4d5147d6c9524250f36f9b847283d5617d07a33e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b4b9df2a2aea704af98e910decca946b2796caa1656feefde891ab546c653b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fa9de307d5b7fb2057332685e2dcbceadf04d4ea0a5082fd54d543eae8d9e1",
      "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 130 changed as sent

message 138 changed as sent

message 144 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]: [-0.9424, 1.7596, 0.9672, -0.5793, -0.7029, -0.9073, 0.9967, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2861 left_y=-0.1934 left_z=0.0384 left_yaw=0.1832 left_pitch=-0.3122 left_roll=0.2592 left_gripper=0.9967 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -7.6923, 4.9436, 0.6569, -0.4811, -0.0952, 0.1001, -0.1299, -1.9077, 7.0632, 1.619, -0.0757, -0.0366, -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]: [-0.9485, 1.6619, 1.3575, -1.0519, -0.6842, -0.9443, 0.1135, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2916 left_y=-0.2088 left_z=0.1566 left_yaw=0.1862 left_pitch=-0.3175 left_roll=0.2113 left_gripper=0.1135 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -10.2359, 7.7197, 0.6276, -0.6227, 0.0269, 0.7497, -0.0615, -2.0034, 7.1316, 1.5849, -0.0904, -0.0757, -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]: [-0.8799, 2.6514, 2.8788, -1.5761, -0.6437, -0.9092, 0.1137, -0.0486, 0.936, 0.8143, -0.5934, -0.0635, -0.0002, 0.9964]\nstate[eef_state]: left_x=0.4187 left_y=-0.3344 left_z=0.1439 left_yaw=0.2184 left_pitch=-0.3537 left_roll=0.2091 left_gripper=0.1137 right_x=0.3004 right_y=0.0002 right_z=0.193 right_yaw=0.0031 right_pitch=-0.1504 right_roll=0.0561 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -12.9983, 7.3231, 1.2234, -0.6422, 0.525, 0.3541, -0.1983, -2.7009, 6.9675, 1.58, -0.0611, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2436a08af564018f72b06b4d5147d6c9524250f36f9b847283d5617d07a33e77",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6b4b9df2a2aea704af98e910decca946b2796caa1656feefde891ab546c653b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:18fa9de307d5b7fb2057332685e2dcbceadf04d4ea0a5082fd54d543eae8d9e1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2fCss2nu9Zzt5-908_qCQGE41uL90RmJymbTN6PCwGKCSAuubcHiibs5KZ2rIwjWuJWYuTWg2n7zjCKZET6nj4aIB4dJ2_2SGh5VlAb3baJ1ALfIvP9hwIPi_seWtEU3fDzIQmY02crBldB0Cw9gf3ylcqoToUbVaO5V95E3wEjJHiqLYIYE0kG8qb4sJ1Cm5cYKeTcPy9zu_UcgCn_7wETqPQtPNysKJtnsT2mDrtDA7kyBH2nvYM_mAlog4rRdzvxpELEPknBYEWJUszI60mSYNP1eSb6BPssSe_jxceudkgOr6YfE_M7Ce645-aTNNa-94muloDmAtyft6gEc6ulOMObwOX-yTL3ZcZ-OyC-CdY7yWeXrE-lOr6RQ6PoffXJtObEEmrRixaWtA55MTk4DBIHU4YplR6Or3Wtc2CRgXXJDWRXW2zc-m21zwfP7eG8bp7O-GYLmLhFSf9TFK62aXo523UB9bE99KO2l_yjYOW8DjtLUWhjAEINYY9-Nnh-P1j5nfu1BgBMWQ8-Ll8AEiqBhPCRGVpvuE-5CUuIC82ZdR3d9waVKZd8Zwc_f8v9uhTQeNBQNTYwMYSFzGYJ3h6kxKRtoBexHJsJw3qk9ZWt_gZQ-kBOUjp_NbLmV60NU2Rj4Fu2PEXxa9LTlCPc05Eq4KTWMh6_cCMNQdFpl7mt5ynSLYt7g0ku8mJzDTYbXek9LQLnBSu4ekIiV-Kk10skje-IVdUso50nz1jdPwe6du0ddmxKghaEbwTQYASrfq2jTYE-jN4fd-X0KygDQ9WoOa44nPbh1vwVuPmK2lPPW84_F_6X2lMMZt5vgJhZD__9uqikpBJSEzd73IB-k_nuewwIU23Ra9aRGyfE8QHwbugNa1-TP3zvV58CFcVMFDWetzfw2KCGB5oO4Y4WmdebLhNV1bSx47QweIwRt6E4L277VL5oTzG9_feRE4go_Fg-GWZxIfWg0OvuLRy58e8f-lxcSE9VepXkonvHM_fWwMK2LDsOHnOh7pvycrfm3iTpZobEj6e29U-pkF0ruG4RHOK0-EiI_idMAW0sntMrDdkDyiMn1JVqj2bhqtiCfF44biqXGcogRVcl9JxwgXxO0wV8pv1o_bw0V1bAo85isL3KZnLKOJzWRaMRxycf2ddlZ07WlbXpVVWUXiu7rdn7bWdx6G0kClZj4vi061Y0n57-XHqBXAxzAurOXRZXkgd7l8R39rjsK8nPR5io_B4NAYGwvWLNOcZLtjvZpU4Sy4XyEBu6ERWJgCDKNhK6SOWqR28r7zkYlKqCjsw21ap2M0KZdIlXQ_AqufepYz6Nkl7Du2DV0VS2QDn8ITGHUGxY2xI7Juw6jHfqVkjpU0BTinM-3oyfdYGN4zMOvBo5GTTMmIMHAwNEtkTJuJ_HxFrpTkG-jHS4PYl-MgAekwoRCGW6kgCW9zol1OcmULdEGberZg07IMiHMssLmsZPqjSghZwN0Oxz8OON3bw3lL4mztBCXGUWZPU-sZyidbQr4loRSjYCaYHhDcOqLJ5vaWVQSQcpY88jXyWkqag8Vb99hpV2st4ZyjSjDJcpchYcvx4NRybR59M0xzYBLDIEohQjmShycHCQjgICYcM8gjIxWzwGdoyJUIPT2t3PuIOPx1uPIh0JQCoII_vGriulZSE0sXjaLnwbIGziabKcptb3Kr3VnmPUeAMoZ2oZ1iZdmrkHaINUgGg6AHWFXwdnNAHL9cjlIQRdOVbxiZ1cduVp_y4cVts_n5B5S0ygZzbzYgy3JwiuquN1huxjva42CS_opyljRZrI_t711acn6unbT_bDl4VU5gjeoehloiKLystL-trQzZsrRBpQbGNKsJ5Q6L4WbJWsCVm6QtFkzrOPCfrKmKsRdZz0kP4n5e_iEqv1DJZl1WjF3AtBIRDVcsuImcnX4n_o8rq-NlDrXv5IM-ppuoI3EY-KBmm9y9p81qv2YWelOru6kiVpIe2KSuIfjfQF8GESZY1qhwaFExgK-zGFWyGzGK9y7r2u0-V1NRmRbzMdnjbZBv9sA_Xsv8_JfDe2DnpUCcG-JTw4_VXdfQ8sFzl7fpwFTyo5Y3JenWllNah3Mnib3XoMSmLe4rdtyMLw7UxLtyNU5mluq7WtGjzkdmW6IXhd0xV5pC0hk1h3yMp4N6Pcyj7FZAyYRz2pMa6BUfHYYmHddpZ17RpI4ljy05koG3vY_rwF-2o6g0gnVLW5xb_C1Y5heleLYyfv5cHnEJZDpIcUgusLph4lvCn_Hvkn3pmuwEjrEcnWG5XcK6Uq9srSHJo0i-16QNEk8wHkuUTbXNHfA8xhb4GeDZvPp8BAJgbrgSHSR4tD6HFmWUZZQr9ybPDduABUObYn30ZyokrHg-Yp0Ov-f7tL4CVxBov7Kqks3OBst9RqpyGOi_FzExiUxYBFlHGBUZmWp2Zmy1o0n5zPsJORsoJmw3o72AemeWWWjThoJVsb7q0Wx1eXvDj81sjDSlOzST5im7yCB2YRQAQh-7g8ZF7NS2__1V1C1QqkgMT6fh4KnlaSTOAb7F00lea5cy6Qq5A1CeFmODlH3-F6ZesDJe79m25MbCetlOSujCcFa-pgULLsiTzREVxJcTMaXAB_y_gu8FU1SDgnEk-aUxqFQlJ5nLL1BKALdZQb2In79kIWJqbn4_ty-YNZNjAeriMAB8iikxtyiNmOUJYsbqhYKr3Vg1ssPgdT1nYw7XNY7hvhKLH0wvaApuJnb-z1Ujnj-isCFH-YXN-6T4-JoTa1ZWib0_knrmuoRbter-rVaoosI-bSMfcdE0Hz_ijiSi3FIihQX8WH6T9FxXiJZvpMGTI27yaesVQOo4OxzTXLekzo82GJ9YZVRmfyNbB6fKZNNaJNayfxArf6CN05FxVnzw7dVL8DGZVACE6kJTvub_jX-8MYOYTS4P67odv3buBZOpTJA6de8xhro5C9sOqlZswPWWXzH8Wr3eqPA5pKniSW9D-1hRgH03JePGgEeyfOcyp84aB2HCa_WMxmPJcJV5rAAZzK_be2njK3wQTTwRnZZPBd_Qk5qDUvwhCv9hKNJ1U5pI8Em5e6BuebdeAhV-EKREFcUI-R-82el6mlDiUqQd6TjsZF7D-bylIyi0dbr5QNz1I8Xnryg-xrjAhUX0q_oVpZApwfzHDDgiTVxLV8yxsWpXrdoWH7PshTHbWtnwY3FXzL8qt7RTcQYwQR6wosb39hnzVkNxtKG7NlnnQqFTIazeW1V396IQl0fMXCv8H-_kck6gZXWX00Fk3SXgjn8De9G9oBvJY8SeAhUtqBkFdaOOIAvZBUmp65ApByNZoLC00BsFbI9UuTeYPuere7kwODLAC8osgOjp10bg=",
  "id": "rs_09c089125edc36eb016ab41d9a47e487d08ae0c1d259ab21de",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.33,\"left_y\":-0.29,\"left_z\":0.04},\"note\":\"The left arm cannot reach far enough sideways for the brown figurine to clear the right basket’s left wall; the toy is still hanging in front of it. I’m setting the figurine down near the middle where the right arm can pick it up and place it accurately.\"}",
  "call_id": "call_qvBkNwItZ2XqzLivL7EdoLZq",
