diff --git a/README.md b/README.md
index ba4bb7306413c5b2a772066f326cb0700148717b..7d59865fab5700096f3aff4cd207e0f65c806ca1 100644
--- a/README.md
+++ b/README.md
@@ -1,49 +1,48 @@
-# EmbodiedMemorizerBench Full-2554
-
-This directory is the organized, canonical view of the original
-EmbodiedMemorizerBench data used by the full 2,554-episode evaluation.
-
-It intentionally excludes all sampled and supplementary suites, including
-Diagnostic-160, Confirm-400, Hard-interaction-120, OOD, counterfactual,
-stress, anti-scaffold, smoke, debug, and augmentation outputs.
-
-## Layout
-
-```text
-episodes/
-  passive_observation/        1,036 episodes
-  dynamic_tracking/           1,052 episodes
-  interaction_experience/       263 episodes
-  experience_generalization/    203 episodes
-manifests/
-  full2554.jsonl              canonical frozen membership
-  passive_observation.jsonl
-  dynamic_tracking.jsonl
-  interaction_experience.jsonl
-  experience_generalization.jsonl
-  audit_report.json
-browse.tsv                    one searchable row per episode
-metadata.json                 view provenance and counts
-verification_report.json      link and episode-hash verification
-build_view.py                 idempotent builder and verifier
-```
-
-Each entry below `episodes/` is a relative symbolic link to an immutable
-canonical episode directory. Opening a link gives direct access to the
-episode JSON and all associated context images. The source trajectories are
-not moved, renamed, copied, or modified, so existing evaluations continue to
-use their original paths.
-
-The only authority for dataset membership is `manifests/full2554.jsonl`.
-Do not add arbitrary directories from `output/trajectories`, which also
-contains non-canonical development artifacts.
-
-Run the integrity check from this directory with:
-
-```bash
-python3 build_view.py --verify-only
-```
-
-If a physical standalone copy is needed for transfer or release, materialize
-the links into a new destination rather than changing this view or the source
-data. For example, `rsync -aL` follows the links and copies their contents.
+---
+license: cc-by-nc-4.0
+task_categories:
+  - robotics
+  - question-answering
+  - visual-question-answering
+  - text-generation
+language:
+  - en
+pretty_name: EmbodiedMemoryBench Full 2554
+size_categories:
+  - 10K<n<100K
+tags:
+  - embodied-ai
+  - embodied-memory
+  - robotics
+  - ai2-thor
+  - procthor
+---
+
+# EmbodiedMemoryBench
+
+EmbodiedMemoryBench is a benchmark for evaluating memory in long-horizon embodied tasks. This private dataset package contains the complete **2,554-episode** benchmark used by the project.
+
+## Contents
+
+| Task family | Episodes |
+|---|---:|
+| Passive Observation | 1,036 |
+| Dynamic Tracking | 1,052 |
+| Interaction Experience | 263 |
+| Experience Generalization | 203 |
+| **Total** | **2,554** |
+
+The `episodes/` directory contains the materialized episode files and associated context images. The `manifests/` directory contains the frozen membership manifests and audit report. `browse.tsv` provides a searchable episode index, while `metadata.json` and `verification_report.json` record the dataset counts and integrity checks.
+
+## Integrity
+
+The canonical membership file is `manifests/full2554.jsonl`. Episode counts and family totals are recorded in `metadata.json`; file and episode verification results are recorded in `verification_report.json`.
+
+## License
+
+This dataset is released for non-commercial research use under the Creative Commons Attribution-NonCommercial 4.0 International license (CC BY-NC 4.0). Third-party environments, assets, and dependencies remain subject to their respective upstream terms.
+
+## Project
+
+- Project page: https://zju-omniai.github.io/EmbodiedMemoryBench/
+- Code and evaluation interfaces: https://github.com/ZJU-OmniAI/EmbodiedMemoryBench
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan18_FloorPlan218/ep_l2_failure_retrieval_FloorPlan18_FloorPlan218.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan18_FloorPlan218/ep_l2_failure_retrieval_FloorPlan18_FloorPlan218.json
new file mode 100644
index 0000000000000000000000000000000000000000..da9147a99e8f99da18ed3af27400bb9c23158dba
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan18_FloorPlan218/ep_l2_failure_retrieval_FloorPlan18_FloorPlan218.json
@@ -0,0 +1,11143 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan18_FloorPlan218",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|+00.25|+02.13|+00.43 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|+00.25|+02.13|+00.43",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|+00.25|+02.13|+00.43 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 23,
+      "object_id": "Cabinet|+00.25|+02.13|+00.43",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "FloorPlan18",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Spoon on Bowl, then put ButterKnife on Drawer；[pick_two_and_place] Put Spatula on Drawer, then put ButterKnife on Pan。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 25,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bread|+01.10|+01.05|+00.43",
+                "object_type": "Bread",
+                "position": {
+                  "x": 1.1,
+                  "y": 1.049,
+                  "z": 0.435
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|+01.21|+00.99|+01.36",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 1.212,
+                  "y": 0.987,
+                  "z": 1.358
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.32|+02.13|+01.53",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.317,
+                  "y": 2.134,
+                  "z": 1.535
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+00.44|+00.42|+00.74",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.444,
+                  "y": 0.423,
+                  "z": 0.744
+                },
+                "distance": 0.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.05|+00.42|+01.71",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.054,
+                  "y": 0.423,
+                  "z": 1.711
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.32|+02.13|+00.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.317,
+                  "y": 2.134,
+                  "z": 0.517
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.55|+00.98|+00.95",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.552,
+                  "y": 0.982,
+                  "z": 0.954
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|+01.39|+01.03|+00.90",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.391,
+                  "y": 1.028,
+                  "z": 0.897
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.74|+00.80|+00.52",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.737,
+                  "y": 0.803,
+                  "z": 0.521
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|+01.27|+00.98|+01.24",
+                "object_type": "Fork",
+                "position": {
+                  "x": 1.271,
+                  "y": 0.984,
+                  "z": 1.242
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|-00.23|+00.83|+06.06",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.583,
+                  "y": 0.99,
+                  "z": 0.441
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|+00.73|+00.98|+00.38",
+                "object_type": "Pot",
+                "position": {
+                  "x": 0.734,
+                  "y": 0.983,
+                  "z": 0.38
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|+01.39|+01.01|+02.33",
+                "object_type": "Sink",
+                "position": {
+                  "x": 1.392,
+                  "y": 1.006,
+                  "z": 2.327
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|+01.36|+00.98|+01.49",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 1.357,
+                  "y": 0.982,
+                  "z": 1.487
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.60|+00.98|+01.50",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.597,
+                  "y": 0.982,
+                  "z": 1.502
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.60|+00.98|+01.71",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.597,
+                  "y": 0.982,
+                  "z": 1.707
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.60|+00.98|+01.29",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.597,
+                  "y": 0.982,
+                  "z": 1.288
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009994864463806,
+                "z": 1.0
+              },
+              "rotation_y": 96.5941390991211,
+              "camera_horizon": 31.414369583129883,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|+01.39|+01.03|+00.90",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|+01.39|+01.03|+00.90",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bread|+01.10|+01.05|+00.43",
+                "object_type": "Bread",
+                "position": {
+                  "x": 1.1,
+                  "y": 1.049,
+                  "z": 0.435
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|+01.21|+00.99|+01.36",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 1.212,
+                  "y": 0.987,
+                  "z": 1.358
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.32|+02.13|+01.53",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.317,
+                  "y": 2.134,
+                  "z": 1.535
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+00.44|+00.42|+00.74",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.444,
+                  "y": 0.423,
+                  "z": 0.744
+                },
+                "distance": 0.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.05|+00.42|+01.71",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.054,
+                  "y": 0.423,
+                  "z": 1.711
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.32|+02.13|+00.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.317,
+                  "y": 2.134,
+                  "z": 0.517
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.55|+00.98|+00.95",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.552,
+                  "y": 0.982,
+                  "z": 0.954
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|+01.39|+01.03|+00.90",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.391,
+                  "y": 1.028,
+                  "z": 0.897
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.74|+00.80|+00.52",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.737,
+                  "y": 0.803,
+                  "z": 0.521
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|+01.27|+00.98|+01.24",
+                "object_type": "Fork",
+                "position": {
+                  "x": 1.271,
+                  "y": 0.984,
+                  "z": 1.242
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|-00.23|+00.83|+06.06",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.583,
+                  "y": 0.99,
+                  "z": 0.441
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|+00.73|+00.98|+00.38",
+                "object_type": "Pot",
+                "position": {
+                  "x": 0.734,
+                  "y": 0.983,
+                  "z": 0.38
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|+01.39|+01.01|+02.33",
+                "object_type": "Sink",
+                "position": {
+                  "x": 1.392,
+                  "y": 1.006,
+                  "z": 2.327
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|+01.36|+00.98|+01.49",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 0.739,
+                  "y": 1.241,
+                  "z": 0.972
+                },
+                "distance": 0.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.60|+00.98|+01.50",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.597,
+                  "y": 0.982,
+                  "z": 1.502
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.60|+00.98|+01.71",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.597,
+                  "y": 0.982,
+                  "z": 1.707
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.60|+00.98|+01.29",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.597,
+                  "y": 0.982,
+                  "z": 1.288
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009994864463806,
+                "z": 1.0
+              },
+              "rotation_y": 96.5941390991211,
+              "camera_horizon": 31.414369583129883,
+              "holding": "Spoon|+01.36|+00.98|+01.49"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Spoon|+01.36|+00.98|+01.49",
+              "instrument": null,
+              "natural_language": "Pick up Spoon"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Spoon|+01.36|+00.98|+01.49",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|-00.56|+00.83|+06.25",
+                "object_type": "Bowl",
+                "position": {
+                  "x": -0.557,
+                  "y": 0.826,
+                  "z": 6.253
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+00.29|+00.00|+06.14",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.291,
+                  "y": 0.002,
+                  "z": 6.143
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|-00.16|+00.00|+06.47",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": -0.156,
+                  "y": 0.001,
+                  "z": 6.474
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|-00.17|+00.83|+06.44",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": -0.166,
+                  "y": 0.827,
+                  "z": 6.445
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|+01.36|+00.98|+01.49",
+                "object_type": "Spoon",
+                "position": {
+                  "x": -0.929,
+                  "y": 1.172,
+                  "z": 6.04
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.0,
+                "y": 0.9009994864463806,
+                "z": 6.0
+              },
+              "rotation_y": 60.26374435424805,
+              "camera_horizon": 55.80561828613281,
+              "holding": "Spoon|+01.36|+00.98|+01.49"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bowl|-00.56|+00.83|+06.25",
+              "instrument": null,
+              "natural_language": "Navigate to Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bowl|-00.56|+00.83|+06.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
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+                "object_id": "Television|+00.85|+01.46|+03.73",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.853,
+                  "y": 1.46,
+                  "z": 3.726
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9008399248123169,
+                "z": 4.0
+              },
+              "rotation_y": 78.87944030761719,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Drawer|+00.75|+00.24|+04.10",
+              "instrument": null,
+              "natural_language": "Put KeyChain into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Drawer|+00.75|+00.24|+04.10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 60,
+            "image_path": "obs_060.png",
+            "visible_objects": [
+              {
+                "object_id": "Drawer|+00.75|+00.67|+04.10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.669,
+                  "z": 4.098
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.75|+00.67|+03.33",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.669,
+                  "z": 3.33
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.75|+00.24|+04.10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.238,
+                  "z": 4.098
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.75|+00.24|+03.33",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.238,
+                  "z": 3.33
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|+00.85|+00.00|+03.71",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.847,
+                  "y": 0.003,
+                  "z": 3.714
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-03.10|-00.08|+03.74",
+                "object_type": "Floor",
+                "position": {
+                  "x": -3.101,
+                  "y": -0.078,
+                  "z": 3.742
+                },
+                "distance": 3.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|+00.85|+01.46|+03.73",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.853,
+                  "y": 1.46,
+                  "z": 3.726
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9008399248123169,
+                "z": 4.0
+              },
+              "rotation_y": 78.87944030761719,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Drawer|+00.75|+00.24|+04.10",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Drawer|+00.75|+00.24|+04.10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个Fork藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 61 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan18",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Fork|+01.27|+00.98|+01.24",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Fork|+01.27|+00.98|+01.24",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|+00.44|+00.42|+00.74",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|+00.44|+00.42|+00.74",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|+00.44|+00.42|+00.74",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|+00.44|+00.42|+00.74",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Fork|+01.27|+00.98|+01.24 in Cabinet|+00.44|+00.42|+00.74 and not in Cabinet|+00.25|+02.13|+00.43",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|+00.25|+02.13|+00.43)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan217_FloorPlan317/ep_l2_failure_retrieval_FloorPlan217_FloorPlan317.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan217_FloorPlan317/ep_l2_failure_retrieval_FloorPlan217_FloorPlan317.json
new file mode 100644
index 0000000000000000000000000000000000000000..852a2f27dae7903b030a3a348e682b0d67919f7a
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan217_FloorPlan317/ep_l2_failure_retrieval_FloorPlan217_FloorPlan317.json
@@ -0,0 +1,15770 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan217_FloorPlan317",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|-04.41|+00.50|+01.57 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|-04.41|+00.50|+01.57",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|-04.41|+00.50|+01.57 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Cabinet|-04.41|+00.50|+01.57",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "FloorPlan217",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Box on Cabinet, then put RemoteControl on Drawer；[pick_two_and_place] Put Watch on Drawer, then put RemoteControl on ArmChair。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|-02.18|+00.67|+02.43",
+                "object_type": "Box",
+                "position": {
+                  "x": -2.181,
+                  "y": 0.667,
+                  "z": 2.428
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeTable|-02.41|00.00|+02.55",
+                "object_type": "CoffeeTable",
+                "position": {
+                  "x": -2.406,
+                  "y": -0.001,
+                  "z": 2.547
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.38|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.381,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 4.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-02.01|+00.44|+02.79",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -2.005,
+                  "y": 0.444,
+                  "z": 2.79
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|-02.57|+00.53|+02.58",
+                "object_type": "Statue",
+                "position": {
+                  "x": -2.573,
+                  "y": 0.533,
+                  "z": 2.58
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.5,
+                "y": 0.9011412858963013,
+                "z": 3.25
+              },
+              "rotation_y": 172.38206481933594,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CoffeeTable|-02.41|00.00|+02.55",
+              "instrument": null,
+              "natural_language": "Navigate to CoffeeTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CoffeeTable|-02.41|00.00|+02.55",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|-02.18|+00.67|+02.43",
+                "object_type": "Box",
+                "position": {
+                  "x": -2.493,
+                  "y": 1.167,
+                  "z": 3.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeTable|-02.41|00.00|+02.55",
+                "object_type": "CoffeeTable",
+                "position": {
+                  "x": -2.406,
+                  "y": -0.001,
+                  "z": 2.547
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.38|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.381,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 4.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-02.01|+00.44|+02.79",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -2.005,
+                  "y": 0.444,
+                  "z": 2.79
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|-02.57|+00.53|+02.58",
+                "object_type": "Statue",
+                "position": {
+                  "x": -2.573,
+                  "y": 0.533,
+                  "z": 2.58
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.5,
+                "y": 0.9011412858963013,
+                "z": 3.25
+              },
+              "rotation_y": 172.38206481933594,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Box|-02.18|+00.67|+02.43"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Box|-02.18|+00.67|+02.43",
+              "instrument": null,
+              "natural_language": "Pick up Box"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Box|-02.18|+00.67|+02.43",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|-02.18|+00.67|+02.43",
+                "object_type": "Box",
+                "position": {
+                  "x": -4.27,
+                  "y": 1.167,
+                  "z": 3.953
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-04.41|+00.50|+03.62",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -4.41,
+                  "y": 0.499,
+                  "z": 3.623
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-04.41|+00.50|+02.60",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -4.41,
+                  "y": 0.499,
+                  "z": 2.604
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-04.74|+00.01|+04.61",
+                "object_type": "Chair",
+                "position": {
+                  "x": -4.736,
+                  "y": 0.004,
+                  "z": 4.609
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|-04.59|+00.98|+03.58",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": -4.591,
+                  "y": 0.982,
+                  "z": 3.575
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-04.50|+00.90|+03.37",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -4.497,
+                  "y": 0.901,
+                  "z": 3.372
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-04.50|+00.90|+02.34",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -4.497,
+                  "y": 0.901,
+                  "z": 2.339
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-04.50|+00.90|+02.85",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -4.497,
+                  "y": 0.901,
+                  "z": 2.854
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|-04.74|00.00|+02.60",
+                "object_type": "Dresser",
+                "position": {
+                  "x": -4.744,
+                  "y": -0.0,
+                  "z": 2.595
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.38|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.381,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-04.87|+00.98|+03.44",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -4.873,
+                  "y": 0.981,
+                  "z": 3.44
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|-05.12|+01.48|+04.40",
+                "object_type": "Painting",
+                "position": {
+                  "x": -5.119,
+                  "y": 1.48,
+                  "z": 4.397
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|-04.88|+01.47|+02.43",
+                "object_type": "Television",
+                "position": {
+                  "x": -4.884,
+                  "y": 1.473,
+                  "z": 2.434
+                },
+                "distance": 1.69,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -4.25,
+                "y": 0.9011412858963013,
+                "z": 4.0
+              },
+              "rotation_y": 202.9188995361328,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Box|-02.18|+00.67|+02.43"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Cabinet|-04.41|+00.50|+03.62",
+              "instrument": null,
+              "natural_language": "Navigate to Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Cabinet|-04.41|+00.50|+03.62",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|-02.18|+00.67|+02.43",
+                "object_type": "Box",
+                "position": {
+                  "x": -4.27,
+                  "y": 1.167,
+                  "z": 3.953
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-04.41|+00.50|+03.62",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -4.41,
+                  "y": 0.499,
+                  "z": 3.623
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-04.41|+00.50|+02.60",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -4.41,
+                  "y": 0.499,
+                  "z": 2.604
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-04.74|+00.01|+04.61",
+                "object_type": "Chair",
+                "position": {
+                  "x": -4.736,
+                  "y": 0.004,
+                  "z": 4.609
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|-04.59|+00.98|+03.58",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": -4.591,
+                  "y": 0.982,
+                  "z": 3.575
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-04.50|+00.90|+03.37",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -4.497,
+                  "y": 0.901,
+                  "z": 3.372
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-04.50|+00.90|+02.34",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -4.497,
+                  "y": 0.901,
+                  "z": 2.339
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-04.50|+00.90|+02.85",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -4.497,
+                  "y": 0.901,
+                  "z": 2.854
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|-04.74|00.00|+02.60",
+                "object_type": "Dresser",
+                "position": {
+                  "x": -4.744,
+                  "y": -0.0,
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+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.011,
+                  "y": 0.002,
+                  "z": -1.676
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.12",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.117
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-00.51|+00.97|-01.70",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -0.506,
+                  "y": 0.971,
+                  "z": -1.699
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|-00.17|+00.98|-01.57",
+                "object_type": "Pencil",
+                "position": {
+                  "x": -0.17,
+                  "y": 0.975,
+                  "z": -1.57
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|+01.64|+00.00|-02.04",
+                "object_type": "Safe",
+                "position": {
+                  "x": 1.657,
+                  "y": 0.016,
+                  "z": -1.989
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+01.40|+01.82|-02.35",
+                "object_type": "Window",
+                "position": {
+                  "x": 1.401,
+                  "y": 1.815,
+                  "z": -2.354
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9019261598587036,
+                "z": -1.0
+              },
+              "rotation_y": 188.27096557617188,
+              "camera_horizon": 59.64686965942383,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Drawer|+00.41|+00.49|-01.63",
+              "instrument": null,
+              "natural_language": "Put Book into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Drawer|+00.41|+00.49|-01.63",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 61,
+            "image_path": "obs_061.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|+01.38|+00.00|+00.07",
+                "object_type": "Bed",
+                "position": {
+                  "x": 1.377,
+                  "y": 0.005,
+                  "z": 0.072
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|+00.48|+00.97|-01.85",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.475,
+                  "y": 0.97,
+                  "z": -1.846
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+00.47|+00.98|-01.86",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 0.47,
+                  "y": 0.979,
+                  "z": -1.859
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.41|+00.49|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.408,
+                  "y": 0.487,
+                  "z": -1.632
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.39|+00.29|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.386,
+                  "y": 0.293,
+                  "z": -1.631
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.41|+00.29|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.408,
+                  "y": 0.293,
+                  "z": -1.631
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.41|+00.11|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.408,
+                  "y": 0.105,
+                  "z": -1.631
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.41|+00.68|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.408,
+                  "y": 0.681,
+                  "z": -1.632
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.39|+00.87|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.386,
+                  "y": 0.869,
+                  "z": -1.632
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.39|+00.49|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.386,
+                  "y": 0.487,
+                  "z": -1.631
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.41|+00.87|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.408,
+                  "y": 0.869,
+                  "z": -1.632
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.39|+00.11|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.386,
+                  "y": 0.105,
+                  "z": -1.631
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.39|+00.68|-01.63",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.386,
+                  "y": 0.681,
+                  "z": -1.632
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|+00.01|+00.00|-01.68",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.011,
+                  "y": 0.002,
+                  "z": -1.676
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.12",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.117
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-00.51|+00.97|-01.70",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -0.506,
+                  "y": 0.971,
+                  "z": -1.699
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|-00.17|+00.98|-01.57",
+                "object_type": "Pencil",
+                "position": {
+                  "x": -0.17,
+                  "y": 0.975,
+                  "z": -1.57
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|+01.64|+00.00|-02.04",
+                "object_type": "Safe",
+                "position": {
+                  "x": 1.657,
+                  "y": 0.016,
+                  "z": -1.989
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+01.40|+01.82|-02.35",
+                "object_type": "Window",
+                "position": {
+                  "x": 1.401,
+                  "y": 1.815,
+                  "z": -2.354
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9019261598587036,
+                "z": -1.0
+              },
+              "rotation_y": 188.27096557617188,
