{
  "result": {
    "causal_hypotheses": [
      "smoke__fill_pen_holder__direct, frames 752–940: occluded insertion followed by release may have left a cyan marker spanning or projecting outside the rim. Frame 940 shows lateral cyan material in both wrist views, but sparse samples cannot establish when placement changed or which contacts caused it.",
      "smoke__fill_pen_holder__direct, decision ticks 776–791: the withdrawal stall could reflect collision, kinematic constraints or controller behavior; contact_verified=false means contact was not established, not that contact was absent. Horizontal fingers at frame 752 are not intrinsically erroneous; assess their swept volume and object-relative alignment.",
      "smoke__fill_pen_holder__direct, ticks 822–847: reported holder-wall motion relative to the wrist could indicate table support, grasp slip or both. Persistent closure and successful wrist descent do not distinguish these explanations; intervening video is needed."
    ],
    "observed_failures": [
      "smoke__fill_pen_holder__direct: reviewed the supplied three-camera contact sheet at frames 0, 188, 376, 564, 752 and 940, not continuous video. Native evaluation independently reports success=false, score=0.25 and CallLimitReached; the score does not establish an exact number of correctly placed objects.",
      "smoke__fill_pen_holder__direct, frame 940: cyan material projects laterally beyond the holder silhouette in the wrist views. Full containment, exact pen count and support/contact geometry are not visually established; the head view alone is insufficient.",
      "smoke__fill_pen_holder__direct, withdrawal commanded at tick 776, discussed at 791: executed feedback reports motion_stalled, 13.4 mm residual position error and only 0.205 mm recent progress. This is a measured motion failure, not proven obstruction.",
      "smoke__fill_pen_holder__direct, tick 912 through frame 940: the decision record reports rejected triangulation with 56 mm ray separation and a 10.5-degree ray angle; its raw result is not supplied. The remaining executed action is another viewing move, with no recorded corrective insertion before termination."
    ],
    "observed_successes": [
      "smoke__fill_pen_holder__direct, frames 0→188→564→752: the scene changes from loose table objects to a black shaft and later cyan shafts positioned between left fingers; the right wrist sees the holder wall closely at frames 376–752. These images support manipulation progress, but isolated frames do not verify sustained attachment or successful insertion.",
      "smoke__fill_pen_holder__direct, ticks 791–822: after the stalled withdrawal, a different lateral/rotational clearance move completes with approximately 0.048 mm position error. This supports local robot-motion recovery, not recovered object placement or final success; no graph loop is needed for that distinction.",
      "smoke__fill_pen_holder__direct, ticks 757–859: explicit opening actions settle, and subsequent withdrawal completes. Move primitives correctly expose grip_argument_applied=false and retain prior commands; at frame 940 both hands have open commands and measured finger joints near 44 mm. Neither settling nor opening verifies object support.",
      "smoke__fill_pen_holder__direct, ticks 822–912: the policy retrieves earlier lift history, repeatedly preserves uncertainty about containment, and rejects a questionable geometric estimate rather than commanding contact. Most decisions include a current observation tick, so the record does not demonstrate systematic stale-image use."
    ],
    "proposed_generic_edits": [
      "Candidate 1 — Add an evidence-provenance ledger separating requested grip, persistent command, controller echo, measured aperture, verified attachment and verified support. Justification: move grip arguments are unapplied, echoes sometimes differ from held commands, and grasp/support verification remains null. Validate before deployment.",
      "Candidate 2 — Add generic evidence gates between transport, release, withdrawal and completion: retain object-relative uncertainty and request fresh complementary observations when support or containment is occluded. Justification: frames 752 and 940 and decisions 757–912. Use runtime perception, not task names, fixed scene coordinates or offline phase labels; validate observation cost and safety.",
      "Candidate 3 — Make observations, action endpoints, calibration and retrieved history explicitly timestamped in one synchronized timeline, with age and post-motion validity indicators. Justification: frame 940 is labeled 37.600 s while the final observation is 40.968 simulation seconds; historical lift evidence is reused despite possible grasp change. Validate whether the 3.368 s difference is a constant offset.",
      "Candidate 4 — Add a generic geometry-quality gate and budget-aware inspection policy using correspondence uncertainty, ray geometry, predicted visibility and remaining calls. Justification: tick 912 rejects localization after several inspection moves, and the episode ends at the call limit. Do not hard-code this scene's support height or viewing poses; validate against the existing policy."
    ],
    "validation_required": [
      "For smoke__fill_pen_holder__direct, inspect synchronized head and wrist video around frames/ticks 736–822, 822–859 and 859–940 to label attachment, release, object-relative motion, rim interaction and support. The supplied six samples cannot establish continuous contact or the final placement mechanism.",
      "Cross-check TaskGraph ranges 614–789 and 789–848 against exact action intervals and video. The latter overlaps clearance, history inspection, set-down and release in the decisions, despite graph labels suggesting grasp preparation. Recovery events are empty and is_recovery=null; treat both cycle candidates as offline hypotheses, not proof of failure or recovery. Defer graph-derived runtime recovery edits until this cross-check is complete.",
      "Validate Candidate 1 with command-persistence and feedback-provenance tests; determine the semantics and timing of echo/held-command discrepancies. Validate Candidate 3 with clock alignment and endpoint consistency, including the differing wrist values reported around tick 791 and the underlying stall result.",
      "Validate Candidate 2 against independently labeled support/containment transitions, measuring false completion, unnecessary inspection and disturbance. Validate Candidate 4 on calibrated correspondence errors and held-out episodes, measuring localization rejection, inspection information gain, call-limit frequency and native success separately.",
      "Use independent human labels for local recovery and final object state, and report native evaluator outcomes separately. This single smoke episode is marked eligible_for_improvement=false; all edits remain generic candidates, with no code changes or execution performed."
    ]
  },
  "final_test": false,
  "eligible_for_improvement": false,
  "reviewed_episode_ids": [
    "smoke__fill_pen_holder__direct"
  ]
}