  "id": "fc_09c089125edc36eb016ab41d9e3fb887d0a1f168ae24589119",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_qvBkNwItZ2XqzLivL7EdoLZq",
  "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]: [-0.9718, 2.067, 2.0159, -0.9192, -0.6556, -1.0157, 0.1133, -0.0486, 0.9409, 0.8143, -0.5915, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3807 left_y=-0.3603 left_z=0.2183 left_yaw=0.1023 left_pitch=-0.1653 left_roll=-0.2068 left_gripper=0.1133 right_x=0.3011 right_y=0.0002 right_z=0.192 right_yaw=0.0033 right_pitch=-0.1535 right_roll=0.0559 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.1897, 4.7111, 1.6532, -0.2369, 0.0269, 0.5397, -0.0479, -2.1538, 6.8991, 1.5946, -0.0659, -0.0269, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:debbb2c9c2af031c358b6a8e54cbc56075a21feb892f229613e930d84bfa3671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125488804b611e1b4f77d8a1350bbbf5d66faadf6ef5e1617a7ee25d11799ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce0cdf71e26cbbbe40ca3cca00087f088190d9d85b65a74c520a6872deb2842",
      "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 134 changed as sent

message 144 changed as sent

message 148 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]: [-0.9485, 1.7832, 0.9642, -0.5289, -0.7036, -0.9356, 0.1136, -0.0486, 0.9279, 0.815, -0.5934, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2893 left_y=-0.201 left_z=0.0325 left_yaw=0.1858 left_pitch=-0.2977 left_roll=0.2177 left_gripper=0.1136 right_x=0.2998 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1418 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [-0.1846, -8.5402, 4.7658, 0.735, -0.4713, 0.0317, 0.7155, -0.0342, -1.9897, 6.8991, 1.58, -0.0855, -0.0415, -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]: [-0.8799, 2.6514, 2.8788, -1.5761, -0.6437, -0.9092, 0.1137, -0.0486, 0.936, 0.8143, -0.5934, -0.0635, -0.0002, 0.9964]\nstate[eef_state]: left_x=0.4187 left_y=-0.3344 left_z=0.1439 left_yaw=0.2184 left_pitch=-0.3537 left_roll=0.2091 left_gripper=0.1137 right_x=0.3004 right_y=0.0002 right_z=0.193 right_yaw=0.0031 right_pitch=-0.1504 right_roll=0.0561 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -12.9983, 7.3231, 1.2234, -0.6422, 0.525, 0.3541, -0.1983, -2.7009, 6.9675, 1.58, -0.0611, 0.0024, -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]: [-0.9718, 2.067, 2.0159, -0.9192, -0.6556, -1.0157, 0.1133, -0.0486, 0.9409, 0.8143, -0.5915, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3807 left_y=-0.3603 left_z=0.2183 left_yaw=0.1023 left_pitch=-0.1653 left_roll=-0.2068 left_gripper=0.1133 right_x=0.3011 right_y=0.0002 right_z=0.192 right_yaw=0.0033 right_pitch=-0.1535 right_roll=0.0559 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.1897, 4.7111, 1.6532, -0.2369, 0.0269, 0.5397, -0.0479, -2.1538, 6.8991, 1.5946, -0.0659, -0.0269, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:debbb2c9c2af031c358b6a8e54cbc56075a21feb892f229613e930d84bfa3671",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:125488804b611e1b4f77d8a1350bbbf5d66faadf6ef5e1617a7ee25d11799ecd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 