+              "camera_horizon": 59.64686965942383,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Drawer|+00.41|+00.49|-01.63",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Drawer|+00.41|+00.49|-01.63",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 62 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan217",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|-02.01|+00.44|+02.79",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|-02.01|+00.44|+02.79",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|-04.41|+00.50|+02.59",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|-04.41|+00.50|+02.59",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|-04.41|+00.50|+02.59",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|-04.41|+00.50|+02.59",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|-02.01|+00.44|+02.79 in Cabinet|-04.41|+00.50|+02.59 and not in Cabinet|-04.41|+00.50|+01.57",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|-04.41|+00.50|+01.57)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan26_FloorPlan226/ep_l2_failure_retrieval_FloorPlan26_FloorPlan226.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan26_FloorPlan226/ep_l2_failure_retrieval_FloorPlan26_FloorPlan226.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f2c83a070df290c487d39aee066edac3f5420e7
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan26_FloorPlan226/ep_l2_failure_retrieval_FloorPlan26_FloorPlan226.json
@@ -0,0 +1,11348 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan26_FloorPlan226",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|-00.48|+02.05|+00.39 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|-00.48|+02.05|+00.39",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|-00.48|+02.05|+00.39 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Cabinet|-00.48|+02.05|+00.39",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "FloorPlan26",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Apple and place it on GarbageCan；[clean_and_place] Clean Bowl and place it into Cabinet。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|-01.64|+00.96|+00.50",
+                "object_type": "Apple",
+                "position": {
+                  "x": -1.64,
+                  "y": 0.961,
+                  "z": 0.503
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|-02.21|+00.92|+00.62",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": -2.21,
+                  "y": 0.918,
+                  "z": 0.62
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.55|+00.49|+00.65",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.551,
+                  "y": 0.49,
+                  "z": 0.647
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.55|+00.49|+00.65",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.555,
+                  "y": 0.49,
+                  "z": 0.647
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.59|+00.49|+00.65",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.591,
+                  "y": 0.49,
+                  "z": 0.647
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.56|+00.49|+00.65",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.556,
+                  "y": 0.49,
+                  "z": 0.647
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.60|+00.49|+00.65",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.595,
+                  "y": 0.49,
+                  "z": 0.648
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.37|+00.95|+00.35",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.366,
+                  "y": 0.952,
+                  "z": 0.349
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|-00.90|+00.79|+00.26",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": -0.901,
+                  "y": 0.789,
+                  "z": 0.26
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.33|+00.70|+00.41",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.326,
+                  "y": 0.696,
+                  "z": 0.414
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.82|+00.70|+00.41",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.824,
+                  "y": 0.696,
+                  "z": 0.414
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.32|+00.70|+00.41",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.323,
+                  "y": 0.696,
+                  "z": 0.414
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.08|+00.92|+00.03",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.078,
+                  "y": 0.921,
+                  "z": 0.029
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.05|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.047,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|-00.39|+00.92|+00.22",
+                "object_type": "Microwave",
+                "position": {
+                  "x": -0.392,
+                  "y": 0.917,
+                  "z": 0.224
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|-01.93|+00.92|+00.40",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": -1.927,
+                  "y": 0.917,
+                  "z": 0.399
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|-01.84|+00.92|+00.31",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": -1.835,
+                  "y": 0.917,
+                  "z": 0.313
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.11|+00.93|+00.34",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.109,
+                  "y": 0.926,
+                  "z": 0.34
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.11|+00.93|+00.34|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.107,
+                  "y": 0.785,
+                  "z": 0.337
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-01.58|+00.92|+00.30",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -1.578,
+                  "y": 0.917,
+                  "z": 0.301
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|-02.24|+00.92|+00.55",
+                "object_type": "Spatula",
+                "position": {
+                  "x": -2.244,
+                  "y": 0.924,
+                  "z": 0.552
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|-01.16|+00.85|+00.32",
+                "object_type": "Tomato",
+                "position": {
+                  "x": -1.158,
+                  "y": 0.853,
+                  "z": 0.324
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9015907645225525,
+                "z": 1.0
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.39|-00.17",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.07|-00.17",
+                "object_type": "Drawer",
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+                  "z": 0.112
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|-00.56|+00.55|-00.35",
+                "object_type": "HousePlant",
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+                  "x": -0.562,
+                  "y": 0.549,
+                  "z": -0.353
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-01.16|+00.55|-00.12",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -1.156,
+                  "y": 0.545,
+                  "z": -0.123
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-00.98|+00.54|-00.37",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -0.981,
+                  "y": 0.544,
+                  "z": -0.37
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|-01.07|+00.33|-01.84",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": -0.841,
+                  "y": 0.074,
+                  "z": 0.198
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9009991884231567,
+                "z": 0.25
+              },
+              "rotation_y": 174.84803771972656,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Drawer|-00.71|+00.07|-00.17",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Drawer|-00.71|+00.07|-00.17",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 47,
+            "image_path": "obs_047.png",
+            "visible_objects": [
+              {
+                "object_id": "CoffeeTable|-00.71|+00.00|-00.37",
+                "object_type": "CoffeeTable",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.003,
+                  "z": -0.365
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.23|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.229,
+                  "z": -0.174
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.39|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.388,
+                  "z": -0.174
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.07|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.07,
+                  "z": 0.112
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|-00.56|+00.55|-00.35",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": -0.562,
+                  "y": 0.549,
+                  "z": -0.353
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-01.16|+00.55|-00.12",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -1.156,
+                  "y": 0.545,
+                  "z": -0.123
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-00.98|+00.54|-00.37",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -0.981,
+                  "y": 0.544,
+                  "z": -0.37
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|-01.07|+00.33|-01.84",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": -0.745,
+                  "y": 1.167,
+                  "z": 0.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9009991884231567,
+                "z": 0.25
+              },
+              "rotation_y": 174.84803771972656,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Newspaper|-01.07|+00.33|-01.84"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Newspaper|-01.07|+00.33|-01.84",
+              "instrument": null,
+              "natural_language": "Pick up Newspaper"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Newspaper|-01.07|+00.33|-01.84",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 48,
+            "image_path": "obs_048.png",
+            "visible_objects": [
+              {
+                "object_id": "CoffeeTable|-00.71|+00.00|-00.37",
+                "object_type": "CoffeeTable",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.003,
+                  "z": -0.365
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.23|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.229,
+                  "z": -0.174
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.39|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.388,
+                  "z": -0.174
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.07|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.07,
+                  "z": -0.174
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|-00.56|+00.55|-00.35",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": -0.562,
+                  "y": 0.549,
+                  "z": -0.353
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-01.16|+00.55|-00.12",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -1.156,
+                  "y": 0.545,
+                  "z": -0.123
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-00.98|+00.54|-00.37",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -0.981,
+                  "y": 0.544,
+                  "z": -0.37
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|-01.07|+00.33|-01.84",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": -0.745,
+                  "y": 1.167,
+                  "z": 0.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9009991884231567,
+                "z": 0.25
+              },
+              "rotation_y": 174.84803771972656,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Newspaper|-01.07|+00.33|-01.84"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Drawer|-00.71|+00.07|-00.17",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Drawer|-00.71|+00.07|-00.17",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 49,
+            "image_path": "obs_049.png",
+            "visible_objects": [
+              {
+                "object_id": "Blinds|-02.00|+02.14|+00.92",
+                "object_type": "Blinds",
+                "position": {
+                  "x": -2.0,
+                  "y": 2.136,
+                  "z": 0.923
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeTable|-00.71|+00.00|-00.37",
+                "object_type": "CoffeeTable",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.003,
+                  "z": -0.365
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.23|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.229,
+                  "z": -0.174
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.39|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.388,
+                  "z": -0.174
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.07|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.07,
+                  "z": -0.174
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-02.56|+00.01|+00.73",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -2.558,
+                  "y": 0.015,
+                  "z": 0.734
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|-01.07|+00.33|-01.84",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": -1.371,
+                  "y": 1.182,
+                  "z": 0.749
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-02.01|+01.52|+01.03",
+                "object_type": "Window",
+                "position": {
+                  "x": -2.01,
+                  "y": 1.524,
+                  "z": 1.031
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-02.83|+01.51|-00.03",
+                "object_type": "Window",
+                "position": {
+                  "x": -2.828,
+                  "y": 1.511,
+                  "z": -0.025
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9009991884231567,
+                "z": 0.75
+              },
+              "rotation_y": 269.3079833984375,
+              "camera_horizon": 50.03947830200195,
+              "holding": "Newspaper|-01.07|+00.33|-01.84"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|-02.56|+00.01|+00.73",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|-02.56|+00.01|+00.73",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 50,
+            "image_path": "obs_050.png",
+            "visible_objects": [
+              {
+                "object_id": "Blinds|-02.00|+02.14|+00.92",
+                "object_type": "Blinds",
+                "position": {
+                  "x": -2.0,
+                  "y": 2.136,
+                  "z": 0.923
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeTable|-00.71|+00.00|-00.37",
+                "object_type": "CoffeeTable",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.003,
+                  "z": -0.365
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.23|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.229,
+                  "z": -0.174
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.39|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.388,
+                  "z": -0.174
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.71|+00.07|-00.17",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.07,
+                  "z": -0.174
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-02.56|+00.01|+00.73",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -2.558,
+                  "y": 0.015,
+                  "z": 0.734
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-02.01|+01.52|+01.03",
+                "object_type": "Window",
+                "position": {
+                  "x": -2.01,
+                  "y": 1.524,
+                  "z": 1.031
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-02.83|+01.51|-00.03",
+                "object_type": "Window",
+                "position": {
+                  "x": -2.828,
+                  "y": 1.511,
+                  "z": -0.025
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9009991884231567,
+                "z": 0.75
+              },
+              "rotation_y": 269.3079833984375,
+              "camera_horizon": 50.03947830200195,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|-02.56|+00.01|+00.73",
+              "instrument": null,
+              "natural_language": "Put Newspaper on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|-02.56|+00.01|+00.73",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个Knife藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 51 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan26",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Knife|-00.58|+00.87|+03.31",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Knife|-00.58|+00.87|+03.31",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|-00.52|+02.05|+00.39",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|-00.52|+02.05|+00.39",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|-00.52|+02.05|+00.39",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|-00.52|+02.05|+00.39",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Knife|-00.58|+00.87|+03.31 in Cabinet|-00.52|+02.05|+00.39 and not in Cabinet|-00.48|+02.05|+00.39",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|-00.48|+02.05|+00.39)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan28_FloorPlan228/ep_l2_failure_retrieval_FloorPlan28_FloorPlan228.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan28_FloorPlan228/ep_l2_failure_retrieval_FloorPlan28_FloorPlan228.json
new file mode 100644
index 0000000000000000000000000000000000000000..1234c4095e62ab1490ef7e0de778bbe7fcc9c795
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan28_FloorPlan228/ep_l2_failure_retrieval_FloorPlan28_FloorPlan228.json
@@ -0,0 +1,6967 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan28_FloorPlan228",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
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+      "rule_id": "rule_locked",
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+      "rule_type": "interaction_constraint",
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+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|-00.33|+01.89|-02.51 失败",
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+      "planted_at_step": 20,
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+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
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+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "FloorPlan28",
+      "room_type": "Kitchen",
+      "context_trajectory": {
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+                  "x": -3.793,
+                  "y": 0.014,
+                  "z": 4.464
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.56|00.00|+04.62",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -2.561,
+                  "y": -0.003,
+                  "z": 4.624
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|-03.80|+01.15|+04.55",
+                "object_type": "Television",
+                "position": {
+                  "x": -3.795,
+                  "y": 1.152,
+                  "z": 4.554
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|-04.18|+00.39|+02.25",
+                "object_type": "Watch",
+                "position": {
+                  "x": -2.507,
+                  "y": 1.16,
+                  "z": 4.051
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.5,
+                "y": 0.8938637971878052,
+                "z": 4.0
+              },
+              "rotation_y": 352.2256164550781,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Watch|-04.18|+00.39|+02.25"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Drawer|-02.56|+00.53|+04.45",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Drawer|-02.56|+00.53|+04.45",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 26,
+            "image_path": "obs_026.png",
+            "visible_objects": [
+              {
+                "object_id": "Drawer|-02.56|+00.53|+04.45",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.561,
+                  "y": 0.533,
+                  "z": 4.248
+                },
+                "distance": 0.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.21|+00.77|+02.20",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.206,
+                  "y": 0.774,
+                  "z": 2.202
+                },
+                "distance": 2.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-03.96|+00.39|+02.02",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -2.561,
+                  "y": 0.63,
+                  "z": 4.627
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-03.79|+00.01|+04.46",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -3.793,
+                  "y": 0.014,
+                  "z": 4.464
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.56|00.00|+04.62",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -2.561,
+                  "y": -0.003,
+                  "z": 4.624
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|-03.80|+01.15|+04.55",
+                "object_type": "Television",
+                "position": {
+                  "x": -3.795,
+                  "y": 1.152,
+                  "z": 4.554
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|-04.18|+00.39|+02.25",
+                "object_type": "Watch",
+                "position": {
+                  "x": -2.38,
+                  "y": 0.521,
+                  "z": 4.445
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.5,
+                "y": 0.8938637971878052,
+                "z": 4.0
+              },
+              "rotation_y": 346.19036865234375,
+              "camera_horizon": 59.9999885559082,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Drawer|-02.56|+00.53|+04.45",
+              "instrument": null,
+              "natural_language": "Put Watch into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Drawer|-02.56|+00.53|+04.45",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 27,
+            "image_path": "obs_027.png",
+            "visible_objects": [
+              {
+                "object_id": "Drawer|-02.56|+00.53|+04.45",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.561,
+                  "y": 0.533,
+                  "z": 4.446
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.21|+00.77|+02.20",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.206,
+                  "y": 0.774,
+                  "z": 2.202
+                },
+                "distance": 2.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-03.96|+00.39|+02.02",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -2.561,
+                  "y": 0.63,
+                  "z": 4.627
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-03.79|+00.01|+04.46",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -3.793,
+                  "y": 0.014,
+                  "z": 4.464
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.56|00.00|+04.62",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -2.561,
+                  "y": -0.003,
+                  "z": 4.624
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|-03.80|+01.15|+04.55",
+                "object_type": "Television",
+                "position": {
+                  "x": -3.795,
+                  "y": 1.152,
+                  "z": 4.554
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.5,
+                "y": 0.8938637971878052,
+                "z": 4.0
+              },
+              "rotation_y": 346.19036865234375,
+              "camera_horizon": 59.9999885559082,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Drawer|-02.56|+00.53|+04.45",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Drawer|-02.56|+00.53|+04.45",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个ButterKnife藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 28 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan28",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "ButterKnife|-00.36|+00.93|-02.71",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "ButterKnife|-00.36|+00.93|-02.71",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|-00.34|+01.89|-01.29",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|-00.34|+01.89|-01.29",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|-00.34|+01.89|-01.29",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|-00.34|+01.89|-01.29",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "ButterKnife|-00.36|+00.93|-02.71 in Cabinet|-00.34|+01.89|-01.29 and not in Cabinet|-00.33|+01.89|-02.51",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|-00.33|+01.89|-02.51)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan2_FloorPlan202/ep_l2_failure_retrieval_FloorPlan2_FloorPlan202.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan2_FloorPlan202/ep_l2_failure_retrieval_FloorPlan2_FloorPlan202.json
new file mode 100644
index 0000000000000000000000000000000000000000..62bc8383ad0766f7052f4f2f46ebc416a6724cc9
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan2_FloorPlan202/ep_l2_failure_retrieval_FloorPlan2_FloorPlan202.json
@@ -0,0 +1,4822 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan2_FloorPlan202",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|+00.41|+00.48|+00.45 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|+00.41|+00.48|+00.45",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|+00.41|+00.48|+00.45 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 28,
+      "object_id": "Cabinet|+00.41|+00.48|+00.45",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "FloorPlan2",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Plate and place it into Cabinet；[pick_two_and_place] Put Spatula on Pan, then put Plate on Cabinet。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 30,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|+01.79|+02.02|-00.82",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.79,
+                  "y": 2.02,
+                  "z": -0.82
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.71|+02.02|-01.45",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.706,
+                  "y": 2.02,
+                  "z": -1.449
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.36|+00.90|-01.60",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.355,
+                  "y": 0.9,
+                  "z": -1.596
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|+01.93|+00.90|-00.77",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.933,
+                  "y": 0.901,
+                  "z": -0.767
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+02.22|+01.57|-00.39",
+                "object_type": "Window",
+                "position": {
+                  "x": 2.218,
+                  "y": 1.565,
+                  "z": -0.385
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009992480278015,
+                "z": -0.75
+              },
+              "rotation_y": 134.74508666992188,
+              "camera_horizon": -24.08404541015625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Cabinet|+01.71|+02.02|-01.45",
+              "instrument": null,
+              "natural_language": "Navigate to Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Cabinet|+01.71|+02.02|-01.45",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|+01.79|+02.02|-00.82",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.79,
+                  "y": 2.02,
+                  "z": -0.82
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.71|+02.02|-01.45",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.706,
+                  "y": 2.02,
+                  "z": -1.449
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.36|+00.90|-01.60",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.355,
+                  "y": 0.9,
+                  "z": -1.596
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|+01.93|+00.90|-00.77",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.933,
+                  "y": 0.901,
+                  "z": -0.767
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|+01.32|+01.67|-01.60",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.323,
+                  "y": 1.67,
+                  "z": -1.595
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+02.22|+01.57|-00.39",
+                "object_type": "Window",
+                "position": {
+                  "x": 2.218,
+                  "y": 1.565,
+                  "z": -0.385
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009992480278015,
+                "z": -0.75
+              },
+              "rotation_y": 134.74508666992188,
+              "camera_horizon": -24.08404541015625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Cabinet|+01.71|+02.02|-01.45",
+              "instrument": null,
+              "natural_language": "Open Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Cabinet|+01.71|+02.02|-01.45",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|+01.79|+02.02|-00.82",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.79,
+                  "y": 2.02,
+                  "z": -0.82
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.71|+02.02|-01.45",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.706,
+                  "y": 2.02,
+                  "z": -1.449
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.36|+00.90|-01.60",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.355,
+                  "y": 0.9,
+                  "z": -1.596
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|+01.93|+00.90|-00.77",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.933,
+                  "y": 0.901,
+                  "z": -0.767
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|+01.32|+01.67|-01.60",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.293,
+                  "y": 1.585,
+                  "z": -1.04
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+02.22|+01.57|-00.39",
+                "object_type": "Window",
+                "position": {
+                  "x": 2.218,
+                  "y": 1.565,
+                  "z": -0.385
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009992480278015,
+                "z": -0.75
+              },
+              "rotation_y": 134.74508666992188,
+              "camera_horizon": -24.08404541015625,
+              "holding": "Plate|+01.32|+01.67|-01.60"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Plate|+01.32|+01.67|-01.60",
+              "instrument": null,
+              "natural_language": "Pick up Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Plate|+01.32|+01.67|-01.60",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|+01.79|+02.02|-00.82",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.79,
+                  "y": 2.02,
+                  "z": -0.82
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+01.71|+02.02|-01.45",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 1.706,
+                  "y": 2.02,
+                  "z": -1.449
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.36|+00.90|-01.60",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.355,
+                  "y": 0.9,
+                  "z": -1.596
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|+01.93|+00.90|-00.77",
+                "object_type": "Microwave",
+                "position": {
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+        "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 9 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan2",
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+            "action_type": "PutObject",
+            "target": "Cabinet|+00.50|+00.48|-01.15",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|+00.50|+00.48|-01.15",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|-00.31|+00.92|+01.29 in Cabinet|+00.50|+00.48|-01.15 and not in Cabinet|+00.41|+00.48|+00.45",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|+00.41|+00.48|+00.45)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan303_FloorPlan403/ep_l2_failure_retrieval_FloorPlan303_FloorPlan403.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan303_FloorPlan403/ep_l2_failure_retrieval_FloorPlan303_FloorPlan403.json
new file mode 100644
index 0000000000000000000000000000000000000000..cff31c08a88d941150e37276af9caf41f640dbf9
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan303_FloorPlan403/ep_l2_failure_retrieval_FloorPlan303_FloorPlan403.json
@@ -0,0 +1,13257 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan303_FloorPlan403",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|+00.43|+00.20|-02.45 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|+00.43|+00.20|-02.45",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|+00.43|+00.20|-02.45 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 19,
+      "object_id": "Drawer|+00.43|+00.20|-02.45",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan303",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Box, then put CD on Shelf；[pick_two_and_place] Put AlarmClock on Shelf, then put Book on Drawer。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 21,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|-01.85|+00.50|-01.18",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": -1.854,
+                  "y": 0.5,
+                  "z": -1.175
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|-01.05|00.00|-01.85",
+                "object_type": "Bed",
+                "position": {
+                  "x": -1.047,
+                  "y": -0.0,
+                  "z": -1.852
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-01.45|+00.01|-00.31",
+                "object_type": "Chair",
+                "position": {
+                  "x": -1.453,
+                  "y": 0.005,
+                  "z": -0.312
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|-01.76|+00.50|-01.03",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": -1.756,
+                  "y": 0.5,
+                  "z": -1.031
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|-01.71|+00.00|-00.37",
+                "object_type": "Desk",
+                "position": {
+                  "x": -1.71,
+                  "y": 0.001,
+                  "z": -0.374
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|-01.85|+00.59|-00.79",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": -1.848,
+                  "y": 0.592,
+                  "z": -0.786
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.79|+00.25|-01.14",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.791,
+                  "y": 0.245,
+                  "z": -1.144
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.79|+00.39|-01.14",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.791,
+                  "y": 0.393,
+                  "z": -1.144
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.79|+00.10|-01.14",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.791,
+                  "y": 0.098,
+                  "z": -1.144
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|-01.42|+00.00|+00.32",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": -1.415,
+                  "y": 0.001,
+                  "z": 0.318
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-01.81|+00.59|-00.56",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -1.809,
+                  "y": 0.593,
+                  "z": -0.565
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-01.76|+00.59|-00.11",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -1.763,
+                  "y": 0.592,
+                  "z": -0.112
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|-01.68|+00.59|-00.73",
+                "object_type": "Mug",
+                "position": {
+                  "x": -1.684,
+                  "y": 0.592,
+                  "z": -0.735
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|-01.57|+00.60|-00.80",
+                "object_type": "Pen",
+                "position": {
+                  "x": -1.566,
+                  "y": 0.597,
+                  "z": -0.805
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|-01.50|+00.60|-00.81",
+                "object_type": "Pencil",
+                "position": {
+                  "x": -1.501,
+                  "y": 0.596,
+                  "z": -0.807
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-01.55|+00.48|-01.83",
+                "object_type": "Pillow",
+                "position": {
+                  "x": -1.548,
+                  "y": 0.478,
+                  "z": -1.833
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-01.82|+00.00|-01.14",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -1.825,
+                  "y": 0.001,
+                  "z": -1.144
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.0,
+                "y": 0.9010001420974731,
+                "z": -1.0
+              },
+              "rotation_y": 260.07391357421875,
+              "camera_horizon": 59.9999885559082,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "SideTable|-01.82|+00.00|-01.14",
+              "instrument": null,
+              "natural_language": "Navigate to SideTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to SideTable|-01.82|+00.00|-01.14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|-01.85|+00.50|-01.18",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": -1.854,
+                  "y": 0.5,
+                  "z": -1.175
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|-01.05|00.00|-01.85",
+                "object_type": "Bed",
+                "position": {
+                  "x": -1.047,
+                  "y": -0.0,
+                  "z": -1.852
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-01.45|+00.01|-00.31",
+                "object_type": "Chair",
+                "position": {
+                  "x": -1.453,
+                  "y": 0.005,
+                  "z": -0.312
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|-01.76|+00.50|-01.03",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": -1.051,
+                  "y": 1.167,
+                  "z": -1.009
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|-01.71|+00.00|-00.37",
+                "object_type": "Desk",
+                "position": {
+                  "x": -1.71,
+                  "y": 0.001,
+                  "z": -0.374
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|-01.85|+00.59|-00.79",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": -1.848,
+                  "y": 0.592,
+                  "z": -0.786
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.79|+00.25|-01.14",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.791,
+                  "y": 0.245,
+                  "z": -1.144
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.79|+00.39|-01.14",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.791,
+                  "y": 0.393,
+                  "z": -1.144
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.79|+00.10|-01.14",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.791,
+                  "y": 0.098,
+                  "z": -1.144
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|-01.42|+00.00|+00.32",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": -1.415,
+                  "y": 0.001,
+                  "z": 0.318
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|-01.81|+00.59|-00.56",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -1.809,
+                  "y": 0.593,
+                  "z": -0.565
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-01.76|+00.59|-00.11",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -1.763,
+                  "y": 0.592,
+                  "z": -0.112
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|-01.68|+00.59|-00.73",
+                "object_type": "Mug",
+                "position": {
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+                  "y": 0.592,
+                  "z": -0.735
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|-01.57|+00.60|-00.80",
+                "object_type": "Pen",
+                "position": {
+                  "x": -1.565,
+                  "y": 0.597,
+                  "z": -0.805
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|-01.50|+00.60|-00.81",
+                "object_type": "Pencil",
+                "position": {
+                  "x": -1.501,
+                  "y": 0.596,
+                  "z": -0.807
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-01.55|+00.48|-01.83",
+                "object_type": "Pillow",
+                "position": {
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+                  "y": 0.478,
+                  "z": -1.833
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-01.82|+00.00|-01.14",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -1.825,
+                  "y": 0.001,
+                  "z": -1.144
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.0,
+                "y": 0.9010001420974731,
+                "z": -1.0
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+              "rotation_y": 260.07391357421875,
+              "camera_horizon": 59.9999885559082,
+              "holding": "CreditCard|-01.76|+00.50|-01.03"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CreditCard|-01.76|+00.50|-01.03",
+              "instrument": null,
+              "natural_language": "Pick up CreditCard"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CreditCard|-01.76|+00.50|-01.03",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|+02.00|+00.28|-01.04",
+                "object_type": "Box",
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+                  "y": 0.279,
+                  "z": -1.042
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+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+01.23|+00.32|-02.31",
+                "object_type": "CD",
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+                  "z": -2.306
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+                "distance": 1.5,
+                "in_view_center": false
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+              {
+                "object_id": "CreditCard|-01.76|+00.50|-01.03",
+                "object_type": "CreditCard",
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+                  "z": -1.005
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+                "distance": 0.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
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+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageBag|+01.74|00.00|+00.23",
+                "object_type": "GarbageBag",
+                "position": {
+                  "x": 1.735,
+                  "y": -0.002,
+                  "z": 0.226
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.59|+00.61|-02.31",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.591,
+                  "y": 0.606,
+                  "z": -2.305
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.32|+00.16|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.321,
+                  "y": 0.156,
+                  "z": -2.296
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.31|+00.97|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.312,
+                  "y": 0.97,
+                  "z": -2.299
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.32|+00.46|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.323,
+                  "y": 0.456,
+                  "z": -2.3
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|+01.59|+00.00|-02.33",
+                "object_type": "ShelvingUnit",
+                "position": {
+                  "x": 1.589,
+                  "y": 0.005,
+                  "z": -2.326
+                },
+                "distance": 1.72,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9010001420974731,
+                "z": -1.0
+              },
+              "rotation_y": 91.608642578125,
+              "camera_horizon": 40.9098014831543,
+              "holding": "CreditCard|-01.76|+00.50|-01.03"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Box|+02.00|+00.28|-01.04",
+              "instrument": null,
+              "natural_language": "Navigate to Box"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Box|+02.00|+00.28|-01.04",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|+02.00|+00.28|-01.04",
+                "object_type": "Box",
+                "position": {
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+                  "z": -1.042
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+01.23|+00.32|-02.31",
+                "object_type": "CD",
+                "position": {
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+                  "z": -2.306
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
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+                "object_id": "TowelHolder|+00.40|+01.38|+03.47",
+                "object_type": "TowelHolder",
+                "position": {
+                  "x": 0.403,
+                  "y": 1.375,
+                  "z": 3.466
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9093819856643677,
+                "z": 2.75
+              },
+              "rotation_y": 320.7838439941406,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|-00.06|00.00|+03.13",
+              "instrument": null,
+              "natural_language": "Put ToiletPaper on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|-00.06|00.00|+03.13",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 58 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan303",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|-01.81|+00.59|-00.56",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|-01.81|+00.59|-00.56",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|+00.43|+00.51|-02.45",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|+00.43|+00.51|-02.45",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|+00.43|+00.51|-02.45",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|+00.43|+00.51|-02.45",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|-01.81|+00.59|-00.56 in Drawer|+00.43|+00.51|-02.45 and not in Drawer|+00.43|+00.20|-02.45",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|+00.43|+00.20|-02.45)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan305_FloorPlan405/ep_l2_failure_retrieval_FloorPlan305_FloorPlan405.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan305_FloorPlan405/ep_l2_failure_retrieval_FloorPlan305_FloorPlan405.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8824c553953e85c7fdf5d1244940b9a2245970
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan305_FloorPlan405/ep_l2_failure_retrieval_FloorPlan305_FloorPlan405.json
@@ -0,0 +1,9461 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan305_FloorPlan405",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|+01.10|+00.17|+01.72 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|+01.10|+00.17|+01.72",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|+01.10|+00.17|+01.72 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 18,
+      "object_id": "Drawer|+01.10|+00.17|+01.72",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan305",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Box, then put AlarmClock on Box；[pick_two_and_place] Put AlarmClock on Shelf, then put Box on Shelf。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 20,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|+01.34|+01.14|+00.96",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.342,
+                  "y": 1.139,
+                  "z": 0.962
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|+00.96|+00.00|-00.72",
+                "object_type": "Bed",
+                "position": {
+                  "x": 0.955,
+                  "y": 0.002,
+                  "z": -0.722
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|+01.14|+00.73|+01.80",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.145,
+                  "y": 0.728,
+                  "z": 1.799
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|+01.35|+00.73|+00.89",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 1.353,
+                  "y": 0.733,
+                  "z": 0.892
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+01.13|00.00|+01.05",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.127,
+                  "y": -0.0,
+                  "z": 1.053
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+01.08|+00.73|+00.88",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.077,
+                  "y": 0.729,
+                  "z": 0.881
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+01.19|+00.00|+01.38",
+                "object_type": "Desk",
+                "position": {
+                  "x": 1.19,
+                  "y": 0.002,
+                  "z": 1.384
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+01.10|+00.62|+01.72",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.099,
+                  "y": 0.624,
+                  "z": 1.724
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+01.10|+00.41|+01.72",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.099,
+                  "y": 0.411,
+                  "z": 1.724
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+01.10|+00.17|+01.72",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.099,
+                  "y": 0.17,
+                  "z": 1.724
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|+01.13|+00.03|+00.58",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 1.132,
+                  "y": 0.034,
+                  "z": 0.588
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+01.16|+00.73|+01.01",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 1.164,
+                  "y": 0.73,
+                  "z": 1.013
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|+01.22|+00.73|+01.34",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 1.223,
+                  "y": 0.729,
+                  "z": 1.343
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.32|+01.17|+01.39",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.316,
+                  "y": 1.174,
+                  "z": 1.389
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009991884231567,
+                "z": 1.5
+              },
+              "rotation_y": 99.54063415527344,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Desk|+01.19|+00.00|+01.38",
+              "instrument": null,
+              "natural_language": "Navigate to Desk"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Desk|+01.19|+00.00|+01.38",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|+01.34|+01.14|+00.96",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.342,
+                  "y": 1.139,
+                  "z": 0.962
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|+00.96|+00.00|-00.72",
+                "object_type": "Bed",
+                "position": {
+                  "x": 0.955,
+                  "y": 0.002,
+                  "z": -0.722
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|+01.14|+00.73|+01.80",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.145,
+                  "y": 0.728,
+                  "z": 1.799
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|+01.35|+00.73|+00.89",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 1.353,
+                  "y": 0.733,
+                  "z": 0.892
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+01.13|00.00|+01.05",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.127,
+                  "y": -0.0,
+                  "z": 1.053
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+01.08|+00.73|+00.88",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 0.551,
+                  "y": 1.167,
+                  "z": 1.491
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+01.19|+00.00|+01.38",
+                "object_type": "Desk",
+                "position": {
+                  "x": 1.19,
+                  "y": 0.002,
+                  "z": 1.384
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+01.10|+00.62|+01.72",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.099,
+                  "y": 0.624,
+                  "z": 1.724
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+01.10|+00.41|+01.72",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.099,
+                  "y": 0.411,
+                  "z": 1.724
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+01.10|+00.17|+01.72",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.099,
+                  "y": 0.17,
+                  "z": 1.724
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|+01.13|+00.03|+00.58",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 1.132,
+                  "y": 0.034,
+                  "z": 0.588
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+01.16|+00.73|+01.01",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 1.164,
+                  "y": 0.73,
+                  "z": 1.013
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|+01.22|+00.73|+01.34",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 1.223,
+                  "y": 0.729,
+                  "z": 1.343
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.32|+01.17|+01.39",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.316,
+                  "y": 1.174,
+                  "z": 1.389
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009991884231567,
+                "z": 1.5
+              },
+              "rotation_y": 99.54063415527344,
+              "camera_horizon": 60.00001525878906,
+              "holding": "CreditCard|+01.08|+00.73|+00.88"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CreditCard|+01.08|+00.73|+00.88",
+              "instrument": null,
+              "natural_language": "Pick up CreditCard"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CreditCard|+01.08|+00.73|+00.88",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|-01.64|+00.12|-01.65",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": -1.64,
+                  "y": 0.12,
+                  "z": -1.652
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|-01.23|+00.25|-01.44",
+                "object_type": "Box",
+                "position": {
+                  "x": -1.233,
+                  "y": 0.247,
+                  "z": -1.435
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+01.08|+00.73|+00.88",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": -1.458,
+                  "y": 1.167,
+                  "z": -1.279
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|-00.40|+00.66|-01.67",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": -0.396,
+                  "y": 0.665,
+                  "z": -1.666
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.10|+00.16|-01.62",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.104,
+                  "y": 0.157,
+                  "z": -1.618
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.10|+00.46|-01.62",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.104,
+                  "y": 0.456,
+                  "z": -1.618
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|-00.22|+00.67|-01.77",
+                "object_type": "Pen",
+                "position": {
+                  "x": -0.225,
+                  "y": 0.67,
+                  "z": -1.771
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|-00.12|+00.67|-01.68",
+                "object_type": "Pencil",
+                "position": {
+                  "x": -0.12,
+                  "y": 0.669,
+                  "z": -1.678
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-00.10|00.00|-01.69",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -0.104,
+                  "y": -0.0,
+                  "z": -1.691
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-00.18|+01.01|-02.01",
+                "object_type": "Window",
+                "position": {
+                  "x": -0.175,
+                  "y": 1.006,
+                  "z": -2.01
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9009991884231567,
+                "z": -1.25
+              },
+              "rotation_y": 124.71805572509766,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CreditCard|+01.08|+00.73|+00.88"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Box|-01.23|+00.25|-01.44",
+              "instrument": null,
+              "natural_language": "Navigate to Box"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Box|-01.23|+00.25|-01.44",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
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+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9048510789871216,
+                "z": 0.75
+              },
+              "rotation_y": 86.27336120605469,
+              "camera_horizon": 58.76750946044922,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Bathtub|-00.60|+00.29|+00.83|BathtubBasin",
+              "instrument": null,
+              "natural_language": "Put Cloth on BathtubBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Bathtub|-00.60|+00.29|+00.83|BathtubBasin",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 57 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan305",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|+01.16|+00.73|+01.01",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|+01.16|+00.73|+01.01",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|+01.10|+00.41|+01.72",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|+01.10|+00.41|+01.72",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|+01.10|+00.41|+01.72",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|+01.10|+00.41|+01.72",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|+01.16|+00.73|+01.01 in Drawer|+01.10|+00.41|+01.72 and not in Drawer|+01.10|+00.17|+01.72",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|+01.10|+00.17|+01.72)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan312_FloorPlan412/ep_l2_failure_retrieval_FloorPlan312_FloorPlan412.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan312_FloorPlan412/ep_l2_failure_retrieval_FloorPlan312_FloorPlan412.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57058e920390aceb1da151cd478119456f1c33d
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan312_FloorPlan412/ep_l2_failure_retrieval_FloorPlan312_FloorPlan412.json
@@ -0,0 +1,14007 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan312_FloorPlan412",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|+00.19|+00.16|-01.58 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|+00.19|+00.16|-01.58",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|+00.19|+00.16|-01.58 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 19,
+      "object_id": "Drawer|+00.19|+00.16|-01.58",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan312",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put AlarmClock on Shelf, then put CreditCard on Shelf；[pick_two_and_place] Put CreditCard on Drawer, then put Pen on Shelf。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 21,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|+00.34|+00.67|-01.68",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 2.351,
+                  "y": 0.756,
+                  "z": -1.348
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "BasketBall|+01.14|+00.12|-01.66",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 1.144,
+                  "y": 0.12,
+                  "z": -1.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|+02.06|+00.75|-01.41",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.265,
+                  "y": 0.785,
+                  "z": -1.721
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+00.16|+00.36|-01.63",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.564,
+                  "y": 1.139,
+                  "z": -1.651
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+01.50|+00.78|-01.67",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 1.502,
+                  "y": 0.782,
+                  "z": -1.673
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+02.16|+00.01|-01.13",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.162,
+                  "y": 0.009,
+                  "z": -1.13
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+01.74|+00.78|-01.68",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.743,
+                  "y": 0.78,
+                  "z": -1.679
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+02.02|+00.00|-01.58",
+                "object_type": "Desk",
+                "position": {
+                  "x": 2.017,
+                  "y": 0.001,
+                  "z": -1.578
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.19|+00.16|-01.58",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.187,
+                  "y": 0.163,
+                  "z": -1.577
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|+00.89|+00.00|-01.64",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": 0.888,
+                  "y": 0.001,
+                  "z": -1.638
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.24|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.239,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+01.46|+00.76|-01.41",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 1.461,
+                  "y": 0.756,
+                  "z": -1.415
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|+01.89|+00.76|-01.39",
+                "object_type": "Pen",
+                "position": {
+                  "x": 2.515,
+                  "y": 0.761,
+                  "z": -1.386
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+01.88|+00.76|-01.45",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 1.88,
+                  "y": 0.757,
+                  "z": -1.454
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.57|+00.17|-01.56",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.57,
+                  "y": 0.173,
+                  "z": -1.564
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+02.27|+00.94|-01.72",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.266,
+                  "y": 0.941,
+                  "z": -1.723
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.61|+00.95|-01.74",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.613,
+                  "y": 0.945,
+                  "z": -1.744
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+02.03|+01.44|-01.73",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.026,
+                  "y": 1.441,
+                  "z": -1.73
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+02.27|+01.25|-01.72",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.268,
+                  "y": 1.249,
+                  "z": -1.723
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.57|+00.42|-01.56",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.571,
+                  "y": 0.415,
+                  "z": -1.564
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.61|+01.25|-01.75",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.615,
+                  "y": 1.252,
+                  "z": -1.745
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|+00.19|00.00|-01.64",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 0.187,
+                  "y": -0.002,
+                  "z": -1.644
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009992480278015,
+                "z": -1.0
+              },
+              "rotation_y": 138.17221069335938,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Desk|+02.02|+00.00|-01.58",
+              "instrument": null,
+              "natural_language": "Navigate to Desk"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Desk|+02.02|+00.00|-01.58",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|+00.34|+00.67|-01.68",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.534,
+                  "y": 1.167,
+                  "z": -1.038
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "BasketBall|+01.14|+00.12|-01.66",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 1.144,
+                  "y": 0.12,
+                  "z": -1.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|+02.06|+00.75|-01.41",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.265,
+                  "y": 0.785,
+                  "z": -1.721
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+00.16|+00.36|-01.63",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.564,
+                  "y": 1.139,
+                  "z": -1.651
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+01.50|+00.78|-01.67",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 1.502,
+                  "y": 0.782,
+                  "z": -1.673
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+02.16|+00.01|-01.13",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.162,
+                  "y": 0.009,
+                  "z": -1.13
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+01.74|+00.78|-01.68",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.743,
+                  "y": 0.78,
+                  "z": -1.679
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+02.02|+00.00|-01.58",
+                "object_type": "Desk",
+                "position": {
+                  "x": 2.017,
+                  "y": 0.001,
+                  "z": -1.578
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.19|+00.16|-01.58",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.187,
+                  "y": 0.163,
+                  "z": -1.577
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|+00.89|+00.00|-01.64",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": 0.888,
+                  "y": 0.001,
+                  "z": -1.638
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.24|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.239,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+01.46|+00.76|-01.41",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 1.461,
+                  "y": 0.756,
+                  "z": -1.415
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|+01.89|+00.76|-01.39",
+                "object_type": "Pen",
+                "position": {
+                  "x": 2.515,
+                  "y": 0.761,
+                  "z": -1.386
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+01.88|+00.76|-01.45",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 1.88,
+                  "y": 0.757,
+                  "z": -1.454
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+02.27|+00.94|-01.72",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.266,
+                  "y": 0.941,
+                  "z": -1.723
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.61|+00.95|-01.74",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.613,
+                  "y": 0.945,
+                  "z": -1.744
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+02.03|+01.44|-01.73",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.026,
+                  "y": 1.441,
+                  "z": -1.73
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+02.27|+01.25|-01.72",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.268,
+                  "y": 1.249,
+                  "z": -1.723
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.61|+01.25|-01.75",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.615,
+                  "y": 1.252,
+                  "z": -1.745
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|+00.19|00.00|-01.64",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 0.187,
+                  "y": -0.002,
+                  "z": -1.644
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009992480278015,
+                "z": -1.0
+              },
+              "rotation_y": 138.17221069335938,
+              "camera_horizon": 60.000003814697266,
+              "holding": "AlarmClock|+00.34|+00.67|-01.68"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "AlarmClock|+00.34|+00.67|-01.68",
+              "instrument": null,
+              "natural_language": "Pick up AlarmClock"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up AlarmClock|+00.34|+00.67|-01.68",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|+00.34|+00.67|-01.68",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.506,
+                  "y": 1.167,
+                  "z": -1.051
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "BasketBall|+01.14|+00.12|-01.66",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 1.144,
+                  "y": 0.12,
+                  "z": -1.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|+02.06|+00.75|-01.41",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.265,
+                  "y": 0.785,
+                  "z": -1.721
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+                "object_id": "Floor|+00.00|00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": -0.002,
+                  "z": 0.0
+                },
+                "distance": 3.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-03.52|-00.03|-00.35",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -3.521,
+                  "y": -0.03,
+                  "z": -0.35
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-03.73|+01.48|-01.43",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -3.731,
+                  "y": 1.482,
+                  "z": -1.427
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-03.39|+00.84|-00.93",
+                "object_type": "Sink",
+                "position": {
+                  "x": -3.391,
+                  "y": 0.841,
+                  "z": -0.932
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-03.39|+00.84|-00.93|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -3.392,
+                  "y": 0.917,
+                  "z": -0.924
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-03.35|+00.08|-01.98",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -3.207,
+                  "y": 0.908,
+                  "z": -1.284
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -3.25,
+                "y": 0.8999244570732117,
+                "z": 0.0
+              },
+              "rotation_y": 217.74331665039062,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|-03.52|-00.03|-00.35",
+              "instrument": null,
+              "natural_language": "Put cleaned Cloth on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|-03.52|-00.03|-00.35",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 62 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan312",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|+01.46|+00.76|-01.41",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|+01.46|+00.76|-01.41",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|+00.19|+00.46|-01.58",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|+00.19|+00.46|-01.58",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|+00.19|+00.46|-01.58",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|+00.19|+00.46|-01.58",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|+01.46|+00.76|-01.41 in Drawer|+00.19|+00.46|-01.58 and not in Drawer|+00.19|+00.16|-01.58",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|+00.19|+00.16|-01.58)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan316_FloorPlan416/ep_l2_failure_retrieval_FloorPlan316_FloorPlan416.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan316_FloorPlan416/ep_l2_failure_retrieval_FloorPlan316_FloorPlan416.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03506dbaac4b09b052246dc40ae95b68a33dea5
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan316_FloorPlan416/ep_l2_failure_retrieval_FloorPlan316_FloorPlan416.json
@@ -0,0 +1,9696 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan316_FloorPlan416",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|-00.56|+00.16|+00.46 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|-00.56|+00.16|+00.46",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|-00.56|+00.16|+00.46 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 17,
+      "object_id": "Drawer|-00.56|+00.16|+00.46",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan316",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put KeyChain on Drawer, then put CellPhone on Drawer；[L0] Put CD on GarbageCan。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 19,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|+00.77|+00.69|-02.13",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.774,
+                  "y": 0.688,
+                  "z": -2.132
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|+00.03|+00.24|-02.09",
+                "object_type": "Box",
+                "position": {
+                  "x": 0.031,
+                  "y": 0.241,
+                  "z": -2.091
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+00.96|00.00|-01.75",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.957,
+                  "y": -0.0,
+                  "z": -1.747
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+00.62|00.00|-01.51",
+                "object_type": "Desk",
+                "position": {
+                  "x": 0.618,
+                  "y": 0.001,
+                  "z": -1.51
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desktop|+01.46|+00.69|-01.89",
+                "object_type": "Desktop",
+                "position": {
+                  "x": 1.456,
+                  "y": 0.692,
+                  "z": -1.886
+                },
+                "distance": 1.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+00.19|+00.69|-02.28",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.185,
+                  "y": 0.689,
+                  "z": -2.284
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+00.21|+00.69|-02.19",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.211,
+                  "y": 0.694,
+                  "z": -2.186
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+00.82|+01.50|-02.55",
+                "object_type": "Window",
+                "position": {
+                  "x": 0.82,
+                  "y": 1.496,
+                  "z": -2.553
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.25,
+                "y": 0.9019328355789185,
+                "z": -1.5
+              },
+              "rotation_y": 90.68270874023438,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Desk|+00.62|00.00|-01.51",
+              "instrument": null,
+              "natural_language": "Navigate to Desk"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Desk|+00.62|00.00|-01.51",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|+00.77|+00.69|-02.13",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.773,
+                  "y": 0.688,
+                  "z": -2.132
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|+00.03|+00.24|-02.09",
+                "object_type": "Box",
+                "position": {
+                  "x": 0.031,
+                  "y": 0.241,
+                  "z": -2.091
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|+00.96|00.00|-01.75",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.957,
+                  "y": -0.0,
+                  "z": -1.747
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+00.62|00.00|-01.51",
+                "object_type": "Desk",
+                "position": {
+                  "x": 0.617,
+                  "y": 0.002,
+                  "z": -1.51
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desktop|+01.46|+00.69|-01.89",
+                "object_type": "Desktop",
+                "position": {
+                  "x": 1.456,
+                  "y": 0.692,
+                  "z": -1.886
+                },
+                "distance": 1.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+00.19|+00.69|-02.28",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -0.199,
+                  "y": 1.168,
+                  "z": -1.501
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+00.21|+00.69|-02.19",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.211,
+                  "y": 0.693,
+                  "z": -2.186
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+00.82|+01.50|-02.55",
+                "object_type": "Window",
+                "position": {
+                  "x": 0.82,
+                  "y": 1.496,
+                  "z": -2.553
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.25,
+                "y": 0.9019328355789185,
+                "z": -1.5
+              },
+              "rotation_y": 90.68270874023438,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|+00.19|+00.69|-02.28"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "KeyChain|+00.19|+00.69|-02.28",
+              "instrument": null,
+              "natural_language": "Pick up KeyChain"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up KeyChain|+00.19|+00.69|-02.28",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|-00.68|+00.67|+00.57",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": -0.683,
+                  "y": 0.671,
+                  "z": 0.571
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|-01.70|+00.00|-00.45",
+                "object_type": "Bed",
+                "position": {
+                  "x": -1.697,
+                  "y": 0.005,
+                  "z": -0.446
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|-00.42|+00.67|+00.55",
+                "object_type": "CD",
+                "position": {
+                  "x": -0.42,
+                  "y": 0.671,
+                  "z": 0.553
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.56|+00.46|+00.46",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.558,
+                  "y": 0.457,
+                  "z": 0.462
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.56|+00.16|+00.46",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.558,
+                  "y": 0.164,
+                  "z": 0.462
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+00.19|+00.69|-02.28",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -0.506,
+                  "y": 1.168,
+                  "z": 0.051
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-01.69|+00.65|+00.42",
+                "object_type": "Pillow",
+                "position": {
+                  "x": -1.694,
+                  "y": 0.647,
+                  "z": 0.416
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-00.56|00.00|+00.53",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -0.558,
+                  "y": -0.001,
+                  "z": 0.529
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9019328355789185,
+                "z": 0.0
+              },
+              "rotation_y": 352.81939697265625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|+00.19|+00.69|-02.28"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Drawer|-00.56|+00.46|+00.46",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Drawer|-00.56|+00.46|+00.46",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|-00.68|+00.67|+00.57",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": -0.683,
+                  "y": 0.671,
+                  "z": 0.571
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|-01.70|+00.00|-00.45",
+                "object_type": "Bed",
+                "position": {
+                  "x": -1.697,
+                  "y": 0.005,
+                  "z": -0.446
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|-00.42|+00.67|+00.55",
+                "object_type": "CD",
+                "position": {
+                  "x": -0.42,
+                  "y": 0.671,
+                  "z": 0.553
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.56|+00.46|+00.46",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.558,
+                  "y": 0.457,
+                  "z": 0.267
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|+00.19|+00.69|-02.28",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": -0.506,
+                  "y": 1.168,
+                  "z": 0.051
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-01.69|+00.65|+00.42",
+                "object_type": "Pillow",
+                "position": {
+                  "x": -1.694,
+                  "y": 0.647,
+                  "z": 0.416
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-00.56|00.00|+00.53",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -0.558,
+                  "y": -0.001,
+                  "z": 0.529
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9019328355789185,
+                "z": 0.0
+              },
+              "rotation_y": 352.81939697265625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|+00.19|+00.69|-02.28"
+            },
+            "action": {
+              "action_type": "Open",
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+                  "z": 0.769
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-01.74|-00.03|+01.27",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -1.74,
+                  "y": -0.032,
+                  "z": 1.269
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-01.92|+01.41|+02.76",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -1.924,
+                  "y": 1.415,
+                  "z": 2.76
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-01.68|+00.00|+00.33",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -1.685,
+                  "y": 0.0,
+                  "z": 0.327
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-01.85|+00.00|+00.14",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -1.849,
+                  "y": 0.001,
+                  "z": 0.137
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+02.28",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.696,
+                  "y": 0.617,
+                  "z": 2.284
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+02.28|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.674,
+                  "y": 0.633,
+                  "z": 2.274
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-01.86|+01.04|+00.52",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -1.86,
+                  "y": 1.036,
+                  "z": 0.516
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-01.55|+00.00|+00.69",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -1.547,
+                  "y": 0.001,
+                  "z": 0.686
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-01.99|+01.40|+00.71",
+                "object_type": "Window",
+                "position": {
+                  "x": -1.987,
+                  "y": 1.396,
+                  "z": 0.707
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9019347429275513,
+                "z": 1.25
+              },
+              "rotation_y": 272.2194519042969,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Cloth|-01.77|+00.73|+01.63"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|-01.74|-00.03|+01.27",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|-01.74|-00.03|+01.27",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 43,
+            "image_path": "obs_043.png",
+            "visible_objects": [
+              {
+                "object_id": "Cloth|-01.77|+00.73|+01.63",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -1.755,
+                  "y": 0.146,
+                  "z": 1.152
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.61|+00.70|+02.83",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.609,
+                  "y": 0.702,
+                  "z": 2.831
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.93|+00.72|+02.29",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.926,
+                  "y": 0.721,
+                  "z": 2.285
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-02.00|+00.81|+00.77",
+                "object_type": "Floor",
+                "position": {
+                  "x": -2.0,
+                  "y": 0.811,
+                  "z": 0.769
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-01.74|-00.03|+01.27",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -1.74,
+                  "y": -0.032,
+                  "z": 1.269
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-01.92|+01.41|+02.76",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -1.924,
+                  "y": 1.415,
+                  "z": 2.76
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-01.68|+00.00|+00.33",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -1.685,
+                  "y": 0.0,
+                  "z": 0.327
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-01.85|+00.00|+00.14",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -1.849,
+                  "y": 0.001,
+                  "z": 0.137
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+02.28",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.696,
+                  "y": 0.617,
+                  "z": 2.284
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+02.28|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.674,
+                  "y": 0.633,
+                  "z": 2.274
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-01.86|+01.04|+00.52",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -1.86,
+                  "y": 1.036,
+                  "z": 0.516
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-01.55|+00.00|+00.69",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -1.547,
+                  "y": 0.001,
+                  "z": 0.686
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-01.99|+01.40|+00.71",
+                "object_type": "Window",
+                "position": {
+                  "x": -1.987,
+                  "y": 1.396,
+                  "z": 0.707
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9019347429275513,
+                "z": 1.25
+              },
+              "rotation_y": 272.2194519042969,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|-01.74|-00.03|+01.27",
+              "instrument": null,
+              "natural_language": "Put Cloth on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|-01.74|-00.03|+01.27",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 44 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan316",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|+01.48|+00.69|-01.43",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|+01.48|+00.69|-01.43",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|-00.56|+00.46|+00.46",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|-00.56|+00.46|+00.46",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|-00.56|+00.46|+00.46",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|-00.56|+00.46|+00.46",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|+01.48|+00.69|-01.43 in Drawer|-00.56|+00.46|+00.46 and not in Drawer|-00.56|+00.16|+00.46",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|-00.56|+00.16|+00.46)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan318_FloorPlan418/ep_l2_failure_retrieval_FloorPlan318_FloorPlan418.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan318_FloorPlan418/ep_l2_failure_retrieval_FloorPlan318_FloorPlan418.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e0c12bde20f1918b2d277ceab8c385ffe5a184
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan318_FloorPlan418/ep_l2_failure_retrieval_FloorPlan318_FloorPlan418.json
@@ -0,0 +1,12763 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan318_FloorPlan418",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|-00.65|+00.27|+02.17 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|-00.65|+00.27|+02.17",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|-00.65|+00.27|+02.17 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 17,
+      "object_id": "Cabinet|-00.65|+00.27|+02.17",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan318",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put AlarmClock on Shelf, then put Pillow on ArmChair；[pick_two_and_place] Put Pillow on Bed, then put TennisRacket on Dresser。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 19,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|-00.58|+00.67|+02.91",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": -0.581,
+                  "y": 0.673,
+                  "z": 2.911
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|-00.85|+01.64|+02.22",
+                "object_type": "Bed",
+                "position": {
+                  "x": -0.848,
+                  "y": 1.638,
+                  "z": 2.218
+                },
+                "distance": 1.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.65|+00.27|+02.17",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.648,
+                  "y": 0.27,
+                  "z": 2.174
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|-00.48|+00.67|+02.61",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": -0.479,
+                  "y": 0.671,
+                  "z": 2.609
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-00.20|+00.01|+01.54",
+                "object_type": "Chair",
+                "position": {
+                  "x": -0.2,
+                  "y": 0.012,
+                  "z": 1.539
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|-00.64|+00.01|+01.74",
+                "object_type": "Desk",
+                "position": {
+                  "x": -0.637,
+                  "y": 0.007,
+                  "z": 1.741
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.59|+00.38|+02.93",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.589,
+                  "y": 0.376,
+                  "z": 2.935
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.59|+00.57|+02.93",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.589,
+                  "y": 0.573,
+                  "z": 2.935
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.59|+00.16|+02.93",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.589,
+                  "y": 0.156,
+                  "z": 2.935
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.55|+00.58|+02.18",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.55,
+                  "y": 0.578,
+                  "z": 2.177
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|-00.70|+00.00|+02.93",
+                "object_type": "Dresser",
+                "position": {
+                  "x": -0.701,
+                  "y": 0.002,
+                  "z": 2.932
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 3.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|-00.38|+00.01|+02.53",
+                "object_type": "Pen",
+                "position": {
+                  "x": -0.379,
+                  "y": 0.006,
+                  "z": 2.527
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|-00.39|+00.01|+02.55",
+                "object_type": "Pencil",
+                "position": {
+                  "x": -0.395,
+                  "y": 0.005,
+                  "z": 2.548
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9017602205276489,
+                "z": 3.0
+              },
+              "rotation_y": 267.33544921875,
+              "camera_horizon": 47.31492233276367,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|-00.70|+00.00|+02.93",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|-00.70|+00.00|+02.93",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|-00.58|+00.67|+02.91",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 0.61,
+                  "y": 1.189,
+                  "z": 2.993
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|-00.85|+01.64|+02.22",
+                "object_type": "Bed",
+                "position": {
+                  "x": -0.848,
+                  "y": 1.638,
+                  "z": 2.218
+                },
+                "distance": 1.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.65|+00.27|+02.17",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.648,
+                  "y": 0.27,
+                  "z": 2.174
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|-00.48|+00.67|+02.61",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": -0.479,
+                  "y": 0.671,
+                  "z": 2.609
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-00.20|+00.01|+01.54",
+                "object_type": "Chair",
+                "position": {
+                  "x": -0.2,
+                  "y": 0.012,
+                  "z": 1.539
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|-00.64|+00.01|+01.74",
+                "object_type": "Desk",
+                "position": {
+                  "x": -0.637,
+                  "y": 0.007,
+                  "z": 1.741
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.59|+00.38|+02.93",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.589,
+                  "y": 0.376,
+                  "z": 2.935
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.59|+00.57|+02.93",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.589,
+                  "y": 0.573,
+                  "z": 2.935
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
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+            "action": {
+              "action_type": "PickUp",
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+              "instrument": null,
+              "natural_language": "Pick up SprayBottle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SprayBottle|-02.87|+00.80|-03.79",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
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+              },
+              {
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+                "distance": 2.1,
+                "in_view_center": false
+              },
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+                "object_id": "HandTowel|-02.96|+01.58|-03.55",
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+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-03.00|+01.66|-03.07",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -3.0,
+                  "y": 1.66,
+                  "z": -3.069
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07",
+                "object_type": "Sink",
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+                  "x": -2.661,
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+                  "z": -3.07
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+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
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+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-02.87|+00.80|-03.79",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -2.051,
+                  "y": 1.168,
+                  "z": -3.251
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.0,
+                "y": 0.9016419649124146,
+                "z": -3.25
+              },
+              "rotation_y": 269.0830383300781,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SprayBottle|-02.87|+00.80|-03.79"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Cabinet|-02.29|+00.32|-03.25",
+              "instrument": null,
+              "natural_language": "Navigate to Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Cabinet|-02.29|+00.32|-03.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 59,
+            "image_path": "obs_059.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-02.29|+00.32|-03.25",
+                "object_type": "Cabinet",
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+                  "y": 0.325,
+                  "z": -3.255
+                },
+                "distance": 0.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.29|+00.32|-03.81",
+                "object_type": "Cabinet",
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+                  "z": -3.815
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.30|+00.35|-02.25",
+                "object_type": "Cabinet",
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+                  "z": -2.251
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|-02.84|+00.80|-02.45",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -2.637,
+                  "y": 1.002,
+                  "z": -3.189
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-02.63|+00.84|-03.04",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -2.633,
+                  "y": 0.844,
+                  "z": -3.041
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-03.00|+01.17|-03.07",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -3.0,
+                  "y": 1.167,
+                  "z": -3.073
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-02.96|+01.58|-03.55",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -2.962,
+                  "y": 1.584,
+                  "z": -3.551
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-03.00|+01.66|-03.07",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -3.0,
+                  "y": 1.66,
+                  "z": -3.069
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.661,
+                  "y": 0.785,
+                  "z": -3.07
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -2.669,
+                  "y": 0.864,
+                  "z": -3.064
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-02.86|+00.80|-03.51",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -2.387,
+                  "y": 0.064,
+                  "z": -2.848
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-02.87|+00.80|-03.79",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -2.051,
+                  "y": 1.168,
+                  "z": -3.251
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.0,
+                "y": 0.9016419649124146,
+                "z": -3.25
+              },
+              "rotation_y": 269.0830383300781,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SprayBottle|-02.87|+00.80|-03.79"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Cabinet|-02.29|+00.32|-03.25",
+              "instrument": null,
+              "natural_language": "Open Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Cabinet|-02.29|+00.32|-03.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 60,
+            "image_path": "obs_060.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-02.29|+00.32|-03.25",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.294,
+                  "y": 0.325,
+                  "z": -3.255
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.29|+00.32|-03.81",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.294,
+                  "y": 0.325,
+                  "z": -3.815
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.30|+00.35|-02.25",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.299,
+                  "y": 0.345,
+                  "z": -2.251
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|-02.84|+00.80|-02.45",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -2.637,