364):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ce0cdf71e26cbbbe40ca3cca00087f088190d9d85b65a74c520a6872deb2842",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09c089125edc36eb016ab41da1eac087d0bdff2a74ee8bcd3a",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.28,\"left_z\":0.15},\"note\":\"The attempted descent was blocked near the baskets and the left arm actually rose, so I’m first moving it back to a clear central handoff position before lowering the figurine.\"}",
  "call_id": "call_g3o6NfsbQdKqXQeKCeXEKkhF",
  "id": "fc_09c089125edc36eb016ab41da2e9a487d09901399f1a89bf9d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_g3o6NfsbQdKqXQeKCeXEKkhF",
  "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]: [-1.0332, 1.6566, 1.2354, -0.5869, -0.6769, -1.0752, 0.1151, -0.0498, 0.9447, 0.8139, -0.5919, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3038 left_y=-0.2864 left_z=0.154 left_yaw=0.0912 left_pitch=-0.1728 left_roll=-0.2095 left_gripper=0.1151 right_x=0.3013 right_y=-0.0002 right_z=0.1906 right_yaw=0.0022 right_pitch=-0.1581 right_roll=0.0562 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -9.306, 7.3778, 1.3846, -0.5153, -0.0317, 0.7057, -0.1436, -2.0718, 6.8855, 1.6532, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28599a83f0ccc34b2c20b620f4fcd7dbfac4009c48beb33899b18617d0885702",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c8270e08abc34954377ffa876b7088c6823947b07329de3a08af777989b924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425230adacce8e1d29bda7ded37c7b4f22b8f59c810e695b38bf0e54c46d2f28",
      "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 138 changed as sent

message 148 changed as sent

message 152 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]: [-0.9485, 1.6619, 1.3575, -1.0519, -0.6842, -0.9443, 0.1135, -0.0486, 0.9279, 0.815, -0.593, -0.0635, 0.0029, 0.9964]\nstate[eef_state]: left_x=0.2916 left_y=-0.2088 left_z=0.1566 left_yaw=0.1862 left_pitch=-0.3175 left_roll=0.2113 left_gripper=0.1135 right_x=0.2999 right_y=0.0002 right_z=0.1956 right_yaw=0.0014 right_pitch=-0.1414 right_roll=0.0579 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -10.2359, 7.7197, 0.6276, -0.6227, 0.0269, 0.7497, -0.0615, -2.0034, 7.1316, 1.5849, -0.0904, -0.0757, -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]: [-0.9718, 2.067, 2.0159, -0.9192, -0.6556, -1.0157, 0.1133, -0.0486, 0.9409, 0.8143, -0.5915, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3807 left_y=-0.3603 left_z=0.2183 left_yaw=0.1023 left_pitch=-0.1653 left_roll=-0.2068 left_gripper=0.1133 right_x=0.3011 right_y=0.0002 right_z=0.192 right_yaw=0.0033 right_pitch=-0.1535 right_roll=0.0559 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.1897, 4.7111, 1.6532, -0.2369, 0.0269, 0.5397, -0.0479, -2.1538, 6.8991, 1.5946, -0.0659, -0.0269, -0.0073]\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]: [-1.0332, 1.6566, 1.2354, -0.5869, -0.6769, -1.0752, 0.1151, -0.0498, 0.9447, 