+                  "y": 1.002,
+                  "z": -3.189
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-02.63|+00.84|-03.04",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -2.633,
+                  "y": 0.844,
+                  "z": -3.041
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-03.00|+01.17|-03.07",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -3.0,
+                  "y": 1.167,
+                  "z": -3.073
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-02.96|+01.58|-03.55",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -2.962,
+                  "y": 1.584,
+                  "z": -3.551
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.661,
+                  "y": 0.785,
+                  "z": -3.07
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -2.669,
+                  "y": 0.864,
+                  "z": -3.064
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-02.86|+00.80|-03.51",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -2.387,
+                  "y": 0.064,
+                  "z": -2.848
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-02.87|+00.80|-03.79",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -2.387,
+                  "y": 0.064,
+                  "z": -2.965
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9016419649124146,
+                "z": -3.25
+              },
+              "rotation_y": 269.66070556640625,
+              "camera_horizon": 57.63156509399414,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Cabinet|-02.29|+00.32|-03.25",
+              "instrument": null,
+              "natural_language": "Put SprayBottle into Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Cabinet|-02.29|+00.32|-03.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 61,
+            "image_path": "obs_061.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-02.29|+00.32|-03.25",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.294,
+                  "y": 0.325,
+                  "z": -3.255
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.29|+00.32|-03.81",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.294,
+                  "y": 0.325,
+                  "z": -3.815
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.30|+00.35|-02.25",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.299,
+                  "y": 0.345,
+                  "z": -2.251
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|-02.84|+00.80|-02.45",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -2.637,
+                  "y": 1.002,
+                  "z": -3.189
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-02.63|+00.84|-03.04",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -2.633,
+                  "y": 0.844,
+                  "z": -3.041
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-03.00|+01.17|-03.07",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -3.0,
+                  "y": 1.167,
+                  "z": -3.073
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-02.96|+01.58|-03.55",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -2.962,
+                  "y": 1.584,
+                  "z": -3.551
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.661,
+                  "y": 0.785,
+                  "z": -3.07
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.66|+00.79|-03.07|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -2.669,
+                  "y": 0.864,
+                  "z": -3.064
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9016419649124146,
+                "z": -3.25
+              },
+              "rotation_y": 269.66070556640625,
+              "camera_horizon": 57.63156509399414,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Cabinet|-02.29|+00.32|-03.25",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Cabinet|-02.29|+00.32|-03.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 62 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan318",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|+01.78|+00.70|+00.71",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|+01.78|+00.70|+00.71",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|+01.69|+00.16|-00.38",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|+01.69|+00.16|-00.38",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|+01.69|+00.16|-00.38",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|+01.69|+00.16|-00.38",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|+01.78|+00.70|+00.71 in Drawer|+01.69|+00.16|-00.38 and not in Cabinet|-00.65|+00.27|+02.17",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|-00.65|+00.27|+02.17)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan319_FloorPlan419/ep_l2_failure_retrieval_FloorPlan319_FloorPlan419.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan319_FloorPlan419/ep_l2_failure_retrieval_FloorPlan319_FloorPlan419.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b1525215c54f3a0dfcb459ccadbb47c3e8c4730
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan319_FloorPlan419/ep_l2_failure_retrieval_FloorPlan319_FloorPlan419.json
@@ -0,0 +1,11746 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan319_FloorPlan419",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|+02.52|+00.09|+00.62 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|+02.52|+00.09|+00.62",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|+02.52|+00.09|+00.62 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 23,
+      "object_id": "Drawer|+02.52|+00.09|+00.62",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan319",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Book on Drawer, then put CD on Shelf；[pick_two_and_place] Put CellPhone on Shelf, then put Book on Drawer。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 25,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|+02.59|+00.82|+00.40",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.59,
+                  "y": 0.818,
+                  "z": 0.404
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+02.47|+00.82|-00.36",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.47,
+                  "y": 0.82,
+                  "z": -0.357
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+02.57|+00.82|-00.22",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 2.57,
+                  "y": 0.819,
+                  "z": -0.219
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|+02.68|+00.82|+00.88",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 2.677,
+                  "y": 0.819,
+                  "z": 0.878
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.57|-00.12",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.575,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.57|+00.62",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.575,
+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.41|+00.62",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.411,
+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.25|-00.12",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.248,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.73|-00.12",
+                "object_type": "Drawer",
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+                  "y": 0.732,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.41|-00.12",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.411,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.09|+00.62",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.09,
+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.25|+00.62",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.248,
+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.73|+00.62",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.732,
+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.09|-00.12",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.09,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|+02.56|+00.00|+00.25",
+                "object_type": "Dresser",
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+                  "y": 0.003,
+                  "z": 0.252
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9020015001296997,
+                "z": 0.25
+              },
+              "rotation_y": 89.85746002197266,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|+02.56|+00.00|+00.25",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|+02.56|+00.00|+00.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|+02.59|+00.82|+00.40",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.801,
+                  "y": 1.168,
+                  "z": 0.25
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+02.47|+00.82|-00.36",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.47,
+                  "y": 0.82,
+                  "z": -0.357
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+02.57|+00.82|-00.22",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 2.57,
+                  "y": 0.819,
+                  "z": -0.219
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|+02.68|+00.82|+00.88",
+                "object_type": "DeskLamp",
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+                  "y": 0.819,
+                  "z": 0.878
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.57|-00.12",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.575,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.57|+00.62",
+                "object_type": "Drawer",
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+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.41|+00.62",
+                "object_type": "Drawer",
+                "position": {
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+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.25|-00.12",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.248,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.73|-00.12",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.732,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.41|-00.12",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.411,
+                  "z": -0.12
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.09|+00.62",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.518,
+                  "y": 0.09,
+                  "z": 0.624
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.25|+00.62",
+                "object_type": "Drawer",
+                "position": {
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+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.52|+00.73|+00.62",
+                "object_type": "Drawer",
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+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "Drawer",
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+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|+02.56|+00.00|+00.25",
+                "object_type": "Dresser",
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+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
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+              "holding": "Book|+02.59|+00.82|+00.40"
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+            "action": {
+              "action_type": "PickUp",
+              "target": "Book|+02.59|+00.82|+00.40",
+              "instrument": null,
+              "natural_language": "Pick up Book"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Book|+02.59|+00.82|+00.40",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
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+                "object_id": "Book|+02.59|+00.82|+00.40",
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+                  "z": 0.512
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+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+02.57|+00.82|-00.22",
+                "object_type": "CellPhone",
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+                  "z": -0.219
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+              },
+              {
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+              {
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+              {
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+                },
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+              },
+              {
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+              {
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+                },
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+                "in_view_center": false
+              },
+              {
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+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|+02.56|+00.00|+00.25",
+                "object_type": "Dresser",
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+                  "y": 0.003,
+                  "z": 0.252
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
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+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|+02.84|+01.40|+01.38",
+                "object_type": "Mirror",
+                "position": {
+                  "x": 2.842,
+                  "y": 1.404,
+                  "z": 1.375
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "z": 0.5
+              },
+              "rotation_y": 76.57781982421875,
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+              "holding": "Book|+02.59|+00.82|+00.40"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Drawer|+02.52|+00.41|+00.62",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Drawer|+02.52|+00.41|+00.62",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
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+                "object_id": "Book|+02.59|+00.82|+00.40",
+                "object_type": "Book",
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+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+02.57|+00.82|-00.22",
+                "object_type": "CellPhone",
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+                "in_view_center": false
+              },
+              {
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+              },
+              {
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+              },
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+              },
+              {
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+                  "z": -1.12
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.47|+00.00|-01.88",
+                "object_type": "Toilet",
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+                  "z": -1.883
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+                "distance": 1.0,
+                "in_view_center": false
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+            },
+            "action": {
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+              "natural_language": "Navigate to SideTable"
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+            "feedback": {
+              "success": true,
+              "message": "Navigated to SideTable|-02.18|00.00|-01.31",
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+            "step_id": 43,
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+            "visible_objects": [
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+              {
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.25|-00.04|+00.00",
+                "object_type": "Floor",
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+                  "z": 0.0
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+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-02.37|+01.52|-01.51",
+                "object_type": "HandTowel",
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+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-02.45|+01.64|-02.03",
+                "object_type": "Mirror",
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+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerCurtain|-02.33|+01.98|-02.54",
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+              {
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+                "object_type": "SideTable",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.10|00.00|-02.03",
+                "object_type": "Sink",
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+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.10|00.00|-02.03|SinkBasin",
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+                "in_view_center": false
+              },
+              {
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+                "object_type": "SoapBottle",
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+              {
+                "object_id": "TissueBox|-02.19|+00.67|-01.12",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.47|+00.00|-01.88",
+                "object_type": "Toilet",
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+                "distance": 1.0,
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+            "action": {
+              "action_type": "PickUp",
+              "target": "SoapBottle|-02.27|+00.67|-01.52",
+              "instrument": null,
+              "natural_language": "Pick up SoapBottle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SoapBottle|-02.27|+00.67|-01.52",
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+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
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+                "object_id": "Floor|-01.25|-00.04|+00.00",
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+              {
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+              },
+              {
+                "object_id": "Toilet|-00.47|+00.00|-01.88",
+                "object_type": "Toilet",
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+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|-00.18|+01.04|-01.85",
+                "object_type": "ToiletPaper",
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+                  "y": 1.035,
+                  "z": -1.847
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+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|+00.00|+00.99|-01.40",
+                "object_type": "ToiletPaperHanger",
+                "position": {
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+                  "z": -1.401
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+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-00.05|+01.85|-01.89",
+                "object_type": "Towel",
+                "position": {
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+                "in_view_center": false
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+            ],
+            "agent_state": {
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+              "rotation_y": 102.0159912109375,
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+              "holding": "SoapBottle|-02.27|+00.67|-01.52"
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+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|-00.24|-00.03|-01.36",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|-00.24|-00.03|-01.36",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 45,
+            "image_path": "obs_045.png",
+            "visible_objects": [
+              {
+                "object_id": "Floor|-01.25|-00.04|+00.00",
+                "object_type": "Floor",
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+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-00.24|-00.03|-01.36",
+                "object_type": "GarbageCan",
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+                "in_view_center": false
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+              {
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+              },
+              {
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+                "object_type": "SoapBottle",
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+                  "z": -1.226
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+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.47|+00.00|-01.88",
+                "object_type": "Toilet",
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+                  "z": -1.883
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|-00.18|+01.04|-01.85",
+                "object_type": "ToiletPaper",
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+                  "z": -1.847
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|+00.00|+00.99|-01.40",
+                "object_type": "ToiletPaperHanger",
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+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-00.05|+01.85|-01.89",
+                "object_type": "Towel",
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+                  "y": 1.847,
+                  "z": -1.893
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9025555849075317,
+                "z": -1.25
+              },
+              "rotation_y": 102.0159912109375,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|-00.24|-00.03|-01.36",
+              "instrument": null,
+              "natural_language": "Put SoapBottle on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|-00.24|-00.03|-01.36",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 46 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan319",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|-00.83|+00.43|-01.76",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|-00.83|+00.43|-01.76",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|+02.52|+00.09|-00.12",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|+02.52|+00.09|-00.12",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|+02.52|+00.09|-00.12",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|+02.52|+00.09|-00.12",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|-00.83|+00.43|-01.76 in Drawer|+02.52|+00.09|-00.12 and not in Drawer|+02.52|+00.09|+00.62",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|+02.52|+00.09|+00.62)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan323_FloorPlan423/ep_l2_failure_retrieval_FloorPlan323_FloorPlan423.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan323_FloorPlan423/ep_l2_failure_retrieval_FloorPlan323_FloorPlan423.json
new file mode 100644
index 0000000000000000000000000000000000000000..84e9c89e23239e1942fe402d95d3f6c7615c8b70
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan323_FloorPlan423/ep_l2_failure_retrieval_FloorPlan323_FloorPlan423.json
@@ -0,0 +1,13091 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan323_FloorPlan423",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|+01.85|+00.22|-02.99 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|+01.85|+00.22|-02.99",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|+01.85|+00.22|-02.99 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 23,
+      "object_id": "Drawer|+01.85|+00.22|-02.99",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan323",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pillow on Sofa, then put CellPhone on Drawer；[pick_two_and_place] Put CD on Drawer, then put KeyChain on Drawer。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 25,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|-01.61|-00.03|-01.86",
+                "object_type": "Bed",
+                "position": {
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+                  "y": -0.029,
+                  "z": -1.861
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.16|-00.51",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.163,
+                  "z": -0.514
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.46|-00.51",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.456,
+                  "z": -0.514
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-01.02|+00.63|-01.53",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -1.021,
+                  "y": 0.628,
+                  "z": -1.53
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-02.04|+00.68|-01.52",
+                "object_type": "Pillow",
+                "position": {
+                  "x": -2.043,
+                  "y": 0.677,
+                  "z": -1.522
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.42|00.00|-00.51",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -2.416,
+                  "y": -0.002,
+                  "z": -0.514
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TeddyBear|-00.76|+00.63|-02.10",
+                "object_type": "TeddyBear",
+                "position": {
+                  "x": -0.757,
+                  "y": 0.633,
+                  "z": -2.103
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9009991884231567,
+                "z": -0.75
+              },
+              "rotation_y": 185.8331298828125,
+              "camera_horizon": 55.1646728515625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bed|-01.61|-00.03|-01.86",
+              "instrument": null,
+              "natural_language": "Navigate to Bed"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bed|-01.61|-00.03|-01.86",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|-01.61|-00.03|-01.86",
+                "object_type": "Bed",
+                "position": {
+                  "x": -1.614,
+                  "y": -0.029,
+                  "z": -1.861
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.46|-00.51",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.349,
+                  "y": 0.456,
+                  "z": -0.514
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|-01.02|+00.63|-01.53",
+                "object_type": "Laptop",
+                "position": {
+                  "x": -1.021,
+                  "y": 0.628,
+                  "z": -1.53
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-02.35|+00.68|-02.33",
+                "object_type": "Pillow",
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+                  "y": 1.173,
+                  "z": -0.835
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+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-02.04|+00.68|-01.52",
+                "object_type": "Pillow",
+                "position": {
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+                  "y": 0.677,
+                  "z": -1.522
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.42|00.00|-00.51",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -2.416,
+                  "y": -0.002,
+                  "z": -0.514
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TeddyBear|-00.76|+00.63|-02.10",
+                "object_type": "TeddyBear",
+                "position": {
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+                  "y": 0.633,
+                  "z": -2.103
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9009991884231567,
+                "z": -0.75
+              },
+              "rotation_y": 185.8331298828125,
+              "camera_horizon": 55.1646728515625,
+              "holding": "Pillow|-02.35|+00.68|-02.33"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Pillow|-02.35|+00.68|-02.33",
+              "instrument": null,
+              "natural_language": "Pick up Pillow"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Pillow|-02.35|+00.68|-02.33",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
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+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-02.35|+00.68|-02.33",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 1.551,
+                  "y": 1.167,
+                  "z": -0.252
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|+02.38|+00.01|-00.29",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 2.384,
+                  "y": 0.008,
+                  "z": -0.288
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009991884231567,
+                "z": -0.25
+              },
+              "rotation_y": 92.45633697509766,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pillow|-02.35|+00.68|-02.33"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sofa|+02.38|+00.01|-00.29",
+              "instrument": null,
+              "natural_language": "Navigate to Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sofa|+02.38|+00.01|-00.29",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
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+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-02.35|+00.68|-02.33",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 2.176,
+                  "y": 0.393,
+                  "z": 0.303
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|+02.38|+00.01|-00.29",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 2.384,
+                  "y": 0.008,
+                  "z": -0.288
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009991884231567,
+                "z": -0.25
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+              "rotation_y": 92.45633697509766,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sofa|+02.38|+00.01|-00.29",
+              "instrument": null,
+              "natural_language": "Put Pillow on Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sofa|+02.38|+00.01|-00.29",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|-01.61|-00.03|-01.86",
+                "object_type": "Bed",
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+                  "y": -0.029,
+                  "z": -1.861
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+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|-02.44|+00.67|-00.31",
+                "object_type": "CellPhone",
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+                  "y": 0.669,
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+                "in_view_center": false
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+              {
+                "object_id": "DeskLamp|-02.46|+00.67|-00.53",
+                "object_type": "DeskLamp",
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+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.16|-00.51",
+                "object_type": "Drawer",
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+                  "y": 0.163,
+                  "z": -0.514
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+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.46|-00.51",
+                "object_type": "Drawer",
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+              {
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+                "object_type": "Floor",
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+                "object_type": "Mug",
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+                "in_view_center": false
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+              {
+                "object_id": "Pillow|-02.04|+00.68|-01.52",
+                "object_type": "Pillow",
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+                  "y": 0.677,
+                  "z": -1.522
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+                "in_view_center": false
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+              {
+                "object_id": "SideTable|-02.42|00.00|-00.51",
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+            ],
+            "agent_state": {
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+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "SideTable|-02.42|00.00|-00.51",
+              "instrument": null,
+              "natural_language": "Navigate to SideTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to SideTable|-02.42|00.00|-00.51",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|-01.61|-00.03|-01.86",
+                "object_type": "Bed",
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+                  "z": -1.861
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+                "distance": 1.49,
+                "in_view_center": false
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+              {
+                "object_id": "CellPhone|-02.44|+00.67|-00.31",
+                "object_type": "CellPhone",
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+                  "z": -0.501
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+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|-02.46|+00.67|-00.53",
+                "object_type": "DeskLamp",
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+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.16|-00.51",
+                "object_type": "Drawer",
+                "position": {
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+                  "z": -0.514
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.35|+00.46|-00.51",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.456,
+                  "z": -0.514
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
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+                  "z": 0.0
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|-02.49|+00.67|-00.72",
+                "object_type": "Mug",
+                "position": {
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+                  "z": -0.717
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|-02.04|+00.68|-01.52",
+                "object_type": "Pillow",
+                "position": {
+                  "x": -2.043,
+                  "y": 0.677,
+                  "z": -1.522
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.42|00.00|-00.51",
+                "object_type": "SideTable",
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+                  "z": -0.514
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
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+                "z": -0.5
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+              "camera_horizon": 48.09272003173828,
+              "holding": "CellPhone|-02.44|+00.67|-00.31"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CellPhone|-02.44|+00.67|-00.31",
+              "instrument": null,
+              "natural_language": "Pick up CellPhone"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CellPhone|-02.44|+00.67|-00.31",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
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+                  "z": 3.04
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+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|-02.35|+00.83|+03.30",
+                "object_type": "ToiletPaperHanger",
+                "position": {
+                  "x": -2.35,
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+                  "z": 3.3
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.0,
+                "y": 0.9019852876663208,
+                "z": 3.0
+              },
+              "rotation_y": 310.6012878417969,
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+              "holding": "ToiletPaper|-02.41|+00.02|+03.27"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ToiletPaperHanger|-02.35|+00.83|+03.30",
+              "instrument": null,
+              "natural_language": "Navigate to ToiletPaperHanger"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ToiletPaperHanger|-02.35|+00.83|+03.30",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
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+                  "y": 0.002,
+                  "z": 0.0
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+                "distance": 3.61,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "Plunger",
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+                "in_view_center": false
+              },
+              {
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+                "object_type": "ScrubBrush",
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+                "in_view_center": false
+              },
+              {
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+                "in_view_center": false
+              },
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+                "object_type": "ToiletPaper",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|-02.35|+00.83|+03.30",
+                "object_type": "ToiletPaperHanger",
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+                  "y": 0.825,
+                  "z": 3.3
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.0,
+                "y": 0.9019852876663208,
+                "z": 3.0
+              },
+              "rotation_y": 310.6012878417969,
+              "camera_horizon": 58.491146087646484,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ToiletPaperHanger|-02.35|+00.83|+03.30",
+              "instrument": null,
+              "natural_language": "Put ToiletPaper on ToiletPaperHanger"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ToiletPaperHanger|-02.35|+00.83|+03.30",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 59,
+            "image_path": "obs_059.png",
+            "visible_objects": [
+              {
+                "object_id": "HandTowel|-03.17|+01.49|+00.34",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -3.173,
+                  "y": 1.487,
+                  "z": 0.341
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|-03.21|+01.59|+00.34",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": -3.211,
+                  "y": 1.589,
+                  "z": 0.341
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -3.0,
+                "y": 0.9019852876663208,
+                "z": 0.75
+              },
+              "rotation_y": 207.2888641357422,
+              "camera_horizon": -1.495452880859375,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "HandTowelHolder|-03.21|+01.59|+00.34",
+              "instrument": null,
+              "natural_language": "Navigate to HandTowelHolder"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to HandTowelHolder|-03.21|+01.59|+00.34",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 60,
+            "image_path": "obs_060.png",
+            "visible_objects": [
+              {
+                "object_id": "HandTowel|-03.17|+01.49|+00.34",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -3.176,
+                  "y": 1.427,
+                  "z": 0.409
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|-03.21|+01.59|+00.34",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": -3.211,
+                  "y": 1.589,
+                  "z": 0.341
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -3.0,
+                "y": 0.9019852876663208,
+                "z": 0.75
+              },
+              "rotation_y": 207.2888641357422,
+              "camera_horizon": -1.495452880859375,
+              "holding": "HandTowel|-03.17|+01.49|+00.34"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "HandTowel|-03.17|+01.49|+00.34",
+              "instrument": null,
+              "natural_language": "Pick up HandTowel"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up HandTowel|-03.17|+01.49|+00.34",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 61,
+            "image_path": "obs_061.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|-00.28|+00.79|+01.93",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -0.277,
+                  "y": 0.786,
+                  "z": 1.931
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-00.11|+00.79|+01.92",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -0.111,
+                  "y": 0.795,
+                  "z": 1.921
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-03.17|+01.49|+00.34",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -0.612,
+                  "y": 1.441,
+                  "z": 2.273
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|+00.00|+01.64|+01.54",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": 0.004,
+                  "y": 1.639,
+                  "z": 1.542
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|+00.00|+01.64|+02.31",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": 0.004,
+                  "y": 1.639,
+                  "z": 2.309
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|+00.00|+01.64|+03.11",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": 0.004,
+                  "y": 1.639,
+                  "z": 3.105
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|+00.00|+01.47|+02.70",
+                "object_type": "Mirror",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.473,
+                  "z": 2.701
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|+00.00|+01.47|+01.92",
+                "object_type": "Mirror",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.473,
+                  "z": 1.918
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerGlass|-00.49|+01.49|+00.53",
+                "object_type": "ShowerGlass",
+                "position": {
+                  "x": -0.494,
+                  "y": 1.49,
+                  "z": 0.529
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-00.26|+00.66|+01.92",
+                "object_type": "Sink",
+                "position": {
+                  "x": -0.26,
+                  "y": 0.661,
+                  "z": 1.923
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.0,
+                "y": 0.9019852876663208,
+                "z": 2.25
+              },
+              "rotation_y": 86.63688659667969,
+              "camera_horizon": -3.528472900390625,
+              "holding": "HandTowel|-03.17|+01.49|+00.34"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "HandTowelHolder|+00.00|+01.64|+02.31",
+              "instrument": null,
+              "natural_language": "Navigate to HandTowelHolder"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to HandTowelHolder|+00.00|+01.64|+02.31",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 62,
+            "image_path": "obs_062.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|-00.28|+00.79|+01.93",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -0.277,
+                  "y": 0.786,
+                  "z": 1.931
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-00.11|+00.79|+01.92",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -0.111,
+                  "y": 0.795,
+                  "z": 1.921
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-03.17|+01.49|+00.34",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -0.034,
+                  "y": 1.537,
+                  "z": 2.309
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|+00.00|+01.64|+01.54",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": 0.004,
+                  "y": 1.639,
+                  "z": 1.542
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|+00.00|+01.64|+02.31",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": 0.004,
+                  "y": 1.639,
+                  "z": 2.309
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|+00.00|+01.64|+03.11",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": 0.004,
+                  "y": 1.639,
+                  "z": 3.105
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|+00.00|+01.47|+02.70",
+                "object_type": "Mirror",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.473,
+                  "z": 2.701
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|+00.00|+01.47|+01.92",
+                "object_type": "Mirror",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.473,
+                  "z": 1.918
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerGlass|-00.49|+01.49|+00.53",
+                "object_type": "ShowerGlass",
+                "position": {
+                  "x": -0.494,
+                  "y": 1.49,
+                  "z": 0.529
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-00.26|+00.66|+01.92",
+                "object_type": "Sink",
+                "position": {
+                  "x": -0.26,
+                  "y": 0.661,
+                  "z": 1.923
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-00.13|+00.81|+02.35",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -0.127,
+                  "y": 0.806,
+                  "z": 2.347
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.0,
+                "y": 0.9019852876663208,
+                "z": 2.25
+              },
+              "rotation_y": 86.63688659667969,
+              "camera_horizon": -3.528472900390625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "HandTowelHolder|+00.00|+01.64|+02.31",
+              "instrument": null,
+              "natural_language": "Put HandTowel on HandTowelHolder"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on HandTowelHolder|+00.00|+01.64|+02.31",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 63 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan323",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|+01.68|+00.90|-03.06",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|+01.68|+00.90|-03.06",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|+01.85|+00.50|-02.99",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|+01.85|+00.50|-02.99",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|+01.85|+00.50|-02.99",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|+01.85|+00.50|-02.99",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|+01.68|+00.90|-03.06 in Drawer|+01.85|+00.50|-02.99 and not in Drawer|+01.85|+00.22|-02.99",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|+01.85|+00.22|-02.99)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan325_FloorPlan425/ep_l2_failure_retrieval_FloorPlan325_FloorPlan425.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan325_FloorPlan425/ep_l2_failure_retrieval_FloorPlan325_FloorPlan425.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd703bd488571a3e2f10215e015a74c630feb3ca
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan325_FloorPlan425/ep_l2_failure_retrieval_FloorPlan325_FloorPlan425.json
@@ -0,0 +1,15172 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan325_FloorPlan425",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|+01.21|+00.55|-01.62 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|+01.21|+00.55|-01.62",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|+01.21|+00.55|-01.62 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 21,
+      "object_id": "Cabinet|+01.21|+00.55|-01.62",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "FloorPlan325",
+      "room_type": "Bedroom",
+      "context_trajectory": {
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+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9019671678543091,
+                "z": 3.75
+              },
+              "rotation_y": 296.347412109375,
+              "camera_horizon": 60.00001525878906,
+              "holding": "TissueBox|-01.31|+00.99|+03.19"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Cabinet|-01.19|+00.39|+03.97",
+              "instrument": null,
+              "natural_language": "Open Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Cabinet|-01.19|+00.39|+03.97",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 67,
+            "image_path": "obs_067.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-01.19|+00.39|+03.03",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.187,
+                  "y": 0.394,
+                  "z": 3.031
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.19|+00.39|+03.06",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.187,
+                  "y": 0.394,
+                  "z": 3.063
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.19|+00.39|+03.97",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.187,
+                  "y": 0.394,
+                  "z": 3.966
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-01.64|+00.99|+03.09",
+                "object_type": "Candle",
+                "position": {
+                  "x": -1.641,
+                  "y": 0.988,
+                  "z": 3.089
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|+00.36|+00.88|+01.80",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -1.382,
+                  "y": 0.132,
+                  "z": 3.894
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.35|+00.97|+02.95",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.348,
+                  "y": 0.972,
+                  "z": 2.945
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.59|+00.96|+03.51",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.587,
+                  "y": 0.96,
+                  "z": 3.514
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.72|00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.716,
+                  "y": -0.0,
+                  "z": 0.0
+                },
+                "distance": 3.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-01.28|+01.60|+03.96",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -1.275,
+                  "y": 1.6,
+                  "z": 3.961
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-01.70|+01.66|+03.51",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -1.704,
+                  "y": 1.661,
+                  "z": 3.51
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.33|+00.96|+03.51",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.326,
+                  "y": 0.96,
+                  "z": 3.513
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.33|+00.96|+03.51|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.317,
+                  "y": 0.999,
+                  "z": 3.513
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|-01.31|+00.99|+03.19",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": -1.323,
+                  "y": 0.116,
+                  "z": 3.844
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9019671678543091,
+                "z": 3.75
+              },
+              "rotation_y": 287.4870910644531,
+              "camera_horizon": 58.65402603149414,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Cabinet|-01.19|+00.39|+03.97",
+              "instrument": null,
+              "natural_language": "Put TissueBox into Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Cabinet|-01.19|+00.39|+03.97",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 68,
+            "image_path": "obs_068.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-01.19|+00.39|+03.03",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.187,
+                  "y": 0.394,
+                  "z": 3.031
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.19|+00.39|+03.06",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.187,
+                  "y": 0.394,
+                  "z": 3.063
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.19|+00.39|+03.97",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.187,
+                  "y": 0.394,
+                  "z": 3.966
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-01.64|+00.99|+03.09",
+                "object_type": "Candle",
+                "position": {
+                  "x": -1.641,
+                  "y": 0.988,
+                  "z": 3.089
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.35|+00.97|+02.95",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.348,
+                  "y": 0.972,
+                  "z": 2.945
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.59|+00.96|+03.51",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.587,
+                  "y": 0.96,
+                  "z": 3.514
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.72|00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.716,
+                  "y": -0.0,
+                  "z": 0.0
+                },
+                "distance": 3.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-01.28|+01.60|+03.96",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -1.275,
+                  "y": 1.6,
+                  "z": 3.961
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-01.70|+01.66|+03.51",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -1.704,
+                  "y": 1.661,
+                  "z": 3.51
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.33|+00.96|+03.51",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.326,
+                  "y": 0.96,
+                  "z": 3.513
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.33|+00.96|+03.51|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.317,
+                  "y": 0.999,
+                  "z": 3.513
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9019671678543091,
+                "z": 3.75
+              },
+              "rotation_y": 287.4870910644531,
+              "camera_horizon": 58.65402603149414,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Cabinet|-01.19|+00.39|+03.97",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Cabinet|-01.19|+00.39|+03.97",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 69 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan325",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|+03.26|+00.72|+01.31",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|+03.26|+00.72|+01.31",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|+02.23|+00.55|-01.62",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|+02.23|+00.55|-01.62",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|+02.23|+00.55|-01.62",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|+02.23|+00.55|-01.62",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|+03.26|+00.72|+01.31 in Cabinet|+02.23|+00.55|-01.62 and not in Cabinet|+01.21|+00.55|-01.62",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|+01.21|+00.55|-01.62)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan416_FloorPlan16/ep_l2_failure_retrieval_FloorPlan416_FloorPlan16.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan416_FloorPlan16/ep_l2_failure_retrieval_FloorPlan416_FloorPlan16.json
new file mode 100644
index 0000000000000000000000000000000000000000..24869c45bb80c0eaa3639047388740acb95bab34
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan416_FloorPlan16/ep_l2_failure_retrieval_FloorPlan416_FloorPlan16.json
@@ -0,0 +1,15858 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan416_FloorPlan16",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|-01.34|+00.30|+02.13 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|-01.34|+00.30|+02.13",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|-01.34|+00.30|+02.13 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 22,
+      "object_id": "Drawer|-01.34|+00.30|+02.13",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "FloorPlan416",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put SoapBottle on GarbageCan, then put SoapBar on SinkBasin；[clean_and_place] Clean SoapBar and place it into Drawer。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 24,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|-01.42|+00.76|+03.84",
+                "object_type": "Candle",
+                "position": {
+                  "x": -1.424,
+                  "y": 0.763,
+                  "z": 3.839
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|-01.77|+00.73|+01.63",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -1.767,
+                  "y": 0.725,
+                  "z": 1.633
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.61|+00.70|+02.83",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.609,
+                  "y": 0.702,
+                  "z": 2.831
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.34|+00.30|+03.33",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.335,
+                  "y": 0.301,
+                  "z": 3.329
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.34|+00.30|+02.13",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.335,
+                  "y": 0.301,
+                  "z": 2.133
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.93|+00.72|+02.29",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.926,
+                  "y": 0.721,
+                  "z": 2.285
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.93|+00.72|+03.37",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.926,
+                  "y": 0.721,
+                  "z": 3.369
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-02.00|+00.81|+00.77",
+                "object_type": "Floor",
+                "position": {
+                  "x": -2.0,
+                  "y": 0.811,
+                  "z": 0.769
+                },
+                "distance": 2.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-01.92|+01.41|+02.76",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -1.924,
+                  "y": 1.415,
+                  "z": 2.76
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+02.28",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.696,
+                  "y": 0.617,
+                  "z": 2.284
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+03.37",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.696,
+                  "y": 0.617,
+                  "z": 3.365
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+03.37|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.674,
+                  "y": 0.633,
+                  "z": 3.355
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.70|+00.62|+02.28|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.674,
+                  "y": 0.633,
+                  "z": 2.274
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|-01.85|+00.74|+03.77",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": -1.846,
+                  "y": 0.737,
+                  "z": 3.774
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-01.83|+00.72|+02.95",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -1.834,
+                  "y": 0.722,
+                  "z": 2.946
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|-01.87|+00.72|+01.86",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": -1.875,
+                  "y": 0.721,
+                  "z": 1.86
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9019347429275513,
+                "z": 2.75
+              },
+              "rotation_y": 275.3868103027344,
+              "camera_horizon": 45.412837982177734,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|-01.61|+00.70|+02.83",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|-01.61|+00.70|+02.83",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|-01.42|+00.76|+03.84",
+                "object_type": "Candle",
+                "position": {
+                  "x": -1.424,
+                  "y": 0.763,
+                  "z": 3.839
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|-01.77|+00.73|+01.63",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -1.767,
+                  "y": 0.725,
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+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-00.78|+01.02|+01.80",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 3.044,
+                  "y": 1.023,
+                  "z": -0.236
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|+02.85|+01.02|-01.66",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 3.044,
+                  "y": 1.022,
+                  "z": 0.069
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9037266969680786,
+                "z": -1.0
+              },
+              "rotation_y": 60.257843017578125,
+              "camera_horizon": 58.88803482055664,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Mug|-00.82|+00.84|+01.60",
+              "instrument": null,
+              "natural_language": "Put Fork on Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Mug|-00.82|+00.84|+01.60",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个Candle藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 65 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan416",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Candle|-01.42|+00.76|+03.84",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Candle|-01.42|+00.76|+03.84",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|-01.34|+00.30|+03.33",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|-01.34|+00.30|+03.33",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|-01.34|+00.30|+03.33",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|-01.34|+00.30|+03.33",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Candle|-01.42|+00.76|+03.84 in Drawer|-01.34|+00.30|+03.33 and not in Drawer|-01.34|+00.30|+02.13",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|-01.34|+00.30|+02.13)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan417_FloorPlan17/ep_l2_failure_retrieval_FloorPlan417_FloorPlan17.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan417_FloorPlan17/ep_l2_failure_retrieval_FloorPlan417_FloorPlan17.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff0ee358f09e39f7023eed5f75a663b620421d6
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan417_FloorPlan17/ep_l2_failure_retrieval_FloorPlan417_FloorPlan17.json
@@ -0,0 +1,18397 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan417_FloorPlan17",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|-02.50|+00.40|-01.24 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|-02.50|+00.40|-01.24",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|-02.50|+00.40|-01.24 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Cabinet|-02.50|+00.40|-01.24",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "FloorPlan417",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Cloth on SinkBasin, then put ToiletPaper on Cabinet；[pick_two_and_place] Put ToiletPaper on Cabinet, then put SoapBar on GarbageCan。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Cloth|-00.43|+01.04|-03.86",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -0.433,
+                  "y": 1.036,
+                  "z": -3.862
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-00.91|-00.03|-03.65",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -0.909,
+                  "y": -0.032,
+                  "z": -3.646
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-00.60|+00.00|-03.88",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -0.6,
+                  "y": 0.0,
+                  "z": -3.883
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-00.61|+00.00|-03.69",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -0.612,
+                  "y": 0.001,
+                  "z": -3.692
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerGlass|-02.08|+01.48|-03.26",
+                "object_type": "ShowerGlass",
+                "position": {
+                  "x": -2.08,
+                  "y": 1.483,
+                  "z": -3.264
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.32|+00.00|-03.53",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -0.319,
+                  "y": 0.001,
+                  "z": -3.534
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|+00.00|+00.98|-02.65",
+                "object_type": "ToiletPaperHanger",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.984,
+                  "z": -2.651
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-01.05|+01.54|-02.89",
+                "object_type": "Towel",
+                "position": {
+                  "x": -1.052,
+                  "y": 1.535,
+                  "z": -2.887
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9016677141189575,
+                "z": -2.75
+              },
+              "rotation_y": 167.0000457763672,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Toilet|-00.32|+00.00|-03.53",
+              "instrument": null,
+              "natural_language": "Navigate to Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Toilet|-00.32|+00.00|-03.53",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-00.91|-00.03|-03.65",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -0.909,
+                  "y": -0.032,
+                  "z": -3.646
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-00.60|+00.00|-03.88",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -0.6,
+                  "y": 0.0,
+                  "z": -3.883
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-00.61|+00.00|-03.69",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -0.612,
+                  "y": 0.001,
+                  "z": -3.692
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerGlass|-02.08|+01.48|-03.26",
+                "object_type": "ShowerGlass",
+                "position": {
+                  "x": -2.08,
+                  "y": 1.483,
+                  "z": -3.264
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.32|+00.00|-03.53",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -0.319,
+                  "y": 0.001,
+                  "z": -3.534
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|+00.00|+00.98|-02.65",
+                "object_type": "ToiletPaperHanger",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.984,
+                  "z": -2.651
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-01.05|+01.54|-02.89",
+                "object_type": "Towel",
+                "position": {
+                  "x": -1.052,
+                  "y": 1.535,
+                  "z": -2.887
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9016677141189575,
+                "z": -2.75
+              },
+              "rotation_y": 167.0000457763672,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Toilet|-00.32|+00.00|-03.53",
+              "instrument": null,
+              "natural_language": "Open Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Toilet|-00.32|+00.00|-03.53",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Cloth|-00.43|+01.04|-03.86",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -0.488,
+                  "y": 1.168,