0.8139, -0.5919, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3038 left_y=-0.2864 left_z=0.154 left_yaw=0.0912 left_pitch=-0.1728 left_roll=-0.2095 left_gripper=0.1151 right_x=0.3013 right_y=-0.0002 right_z=0.1906 right_yaw=0.0022 right_pitch=-0.1581 right_roll=0.0562 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -9.306, 7.3778, 1.3846, -0.5153, -0.0317, 0.7057, -0.1436, -2.0718, 6.8855, 1.6532, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:28599a83f0ccc34b2c20b620f4fcd7dbfac4009c48beb33899b18617d0885702",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9c8270e08abc34954377ffa876b7088c6823947b07329de3a08af777989b924",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:425230adacce8e1d29bda7ded37c7b4f22b8f59c810e695b38bf0e54c46d2f28",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
  "encrypted_content": "gAAAAABqtB2oMLw0CAMcoehZtUIAOlQAAu3XcN4IANya5gUzb-2Log0aMJwOolh9i9cTJAOSsoSaWjLkTjdVA_q7RFQHyMfi2nYg8V7-4fSVGbIFdu_LSrJeMW_exSvPA-CKPpZnEwkPu7J6VU9IyK6Lz_V6-0uqlAVlAnU3M1K331MYQ-PQNr4pLMulxvHeswBPgZ-IOoibrJTAvtMC0DKKv5vfsR94uomsqwFqvbi36nEwn7WX35T4eUO5UWdkv-H-mdZXYu4_kVP6VceSmEfm3CTAGTlVlXlHAy-aXlNGpLL-Ua7IO4uURhyZ_JykB7OMAiCXlZ7Aq-H5odAaaZXxm4Pjj007eqmzmOmmYFoogF0ZEm6AKeUJ1rRJNgH9h1t5V3ww4aSWNM4sL9WtNOGvaxyWtdfL-DMfuuODEyhVmrWi4WMFQ22MuDEeUtiOnCROiSBE0J0pjyhPf8zrPTY9HoTK30Bhg8rgLEuIev4SlVuZl-syKQF0rrF9jgiDr-hYV9lOsUPFM0FAztSFm7wPhBml8Io23oPZomUtBqZFVubbAe9YgrI41yZTSb9qairAyOeYusqzaSIU_Lc9hebtfsr2i71vl8Rwk397nkhO6e_9FyaHEh0ouksagb6ramQ-MIJo5qZIFwlcNOl9lOQGbVkJt3fUtklpi4pGa3T8d59Yc-NHdMWTsxNhpS4jXfo24lAw9mSFOp3mZeM8UCmbadEeu6LxDW7ormN8itPRA350WQv2aheVO2Z7G7uyVe58ol4r0x5tMkt3S6Rnc3MA15Z4h7Oj-Nd29A7uwHTTkZEge3R8Tv2svFXEQQXx9qiVb4a2tobkwC3f4cbfpVwsrxfaWf1D28hd-x-6wJBDX7Ln0PCaQKLcK5O5zwxWMEsvlGGo3AerwR2-9E3uKEY50BgWg-J8ZyCOJjYh_-cDc9rogQwCz6TO8_p5tw5Vb4q4fIo6fSDRLnkT-t7u4Vlfjv-8qvWai0TALgni9cRBQ-gXhmMAfibFksQYUfsX60tGG2nC2aJ_lZ2gu48b6La-a2Nh53mXYmMDNTOnAcOziHFJM11VyL097Sz8vMCkjrRXtO_-JnpupJ2Kc5OupI2hjIUN-YxwgEMboJFUFkdT99zlcFbdo3YEtiCvIheHsuOdgV3AIyj39qjLnRh9AOkwWLQ8EYzKAwwps7F4XpgFrx-NKpoHF2pvEx-HHAuFqK4xlYBHbnOxyW6KYRGpJ2OYLHZ1sz5VlmfDdfTUJWBfSgyHlmB1Abd5WP50FLlKODjcM7tIJsNh_h0wXIGPv7fWAnCFt0U4rIJCfBQusoQfoVAPQWSbZINTw6iShnjPvDFdCyLXojp1RPE2GXe4DatcysLOHW5EKLR8k6of4w1Puad57iUVlpmMivQ00pPQp8HZ_h4xBENw9qztAMmvpMYA6ZRO3wzAsQP8YsntHXFfsXVMVwVS71PjATLXzidTfOnBJu6jE-8gcDhyI0GDp1t3FoowjoLOUEjCFUXjssHCB-Z8q33IV0Is-Qw16B4UUBrf1rz3xPr9nWfZAnUg9vsuayr6GbnWhK5tbFyXQx62UIHUG2reiom4WaGkPr6SZg3pKaFe3zgw4XuEL8M9kBx90toLfcRdTrmCJRDNMqUAcsjXXcwE7_ADG1K02JVp1r5TiiWgFPfSubgAT9JkKr8OXbLPWyhgyiAFNsogP3bRsobsL1U0Qu0=",
  "id": "rs_09c089125edc36eb016ab41da66d8087d0af9fba2411f156d8",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.3,\"left_y\":-0.28,\"left_z\":0.045},\"note\":\"The brown plush is now over an open central patch of table, clear of both baskets. I’m lowering it there for a safe right-arm pickup.\"}",
  "call_id": "call_LKFOLfuj9r3uXGUhyYRKAEQD",
  "id": "fc_09c089125edc36eb016ab41da7818487d09ce39ef0f60a47b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_LKFOLfuj9r3uXGUhyYRKAEQD",