+                  "z": -2.8
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-00.91|-00.03|-03.65",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -0.909,
+                  "y": -0.032,
+                  "z": -3.646
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-00.60|+00.00|-03.88",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -0.6,
+                  "y": 0.0,
+                  "z": -3.883
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-00.61|+00.00|-03.69",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -0.612,
+                  "y": 0.001,
+                  "z": -3.692
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerGlass|-02.08|+01.48|-03.26",
+                "object_type": "ShowerGlass",
+                "position": {
+                  "x": -2.08,
+                  "y": 1.483,
+                  "z": -3.264
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.32|+00.00|-03.53",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -0.319,
+                  "y": 0.001,
+                  "z": -3.534
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|+00.00|+00.98|-02.65",
+                "object_type": "ToiletPaperHanger",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.984,
+                  "z": -2.651
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-01.05|+01.54|-02.89",
+                "object_type": "Towel",
+                "position": {
+                  "x": -1.052,
+                  "y": 1.535,
+                  "z": -2.887
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9016677141189575,
+                "z": -2.75
+              },
+              "rotation_y": 167.0000457763672,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Cloth|-00.43|+01.04|-03.86"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Cloth|-00.43|+01.04|-03.86",
+              "instrument": null,
+              "natural_language": "Pick up Cloth"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Cloth|-00.43|+01.04|-03.86",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Cloth|-00.43|+01.04|-03.86",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -0.488,
+                  "y": 1.168,
+                  "z": -2.8
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.04|+00.01|-03.98",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.038,
+                  "y": 0.006,
+                  "z": -3.985
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-00.91|-00.03|-03.65",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -0.909,
+                  "y": -0.032,
+                  "z": -3.646
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-00.60|+00.00|-03.88",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -0.6,
+                  "y": 0.0,
+                  "z": -3.883
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-00.61|+00.00|-03.69",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -0.612,
+                  "y": 0.001,
+                  "z": -3.692
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerGlass|-02.08|+01.48|-03.26",
+                "object_type": "ShowerGlass",
+                "position": {
+                  "x": -2.08,
+                  "y": 1.483,
+                  "z": -3.264
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.32|+00.00|-03.53",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -0.319,
+                  "y": 0.001,
+                  "z": -3.534
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaperHanger|+00.00|+00.98|-02.65",
+                "object_type": "ToiletPaperHanger",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.984,
+                  "z": -2.651
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-01.05|+01.54|-02.89",
+                "object_type": "Towel",
+                "position": {
+                  "x": -1.052,
+                  "y": 1.535,
+                  "z": -2.887
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9016677141189575,
+                "z": -2.75
+              },
+              "rotation_y": 167.0000457763672,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Cloth|-00.43|+01.04|-03.86"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|-00.32|+00.00|-03.53",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|-00.32|+00.00|-03.53",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-02.50|+00.40|-02.21",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.504,
+                  "y": 0.4,
+                  "z": -2.209
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.51|+00.43|-01.26",
+                "object_type": "Cabinet",
+                "position": {
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+                "object_id": "StoveBurner|+00.50|+00.93|-00.47",
+                "object_type": "StoveBurner",
+                "position": {
+                  "x": 0.503,
+                  "y": 0.933,
+                  "z": -0.47
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+00.78|+01.09|-00.91",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 0.777,
+                  "y": 1.086,
+                  "z": -0.912
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+00.43|+01.09|-00.91",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 0.433,
+                  "y": 1.086,
+                  "z": -0.912
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+00.89|+01.09|-00.91",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 0.885,
+                  "y": 1.086,
+                  "z": -0.912
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+00.55|+01.09|-00.91",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 0.551,
+                  "y": 1.086,
+                  "z": -0.912
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|-00.01|+01.64|-00.97",
+                "object_type": "Window",
+                "position": {
+                  "x": -0.012,
+                  "y": 1.642,
+                  "z": -0.973
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9089995622634888,
+                "z": 0.0
+              },
+              "rotation_y": 178.79978942871094,
+              "camera_horizon": 52.8419075012207,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pot|+00.51|+00.94|-00.49",
+              "instrument": null,
+              "natural_language": "Put Potato on Pot"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pot|+00.51|+00.94|-00.49",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个SoapBottle藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 58 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan417",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "SoapBottle|-02.86|+00.99|-00.33",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "SoapBottle|-02.86|+00.99|-00.33",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|-02.50|+00.40|-02.21",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|-02.50|+00.40|-02.21",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|-02.50|+00.40|-02.21",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|-02.50|+00.40|-02.21",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "SoapBottle|-02.86|+00.99|-00.33 in Cabinet|-02.50|+00.40|-02.21 and not in Cabinet|-02.50|+00.40|-01.24",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|-02.50|+00.40|-01.24)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan419_FloorPlan19/ep_l2_failure_retrieval_FloorPlan419_FloorPlan19.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan419_FloorPlan19/ep_l2_failure_retrieval_FloorPlan419_FloorPlan19.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f35cc0fed91e74ee20ae69534f77edf703d25eb
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan419_FloorPlan19/ep_l2_failure_retrieval_FloorPlan419_FloorPlan19.json
@@ -0,0 +1,18477 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan419_FloorPlan19",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|-02.11|+00.16|-01.31 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|-02.11|+00.16|-01.31",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|-02.11|+00.16|-01.31 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 26,
+      "object_id": "Drawer|-02.11|+00.16|-01.31",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "FloorPlan419",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean SoapBar and place it into Drawer；[pick_two_and_place] Put Candle on Drawer, then put SprayBottle on GarbageCan。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-00.98|-00.72|-02.93",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -0.978,
+                  "y": -0.719,
+                  "z": -2.933
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bathtub|-00.98|-00.72|-02.93|BathtubBasin",
+                "object_type": "BathtubBasin",
+                "position": {
+                  "x": -1.227,
+                  "y": 0.052,
+                  "z": -2.99
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-00.10|+00.47|-02.58",
+                "object_type": "Candle",
+                "position": {
+                  "x": -0.096,
+                  "y": 0.475,
+                  "z": -2.576
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-00.02|+00.47|-02.97",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -0.025,
+                  "y": 0.475,
+                  "z": -2.972
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.25|-00.04|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.246,
+                  "y": -0.043,
+                  "z": 0.0
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-00.12|+00.00|-02.38",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -0.123,
+                  "y": 0.001,
+                  "z": -2.379
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-00.16|+00.00|-02.16",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -0.161,
+                  "y": 0.002,
+                  "z": -2.158
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerCurtain|-02.33|+01.98|-02.54",
+                "object_type": "ShowerCurtain",
+                "position": {
+                  "x": -2.333,
+                  "y": 1.983,
+                  "z": -2.539
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerHead|00.00|+01.72|-02.98",
+                "object_type": "ShowerHead",
+                "position": {
+                  "x": -0.002,
+                  "y": 1.716,
+                  "z": -2.978
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.10|00.00|-02.03",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.097,
+                  "y": -0.003,
+                  "z": -2.029
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|-00.24|+00.47|-02.54",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": -0.237,
+                  "y": 0.475,
+                  "z": -2.541
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.47|+00.00|-01.88",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -0.47,
+                  "y": 0.002,
+                  "z": -1.883
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9025555849075317,
+                "z": -2.25
+              },
+              "rotation_y": 158.29690551757812,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bathtub|-00.98|-00.72|-02.93",
+              "instrument": null,
+              "natural_language": "Navigate to Bathtub"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bathtub|-00.98|-00.72|-02.93",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-00.98|-00.72|-02.93",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -0.978,
+                  "y": -0.719,
+                  "z": -2.933
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bathtub|-00.98|-00.72|-02.93|BathtubBasin",
+                "object_type": "BathtubBasin",
+                "position": {
+                  "x": -1.227,
+                  "y": 0.052,
+                  "z": -2.99
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-00.10|+00.47|-02.58",
+                "object_type": "Candle",
+                "position": {
+                  "x": -0.096,
+                  "y": 0.475,
+                  "z": -2.576
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-00.02|+00.47|-02.97",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -0.025,
+                  "y": 0.475,
+                  "z": -2.972
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.25|-00.04|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.246,
+                  "y": -0.043,
+                  "z": 0.0
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-00.12|+00.00|-02.38",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -0.123,
+                  "y": 0.001,
+                  "z": -2.379
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-00.16|+00.00|-02.16",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -0.161,
+                  "y": 0.002,
+                  "z": -2.158
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerCurtain|-02.33|+01.98|-02.54",
+                "object_type": "ShowerCurtain",
+                "position": {
+                  "x": -2.333,
+                  "y": 1.983,
+                  "z": -2.539
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerHead|00.00|+01.72|-02.98",
+                "object_type": "ShowerHead",
+                "position": {
+                  "x": -0.002,
+                  "y": 1.716,
+                  "z": -2.978
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.10|00.00|-02.03",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.097,
+                  "y": -0.003,
+                  "z": -2.029
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|-00.24|+00.47|-02.54",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": -1.231,
+                  "y": 1.168,
+                  "z": -2.298
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-00.47|+00.00|-01.88",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -0.47,
+                  "y": 0.002,
+                  "z": -1.883
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9025555849075317,
+                "z": -2.25
+              },
+              "rotation_y": 158.29690551757812,
+              "camera_horizon": 60.000003814697266,
+              "holding": "SoapBar|-00.24|+00.47|-02.54"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "SoapBar|-00.24|+00.47|-02.54",
+              "instrument": null,
+              "natural_language": "Pick up SoapBar"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SoapBar|-00.24|+00.47|-02.54",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-00.98|-00.72|-02.93",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -0.978,
+                  "y": -0.719,
+                  "z": -2.933
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bathtub|-00.98|-00.72|-02.93|BathtubBasin",
+                "object_type": "BathtubBasin",
+                "position": {
+                  "x": -1.227,
+                  "y": 0.052,
+                  "z": -2.99
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cloth|-02.19|+00.67|-01.36",
+                "object_type": "Cloth",
+                "position": {
+                  "x": -2.194,
+                  "y": 0.67,
+                  "z": -1.356
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.11|+00.16|-01.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.109,
+                  "y": 0.165,
+                  "z": -1.313
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.11|+00.46|-01.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.109,
+                  "y": 0.457,
+                  "z": -1.313
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-02.35|+01.01|-02.03",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -2.349,
+                  "y": 1.013,
+                  "z": -2.029
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-01.25|-00.04|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": -1.246,
+                  "y": -0.043,
+                  "z": 0.0
+                },
+                "distance": 2.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-02.37|+01.52|-01.51",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -2.372,
+                  "y": 1.524,
+                  "z": -1.505
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowelHolder|-02.41|+01.63|-01.51",
+                "object_type": "HandTowelHolder",
+                "position": {
+                  "x": -2.41,
+                  "y": 1.626,
+                  "z": -1.505
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mirror|-02.45|+01.64|-02.03",
+                "object_type": "Mirror",
+                "position": {
+                  "x": -2.452,
+                  "y": 1.638,
+                  "z": -2.027
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerCurtain|-02.33|+01.98|-02.54",
+                "object_type": "ShowerCurtain",
+                "position": {
+                  "x": -2.333,
+                  "y": 1.983,
+                  "z": -2.539
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|-02.18|00.00|-01.31",
+                "object_type": "SideTable",
+                "position": {
+                  "x": -2.176,
+                  "y": -0.0,
+                  "z": -1.313
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.10|00.00|-02.03",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.097,
+                  "y": -0.003,
+                  "z": -2.029
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.10|00.00|-02.03|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -2.064,
+                  "y": 0.855,
+                  "z": -2.023
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
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+              "success": true,
+              "message": "Navigated to Pot|-02.84|+00.91|-03.74",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 62,
+            "image_path": "obs_062.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|-03.10|+00.95|-03.06",
+                "object_type": "Apple",
+                "position": {
+                  "x": -2.833,
+                  "y": 0.967,
+                  "z": -3.678
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|-02.45|+00.91|-03.75",
+                "object_type": "Bowl",
+                "position": {
+                  "x": -2.447,
+                  "y": 0.906,
+                  "z": -3.749
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|-02.24|+00.91|-03.59",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": -2.241,
+                  "y": 0.909,
+                  "z": -3.591
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.39|-03.51",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.149,
+                  "y": 0.389,
+                  "z": -3.512
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.38|+00.39|-03.51",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.38,
+                  "y": 0.389,
+                  "z": -3.512
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.81|+01.81|-03.76",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.811,
+                  "y": 1.81,
+                  "z": -3.764
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-06.01|+01.14|-06.02",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -6.01,
+                  "y": 1.14,
+                  "z": -6.02
+                },
+                "distance": 4.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.98|+00.39|-03.20",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.977,
+                  "y": 0.389,
+                  "z": -3.201
+                },
+                "distance": 0.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.79|+00.95|-03.80",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.79,
+                  "y": 0.949,
+                  "z": -3.804
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-03.10|+00.80|-02.97",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -3.104,
+                  "y": 0.798,
+                  "z": -2.969
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 4.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|-00.39|+00.97|-02.41",
+                "object_type": "Pan",
+                "position": {
+                  "x": -2.808,
+                  "y": 0.909,
+                  "z": -3.952
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|-02.84|+00.91|-03.74",
+                "object_type": "Pot",
+                "position": {
+                  "x": -2.808,
+                  "y": 0.91,
+                  "z": -3.656
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.79|+00.90|-03.75",
+                "object_type": "Sink",
+                "position": {
+                  "x": -1.787,
+                  "y": 0.902,
+                  "z": -3.749
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|-02.16|+00.95|-03.71",
+                "object_type": "Tomato",
+                "position": {
+                  "x": -2.162,
+                  "y": 0.955,
+                  "z": -3.709
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.75,
+                "y": 0.9023619890213013,
+                "z": -3.25
+              },
+              "rotation_y": 188.19244384765625,
+              "camera_horizon": 58.435081481933594,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pot|-02.84|+00.91|-03.74",
+              "instrument": null,
+              "natural_language": "Put cleaned Apple on Pot"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pot|-02.84|+00.91|-03.74",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个SoapBottle藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 63 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan419",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "SoapBottle|-02.27|+00.67|-01.52",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "SoapBottle|-02.27|+00.67|-01.52",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|-02.11|+00.46|-01.31",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|-02.11|+00.46|-01.31",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|-02.11|+00.46|-01.31",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|-02.11|+00.46|-01.31",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "SoapBottle|-02.27|+00.67|-01.52 in Drawer|-02.11|+00.46|-01.31 and not in Drawer|-02.11|+00.16|-01.31",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|-02.11|+00.16|-01.31)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan422_FloorPlan22/ep_l2_failure_retrieval_FloorPlan422_FloorPlan22.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan422_FloorPlan22/ep_l2_failure_retrieval_FloorPlan422_FloorPlan22.json
new file mode 100644
index 0000000000000000000000000000000000000000..68feb7e4cbfdedaf33d39f06c521bfed7e2b8eac
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan422_FloorPlan22/ep_l2_failure_retrieval_FloorPlan422_FloorPlan22.json
@@ -0,0 +1,13252 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan422_FloorPlan22",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|-00.61|+00.46|+00.52 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|-00.61|+00.46|+00.52",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|-00.61|+00.46|+00.52 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 26,
+      "object_id": "Cabinet|-00.61|+00.46|+00.52",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "FloorPlan422",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put TissueBox on GarbageCan, then put Cloth on Cabinet；[clean_and_place] Clean SoapBar and place it into Drawer。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-03.45|+00.18|+01.03",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -3.451,
+                  "y": 0.178,
+                  "z": 1.029
+                },
+                "distance": 1.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.89|+01.88|+02.39",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.892,
+                  "y": 1.884,
+                  "z": 2.392
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-01.99|+01.08|+02.26",
+                "object_type": "Candle",
+                "position": {
+                  "x": -1.994,
+                  "y": 1.083,
+                  "z": 2.264
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.03|+00.94|+02.19",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.033,
+                  "y": 0.942,
+                  "z": 2.19
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.08|+00.01|+00.81",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.085,
+                  "y": 0.008,
+                  "z": 0.808
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|-02.12|+01.39|+02.19",
+                "object_type": "Shelf",
+                "position": {
+                  "x": -2.124,
+                  "y": 1.394,
+                  "z": 2.19
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|-02.03|+01.18|+02.19",
+                "object_type": "Shelf",
+                "position": {
+                  "x": -2.03,
+                  "y": 1.183,
+                  "z": 2.19
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|-01.99|+01.29|+02.08",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": -1.994,
+                  "y": 1.293,
+                  "z": 2.076
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|-02.07|+01.29|+02.28",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": -2.073,
+                  "y": 1.293,
+                  "z": 2.283
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.75,
+                "y": 0.9008351564407349,
+                "z": 1.75
+              },
+              "rotation_y": 319.6452941894531,
+              "camera_horizon": 17.5255069732666,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Shelf|-02.12|+01.39|+02.19",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Shelf|-02.12|+01.39|+02.19",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-03.45|+00.18|+01.03",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -3.451,
+                  "y": 0.178,
+                  "z": 1.029
+                },
+                "distance": 1.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.89|+01.88|+02.39",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.892,
+                  "y": 1.884,
+                  "z": 2.392
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.03|+00.94|+02.19",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.033,
+                  "y": 0.942,
+                  "z": 2.19
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.08|+00.01|+00.81",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.085,
+                  "y": 0.008,
+                  "z": 0.808
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|-02.12|+01.39|+02.19",
+                "object_type": "Shelf",
+                "position": {
+                  "x": -2.124,
+                  "y": 1.394,
+                  "z": 2.19
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|-02.03|+01.18|+02.19",
+                "object_type": "Shelf",
+                "position": {
+                  "x": -2.03,
+                  "y": 1.183,
+                  "z": 2.19
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|-02.07|+01.29|+02.28",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": -1.953,
+                  "y": 1.309,
+                  "z": 1.989
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.75,
+                "y": 0.9008351564407349,
+                "z": 1.75
+              },
+              "rotation_y": 319.6452941894531,
+              "camera_horizon": 17.5255069732666,
+              "holding": "TissueBox|-02.07|+01.29|+02.28"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "TissueBox|-02.07|+01.29|+02.28",
+              "instrument": null,
+              "natural_language": "Pick up TissueBox"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up TissueBox|-02.07|+01.29|+02.28",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-02.34|+00.46|+00.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.345,
+                  "y": 0.457,
+                  "z": 0.524
+                },
+                "distance": 2.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.61|+00.46|+00.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.605,
+                  "y": 0.457,
+                  "z": 0.524
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-00.81|+00.09|+00.29",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -0.813,
+                  "y": 0.094,
+                  "z": 0.288
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.81|+00.96|+00.38",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.813,
+                  "y": 0.957,
+                  "z": 0.385
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.08|+00.01|+00.81",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.085,
+                  "y": 0.008,
+                  "z": 0.808
+                },
+                "distance": 0.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-00.26|00.00|+00.26",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -0.257,
+                  "y": -0.0,
+                  "z": 0.26
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|-02.07|+01.29|+02.28",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": -0.251,
+                  "y": 1.167,
+                  "z": 0.699
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.25,
+                "y": 0.9008351564407349,
+                "z": 0.75
+              },
+              "rotation_y": 180.85784912109375,
+              "camera_horizon": 60.000003814697266,
+              "holding": "TissueBox|-02.07|+01.29|+02.28"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|-00.26|00.00|+00.26",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|-00.26|00.00|+00.26",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|-02.34|+00.46|+00.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.345,
+                  "y": 0.457,
+                  "z": 0.524
+                },
+                "distance": 2.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.61|+00.46|+00.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.605,
+                  "y": 0.457,
+                  "z": 0.524
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-00.81|+00.09|+00.29",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -0.813,
+                  "y": 0.094,
+                  "z": 0.288
+                },
+                "distance": 0.73,
+                "in_view_center": false
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+                "object_type": "StoveKnob",
+                "position": {
+                  "x": -2.43,
+                  "y": 0.864,
+                  "z": -0.622
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|-02.43|+00.86|-00.48",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": -2.43,
+                  "y": 0.864,
+                  "z": -0.478
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|-02.43|+00.86|-00.78",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": -2.43,
+                  "y": 0.864,
+                  "z": -0.782
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.75,
+                "y": 0.9009991884231567,
+                "z": -0.5
+              },
+              "rotation_y": 194.2564697265625,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Cabinet|-01.85|+00.39|-00.90",
+              "instrument": null,
+              "natural_language": "Put Cup into Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Cabinet|-01.85|+00.39|-00.90",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 62,
+            "image_path": "obs_062.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|-02.22|+00.91|-01.00",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": -2.222,
+                  "y": 0.905,
+                  "z": -0.997
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.39|+00.39|+00.38",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.387,
+                  "y": 0.39,
+                  "z": 0.376
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.80|+00.47|-00.91",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.801,
+                  "y": 0.47,
+                  "z": -0.907
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.85|+00.39|-00.90",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.851,
+                  "y": 0.39,
+                  "z": -0.897
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-00.82|+00.47|-00.91",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -0.825,
+                  "y": 0.47,
+                  "z": -0.907
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|+00.07|+00.95|-01.20",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.071,
+                  "y": 0.947,
+                  "z": -1.199
+                },
+                "distance": 1.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.03|+00.78|-01.08",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.026,
+                  "y": 0.78,