  "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]: [-1.0367, 1.7866, 0.9428, -0.2131, -0.6731, -1.0817, 0.1162, -0.0494, 0.9447, 0.8139, -0.5926, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=-0.2748 left_z=0.0455 left_yaw=0.0973 left_pitch=-0.1972 left_roll=-0.1709 left_gripper=0.1162 right_x=0.3012 right_y=-0.0001 right_z=0.1905 right_yaw=0.0026 right_pitch=-0.1588 right_roll=0.0562 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -8.1573, 5.4085, 1.199, -0.3394, 0.0024, 0.8523, 0.0068, -1.9624, 6.8444, 1.6142, -0.0952, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971ec3a3793b4c6a903834e6e1a44a625a02e62bc2005e9a45a8cab0cbb0df88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf8308e4d37d36fe79d20752c0d4cc927cf198b34f311c5e705586d379109ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd10a61fe58c2321f6eda314e0896c9b3bf6ea775f001bcd6ef10096ee0dc41",
      "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 144 changed as sent

message 152 changed as sent

message 156 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]: [-0.8799, 2.6514, 2.8788, -1.5761, -0.6437, -0.9092, 0.1137, -0.0486, 0.936, 0.8143, -0.5934, -0.0635, -0.0002, 0.9964]\nstate[eef_state]: left_x=0.4187 left_y=-0.3344 left_z=0.1439 left_yaw=0.2184 left_pitch=-0.3537 left_roll=0.2091 left_gripper=0.1137 right_x=0.3004 right_y=0.0002 right_z=0.193 right_yaw=0.0031 right_pitch=-0.1504 right_roll=0.0561 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -12.9983, 7.3231, 1.2234, -0.6422, 0.525, 0.3541, -0.1983, -2.7009, 6.9675, 1.58, -0.0611, 0.0024, -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]: [-1.0332, 1.6566, 1.2354, -0.5869, -0.6769, -1.0752, 0.1151, -0.0498, 0.9447, 0.8139, -0.5919, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3038 left_y=-0.2864 left_z=0.154 left_yaw=0.0912 left_pitch=-0.1728 left_roll=-0.2095 left_gripper=0.1151 right_x=0.3013 right_y=-0.0002 right_z=0.1906 right_yaw=0.0022 right_pitch=-0.1581 right_roll=0.0562 right_gripper=0.9964\nstate[joint_eff]: [-0.5538, -9.306, 7.3778, 1.3846, -0.5153, -0.0317, 0.7057, -0.1436, -2.0718, 6.8855, 1.6532, -0.0806, -0.022, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-1.0367, 1.7866, 0.9428, -0.2131, -0.6731, -1.0817, 0.1162, -0.0494, 0.9447, 0.8139, -0.5926, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=-0.2748 left_z=0.0455 left_yaw=0.0973 left_pitch=-0.1972 left_roll=-0.1709 left_gripper=0.1162 right_x=0.3012 right_y=-0.0001 right_z=0.1905 right_yaw=0.0026 right_pitch=-0.1588 right_roll=0.0562 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -8.1573, 5.4085, 1.199, -0.3394, 0.0024, 0.8523, 0.0068, -1.9624, 6.8444, 1.6142, -0.0952, -0.0122, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:971ec3a3793b4c6a903834e6e1a44a625a02e62bc2005e9a45a8cab0cbb0df88",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:faf8308e4d37d36fe79d20752c0d4cc927cf198b34f311c5e705586d379109ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6fd10a61fe58c2321f6eda314e0896c9b3bf6ea775f001bcd6ef10096ee0dc41",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
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  "role": "user"
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  "content": [],
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  "id": "rs_09c089125edc36eb016ab41dabce1087d08c92387d8cc798e2",
  "summary": [],
  "type": "reasoning"
}

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  "id": "rs_09c089125edc36eb016ab41db02ff887d08a100243440ee1ba",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_x\":0.475,\"left_y\":-0.4,\"left_z\":0.13,\"right_x\":0.395,\"right_y\":-0.005,\"right_z\":0.07},\"note\":\"The left arm still holds the small brown dog at table height, and the larger matching dog hangs partly outside the right basket. I’m raising the small dog toward that basket while using the separate right arm to gently nudge the larger dog inward.\"}",
  "call_id": "call_woIqGxydeJ3QhLMqGhWULHYU",
  "id": "fc_09c089125edc36eb016ab41db3295087d0a13cad1ea3f7460d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_woIqGxydeJ3QhLMqGhWULHYU",
  "output": [
    {
      "text": "executing move_to over 14 steps (1.4s)",
      "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]: [-0.8646, 2.5, 2.3512, -0.8257, -0.59, -0.9668, 0.1157, -0.0517, 1.4731, 0.6662, 0.0658, -0.0525, -0.0048, 0.9964]\nstate[eef_state]: left_x=0.4698 left_y=-0.3938 left_z=0.1137 left_yaw=0.142 left_pitch=-0.2093 left_roll=-0.1945 left_gripper=0.1157 right_x=0.3891 right_y=-0.0073 right_z=0.0731 right_yaw=-0.0068 right_pitch=-0.1766 right_roll=0.0464 right_gripper=0.9964\nstate[joint_eff]: [0.0889, -14.2701, 7.6786, 1.0183, -0.3248, 0.6227, 0.7643, -0.0342, -4.5607, 5.8051, 1.8535, -0.1245, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6903bb9215a2ed290746794db0bde316a55ebcc2bd275658bc808929c51fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929ade4d1fca928b49434349eda77d3bb4684373a1b6ba6f4a8cc4525544c8db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700e00ea35da7adf31153d8ff1a356fb4460dd770d764219996386513a85eb33",
      "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 148 changed as sent

message 156 changed as sent

message 161 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]: [-0.9718, 2.067, 2.0159, -0.9192, -0.6556, -1.0157, 0.1133, -0.0486, 0.9409, 0.8143, -0.5915, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.3807 left_y=-0.3603 left_z=0.2183 left_yaw=0.1023 left_pitch=-0.1653 left_roll=-0.2068 left_gripper=0.1133 right_x=0.3011 right_y=0.0002 right_z=0.192 right_yaw=0.0033 right_pitch=-0.1535 right_roll=0.0559 right_gripper=0.9964\nstate[joint_eff]: [-0.5265, -5.1897, 4.7111, 1.6532, -0.2369, 0.0269, 0.5397, -0.0479, -2.1538, 6.8991, 1.5946, -0.0659, -0.0269, -0.0073]\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]: [-1.0367, 1.7866, 0.9428, -0.2131, -0.6731, -1.0817, 0.1162, -0.0494, 0.9447, 0.8139, -0.5926, -0.0635, -0.0006, 0.9964]\nstate[eef_state]: left_x=0.2947 left_y=-0.2748 left_z=0.0455 left_yaw=0.0973 left_pitch=-0.1972 left_roll=-0.1709 left_gripper=0.1162 right_x=0.3012 right_y=-0.0001 right_z=0.1905 right_yaw=0.0026 right_pitch=-0.1588 right_roll=0.0562 right_gripper=0.9964\nstate[joint_eff]: [0.0342, -8.1573, 5.4085, 1.199, -0.3394, 0.0024, 0.8523, 0.0068, -1.9624, 6.8444, 1.6142, -0.0952, -0.0122, -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]: [-0.8646, 2.5, 2.3512, -0.8257, -0.59, -0.9668, 0.1157, -0.0517, 1.4731, 0.6662, 0.0658, -0.0525, -0.0048, 0.9964]\nstate[eef_state]: left_x=0.4698 left_y=-0.3938 left_z=0.1137 left_yaw=0.142 left_pitch=-0.2093 left_roll=-0.1945 left_gripper=0.1157 right_x=0.3891 right_y=-0.0073 right_z=0.0731 right_yaw=-0.0068 right_pitch=-0.1766 right_roll=0.0464 right_gripper=0.9964\nstate[joint_eff]: [0.0889, -14.2701, 7.6786, 1.0183, -0.3248, 0.6227, 0.7643, -0.0342, -4.5607, 5.8051, 1.8535, -0.1245, 0.0024, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb6903bb9215a2ed290746794db0bde316a55ebcc2bd275658bc808929c51fc9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:929ade4d1fca928b49434349eda77d3bb4684373a1b6ba6f4a8cc4525544c8db",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 394):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:700e00ea35da7adf31153d8ff1a356fb4460dd770d764219996386513a85eb33",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}

{
  "content": [],
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  "id": "rs_09c089125edc36eb016ab41db8443c87d0ac5d75784d2e829d",
  "summary": [],
  "type": "reasoning"
}

{
  "arguments": "{\"targets\":{\"left_yaw\":-1.05,\"left_z\":0.17,\"right_x\":0.3,\"right_y\":0.0,\"right_z\":0.19},\"note\":\"The small brown dog is hanging just left of the right basket opening, at the left arm’s sideways limit. I’m rotating that gripper to swing the dog toward the opening and lifting slightly, while withdrawing the right arm after its nudge.\"}",
  "call_id": "call_XFMW1x4Bw0TtiuKzs4CFdM7i",
  "id": "fc_09c089125edc36eb016ab41dbcde6487d08d2a5a7f48b15eef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}

{
  "call_id": "call_XFMW1x4Bw0TtiuKzs4CFdM7i",
  "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]: [-0.5938, 2.3516, 2.2276, -0.7902, 0.2493, -0.0639, 0.1181, -0.0422, 0.9787, 0.7815, -0.5156, -0.0525, -0.0036, 0.9965]\nstate[eef_state]: left_x=0.478 left_y=-0.3709 left_z=0.1378 left_yaw=-0.7992 left_pitch=-0.335 left_roll=-0.2405 left_gripper=0.1181 right_x=0.3115 right_y=-0.0003 right_z=0.1808 right_yaw=0.0019 right_pitch=-0.1484 right_roll=0.046 right_gripper=0.9965\nstate[joint_eff]: [0.1436, -13.3812, 8.6222, 1.6777, 0.2955, 0.6081, 0.7204, 0.5538, -2.5094, 9.5385, 1.619, 0.0904, 0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5a56b2676964a4564318d56e0caf32a3115792345ffd10a5efc765cb25c3bc2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b374f8c85f4ab8a3d22e0cd601df78c9b67767635e5de2721bbdec661b00bef",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 402):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:abb8d2ce69ac0f994e6255272790b9f75e9cecbfd254fce22179c4c3db615c2e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}