+                  "z": -1.082
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-01.33|+00.91|-01.47",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -1.33,
+                  "y": 0.909,
+                  "z": -1.473
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|-02.62|+00.93|-00.72",
+                "object_type": "Kettle",
+                "position": {
+                  "x": -2.62,
+                  "y": 0.927,
+                  "z": -0.724
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|-02.59|+00.90|-01.15",
+                "object_type": "Pan",
+                "position": {
+                  "x": -2.59,
+                  "y": 0.901,
+                  "z": -1.147
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-01.33|+00.92|-01.23|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -1.345,
+                  "y": 0.839,
+                  "z": -1.25
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveBurner|-02.62|+00.89|-00.71",
+                "object_type": "StoveBurner",
+                "position": {
+                  "x": -2.622,
+                  "y": 0.886,
+                  "z": -0.711
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|-02.43|+00.86|-00.62",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": -2.43,
+                  "y": 0.864,
+                  "z": -0.622
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|-02.43|+00.86|-00.48",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": -2.43,
+                  "y": 0.864,
+                  "z": -0.478
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|-02.43|+00.86|-00.78",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": -2.43,
+                  "y": 0.864,
+                  "z": -0.782
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.75,
+                "y": 0.9009991884231567,
+                "z": -0.5
+              },
+              "rotation_y": 194.2564697265625,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Cabinet|-01.85|+00.39|-00.90",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Cabinet|-01.85|+00.39|-00.90",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个Candle藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 63 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan422",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Candle|-01.99|+01.08|+02.26",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Candle|-01.99|+01.08|+02.26",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cabinet|-01.89|+00.44|+01.98",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Cabinet|-01.89|+00.44|+01.98",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Cabinet|-01.89|+00.44|+01.98",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Cabinet|-01.89|+00.44|+01.98",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Candle|-01.99|+01.08|+02.26 in Cabinet|-01.89|+00.44|+01.98 and not in Cabinet|-00.61|+00.46|+00.52",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|-00.61|+00.46|+00.52)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan426_FloorPlan26/ep_l2_failure_retrieval_FloorPlan426_FloorPlan26.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan426_FloorPlan26/ep_l2_failure_retrieval_FloorPlan426_FloorPlan26.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c048a38ea8ad8ee44e1ca21452e1473d8aa94af
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan426_FloorPlan26/ep_l2_failure_retrieval_FloorPlan426_FloorPlan26.json
@@ -0,0 +1,15897 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan426_FloorPlan26",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Drawer|-00.29|+00.31|+00.31 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Drawer|-00.29|+00.31|+00.31",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Drawer|-00.29|+00.31|+00.31 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 27,
+      "object_id": "Drawer|-00.29|+00.31|+00.31",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "FloorPlan426",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put SoapBottle on Drawer, then put ToiletPaper on Drawer；[pick_two_and_place] Put SoapBar on Drawer, then put Cloth on Drawer。期间尝试打开一个锁死的Drawer失败。",
+        "total_steps": 29,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|-00.46|+00.97|+03.21",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -0.464,
+                  "y": 0.969,
+                  "z": 3.212
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.08|+00.01|+00.81",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.085,
+                  "y": 0.009,
+                  "z": 0.808
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-00.04|+01.68|+02.96",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -0.038,
+                  "y": 1.68,
+                  "z": 2.956
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-00.46|-00.01|+03.05",
+                "object_type": "Sink",
+                "position": {
+                  "x": -0.464,
+                  "y": -0.013,
+                  "z": 3.047
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-00.46|-00.01|+03.05|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -0.453,
+                  "y": 0.888,
+                  "z": 2.969
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-00.64|+00.95|+03.22",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -0.641,
+                  "y": 0.949,
+                  "z": 3.218
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-01.84|+00.00|+02.50",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -1.836,
+                  "y": 0.001,
+                  "z": 2.503
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9018632173538208,
+                "z": 1.75
+              },
+              "rotation_y": 1.5899147987365723,
+              "camera_horizon": 50.7818603515625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|-00.46|-00.01|+03.05",
+              "instrument": null,
+              "natural_language": "Navigate to Sink"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|-00.46|-00.01|+03.05",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|-00.46|+00.97|+03.21",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -0.464,
+                  "y": 0.969,
+                  "z": 3.212
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.08|+00.01|+00.81",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.085,
+                  "y": 0.009,
+                  "z": 0.808
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HandTowel|-00.04|+01.68|+02.96",
+                "object_type": "HandTowel",
+                "position": {
+                  "x": -0.038,
+                  "y": 1.68,
+                  "z": 2.956
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-00.46|-00.01|+03.05",
+                "object_type": "Sink",
+                "position": {
+                  "x": -0.464,
+                  "y": -0.013,
+                  "z": 3.047
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-00.46|-00.01|+03.05|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -0.453,
+                  "y": 0.888,
+                  "z": 2.969
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|-00.64|+00.95|+03.22",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": -0.497,
+                  "y": 1.181,
+                  "z": 1.866
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-01.84|+00.00|+02.50",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -1.836,
+                  "y": 0.001,
+                  "z": 2.503
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.5,
+                "y": 0.9018632173538208,
+                "z": 1.75
+              },
+              "rotation_y": 1.5899147987365723,
+              "camera_horizon": 50.7818603515625,
+              "holding": "SoapBottle|-00.64|+00.95|+03.22"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "SoapBottle|-00.64|+00.95|+03.22",
+              "instrument": null,
+              "natural_language": "Pick up SoapBottle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SoapBottle|-00.64|+00.95|+03.22",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|-01.96|+00.80|+00.37",
+                "object_type": "Candle",
+                "position": {
+                  "x": -1.96,
+                  "y": 0.801,
+                  "z": 0.367
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.85|+00.00|+00.34",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.85,
+                  "y": 0.001,
+                  "z": 0.342
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.84|+00.61|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.84,
+                  "y": 0.612,
+                  "z": 0.311
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.32|+00.61|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.325,
+                  "y": 0.612,
+                  "z": 0.311
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.29|+00.61|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.291,
+                  "y": 0.612,
+                  "z": 0.311
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.81|+00.31|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.808,
+                  "y": 0.312,
+                  "z": 0.311
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.81|+00.61|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.808,
+                  "y": 0.612,
+                  "z": 0.311
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.29|+00.31|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.291,
+                  "y": 0.312,
+                  "z": 0.311
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-01.84|+00.31|+00.31",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -1.84,
+                  "y": 0.312,
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+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个Candle藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Drawer 失败（锁死），经过 61 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan426",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Candle|-01.96|+00.80|+00.37",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Candle|-01.96|+00.80|+00.37",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Drawer|-00.29|+00.61|+00.31",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Drawer|-00.29|+00.61|+00.31",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Drawer|-00.29|+00.61|+00.31",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Drawer|-00.29|+00.61|+00.31",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Candle|-01.96|+00.80|+00.37 in Drawer|-00.29|+00.61|+00.31 and not in Drawer|-00.29|+00.31|+00.31",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Drawer|-00.29|+00.31|+00.31)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan6_FloorPlan206/ep_l2_failure_retrieval_FloorPlan6_FloorPlan206.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan6_FloorPlan206/ep_l2_failure_retrieval_FloorPlan6_FloorPlan206.json
new file mode 100644
index 0000000000000000000000000000000000000000..96745f58a7cd42055f0a50a76fdc0f90aa0f3dd4
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan6_FloorPlan206/ep_l2_failure_retrieval_FloorPlan6_FloorPlan206.json
@@ -0,0 +1,10273 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_FloorPlan6_FloorPlan206",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Cabinet|+00.15|+02.01|-01.60 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Cabinet|+00.15|+02.01|-01.60",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Cabinet|+00.15|+02.01|-01.60 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 23,
+      "object_id": "Cabinet|+00.15|+02.01|-01.60",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "FloorPlan6",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Potato and place it on Pot；[pick_two_and_place] Put Spoon on Plate, then put SaltShaker on Drawer。期间尝试打开一个锁死的Cabinet失败。",
+        "total_steps": 25,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|-00.48|+00.97|+00.41",
+                "object_type": "Apple",
+                "position": {
+                  "x": -0.476,
+                  "y": 0.967,
+                  "z": 0.406
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|-00.71|+00.98|+00.43",
+                "object_type": "Bread",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.98,
+                  "z": 0.426
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|-00.24",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": -0.236
+                },
+                "distance": 1.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|+01.58",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": 1.579
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|+00.64",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": 0.645
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|+00.70",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": 0.695
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-00.36|+00.95|+01.09",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -0.36,
+                  "y": 0.946,
+                  "z": 1.094
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.49|+00.95|+01.32",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.485,
+                  "y": 0.946,
+                  "z": 1.319
+                },
+                "distance": 0.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|-00.65|+00.90|+00.74",
+                "object_type": "Cup",
+                "position": {
+                  "x": -0.646,
+                  "y": 0.903,
+                  "z": 0.738
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|+00.44",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": 0.437
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|+00.90",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": 0.903
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|-00.03",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": -0.028
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|+01.37",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": 1.368
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|-02.31|+00.91|+00.33",
+                "object_type": "Spatula",
+                "position": {
+                  "x": -2.314,
+                  "y": 0.908,
+                  "z": 0.334
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|-02.30|+00.01|+01.84",
+                "object_type": "Stool",
+                "position": {
+                  "x": -2.303,
+                  "y": 0.011,
+                  "z": 1.84
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9009991884231567,
+                "z": 1.5
+              },
+              "rotation_y": 175.26255798339844,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|-01.49|+00.95|+01.32",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|-01.49|+00.95|+01.32",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|-00.48|+00.97|+00.41",
+                "object_type": "Apple",
+                "position": {
+                  "x": -0.476,
+                  "y": 0.967,
+                  "z": 0.406
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|-00.71|+00.98|+00.43",
+                "object_type": "Bread",
+                "position": {
+                  "x": -0.712,
+                  "y": 0.98,
+                  "z": 0.426
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|-00.24",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": -0.236
+                },
+                "distance": 1.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|+01.58",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": 1.579
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|+00.64",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": 0.645
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.15|+00.40|+00.70",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.145,
+                  "y": 0.403,
+                  "z": 0.695
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-00.36|+00.95|+01.09",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -0.36,
+                  "y": 0.946,
+                  "z": 1.094
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|-01.49|+00.95|+01.32",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": -1.485,
+                  "y": 0.946,
+                  "z": 1.319
+                },
+                "distance": 0.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|-00.65|+00.90|+00.74",
+                "object_type": "Cup",
+                "position": {
+                  "x": -0.646,
+                  "y": 0.903,
+                  "z": 0.738
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|+00.44",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": 0.437
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|+00.90",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": 0.903
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|-00.03",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": -0.028
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-02.28|+00.79|+01.37",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -2.277,
+                  "y": 0.792,
+                  "z": 1.368
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|-02.24|+00.94|-00.18",
+                "object_type": "Potato",
+                "position": {
+                  "x": -1.496,
+                  "y": 1.167,
+                  "z": 1.449
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|-02.31|+00.91|+00.33",
+                "object_type": "Spatula",
+                "position": {
+                  "x": -2.314,
+                  "y": 0.908,
+                  "z": 0.334
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|-02.30|+00.01|+01.84",
+                "object_type": "Stool",
+                "position": {
+                  "x": -2.303,
+                  "y": 0.011,
+                  "z": 1.84
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.5,
+                "y": 0.9009991884231567,
+                "z": 1.5
+              },
+              "rotation_y": 175.26255798339844,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Potato|-02.24|+00.94|-00.18"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Potato|-02.24|+00.94|-00.18",
+              "instrument": null,
+              "natural_language": "Pick up Potato"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Potato|-02.24|+00.94|-00.18",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "CoffeeMachine|+00.46|+00.90|-01.81",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 0.464,
+                  "y": 0.9,
+                  "z": -1.81
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|+00.47|+00.95|-01.63",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.474,
+                  "y": 0.946,
+                  "z": -1.625
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|+01.74|+00.90|-00.86",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 1.744,
+                  "y": 0.902,
+                  "z": -0.862
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|+01.31|+00.90|-01.54",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 1.306,
+                  "y": 0.898,
+                  "z": -1.54
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|+00.85|+00.90|-01.79",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 0.854,
+                  "y": 0.904,
+                  "z": -1.79
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|+01.11|+00.83|-01.43",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 1.113,
+                  "y": 0.832,
+                  "z": -1.434
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|+01.45|+00.91|-01.23",
+                "object_type": "Mug",
+                "position": {
+                  "x": 1.451,
+                  "y": 0.913,
+                  "z": -1.234
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|+00.69|+01.01|-01.83",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 0.693,
+                  "y": 1.007,
+                  "z": -1.834
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|-02.24|+00.94|-00.18",
+                "object_type": "Potato",
+                "position": {
+                  "x": 0.807,
+                  "y": 1.171,
+                  "z": -1.054
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|+01.38|+00.81|-01.27",
+                "object_type": "Sink",
+                "position": {
+                  "x": 1.381,
+                  "y": 0.811,
+                  "z": -1.271
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|+01.38|+00.81|-01.27|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 1.15,
+                  "y": 0.753,
+                  "z": -1.38
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|+01.02|+00.90|-01.65",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 1.017,
+                  "y": 0.902,
+                  "z": -1.653
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|+01.30|+00.96|-01.08",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 1.296,
+                  "y": 0.96,
+                  "z": -1.083
+                },
+                "distance": 0.55,
+                "in_view_center": false
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+        "instruction": "找一个隐蔽的地方把这个Knife藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 37 步噪声后需要记住避开那个容器",
+        "scene": "FloorPlan6",
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+          {
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+          },
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+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Knife|-00.64|+00.91|+01.62 in Cabinet|+01.57|+02.01|+00.47 and not in Cabinet|+00.15|+02.01|-01.60",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Cabinet|+00.15|+02.01|-01.60)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541/ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541/ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541.json
new file mode 100644
index 0000000000000000000000000000000000000000..b95e8f19892c1897e03aa76be8dae4ac29b5cf36
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541/ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541.json
@@ -0,0 +1,4213 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000041_ProcTHOR-test-000541",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 24,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000041",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Spoon and place it into Drawer；[pick_two_and_place] Put Egg on Bowl, then put Potato on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 26,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|2",
+                "object_type": "Apple",
+                "position": {
+                  "x": 2.161,
+                  "y": 0.986,
+                  "z": 7.101
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
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+                  "y": 0.001,
+                  "z": 6.874
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|15",
+                "object_type": "Lettuce",
+                "position": {
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+                  "y": 0.088,
+                  "z": 8.329
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|2|4",
+                "object_type": "PaperTowelRoll",
+                "position": {
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+                  "y": 1.046,
+                  "z": 7.255
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|16",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.856,
+                  "y": 0.941,
+                  "z": 7.101
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|7",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 1.856,
+                  "y": 0.939,
+                  "z": 6.947
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|1",
+                "object_type": "Vase",
+                "position": {
+                  "x": 2.311,
+                  "y": 0.939,
+                  "z": 7.634
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|6.85|5.14|6.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.568,
+                  "y": 2.221,
+                  "z": 6.849
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|6.85|5.14|6.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.568,
+                  "y": 2.221,
+                  "z": 6.849
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9009993672370911,
+                "z": 7.25
+              },
+              "rotation_y": 244.42971801757812,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|2",
+                "object_type": "Apple",
+                "position": {
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+                  "y": 0.986,
+                  "z": 7.101
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 2.464,
+                  "y": 0.001,
+                  "z": 6.874
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|15",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 2.155,
+                  "y": 0.088,
+                  "z": 8.332
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|2|4",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 2.161,
+                  "y": 1.046,
+                  "z": 7.255
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|16",
+                "object_type": "Plate",
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+                  "z": 7.101
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|6",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 3.204,
+                  "y": 1.167,
+                  "z": 7.228
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|7",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 1.856,
+                  "y": 0.939,
+                  "z": 6.947
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|1",
+                "object_type": "Vase",
+                "position": {
+                  "x": 2.311,
+                  "y": 0.939,
+                  "z": 7.634
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|6.85|5.14|6.85",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 2.221,
+                  "z": 6.849
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|6.85|5.14|6.85",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 2.221,
+                  "z": 6.849
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9009993672370911,
+                "z": 7.25
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+              "rotation_y": 244.42971801757812,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Spoon|surface|2|6"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Spoon|surface|2|6",
+              "instrument": null,
+              "natural_language": "Pick up Spoon"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Spoon|surface|2|6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
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+                "object_id": "Faucet|9|1|1",
+                "object_type": "Faucet",
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+                  "y": 1.002,
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+                "distance": 0.66,
+                "in_view_center": false
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+              {
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+                "object_type": "Sink",
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+                  "y": 0.0,
+                  "z": 0.319
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+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|9|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
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+                  "y": 0.837,
+                  "z": 0.333
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+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|6",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 9.374,
+                  "y": 1.183,
+                  "z": 0.266
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+                "distance": 0.13,
+                "in_view_center": false
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+                "object_id": "wall|9|5.14|1.71|10.27|1.71",
+                "object_type": "Wall",
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+                  "y": 2.221,
+                  "z": 1.712
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+                "distance": 2.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|5.14|0.00|10.27|0.00",
+                "object_type": "Wall",
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+                  "y": 2.221,
+                  "z": 0.0
+                },
+                "distance": 1.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|10|10.27|0.00|10.27|1.71",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.273,
+                  "y": 2.221,
+                  "z": 0.856
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.25,
+                "y": 0.9009993672370911,
+                "z": 0.25
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+              "rotation_y": 82.4822006225586,
+              "camera_horizon": 49.48557662963867,
+              "holding": "Spoon|surface|2|6"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|9|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|9|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
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+                "object_id": "Faucet|9|1|1",
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+            "agent_state": {
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+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|9|1|0___0",
+              "instrument": null,
+              "natural_language": "Put Spoon into SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|9|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
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+            "image_path": "obs_004.png",
+            "visible_objects": [
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+              {
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+                "object_type": "Wall",
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+                  "z": 0.0
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|10|10.27|0.00|10.27|1.71",
+                "object_type": "Wall",
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+                  "z": 0.856
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "z": 0.25
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+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Faucet|9|1|1",
+              "instrument": null,
+              "natural_language": "Navigate to Faucet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Faucet|9|1|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|9|1|1",
+                "object_type": "Faucet",
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+              },
+              {
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+                "object_type": "Sink",
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+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "SinkBasin",
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+            "action": {
+              "action_type": "ToggleOn",
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+              "natural_language": "Turn on Faucet to rinse"
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+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|surface|2|6",
+                "object_type": "Box",
+                "position": {
+                  "x": 5.28,
+                  "y": 0.419,
+                  "z": 7.759
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|4",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 4.897,
+                  "y": 0.729,
+                  "z": 7.679
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|2|0|2",
+                "object_type": "Television",
+                "position": {
+                  "x": 5.279,
+                  "y": 1.204,
+                  "z": 7.827
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 5.279,
+                  "y": 0.005,
+                  "z": 7.84
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|8.19|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.072,
+                  "y": 1.597,
+                  "z": 8.194
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|6.14|6.14|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.145,
+                  "y": 1.597,
+                  "z": 7.17
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|6.14|6.14|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.145,
+                  "y": 1.597,
+                  "z": 7.17
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|8.19|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.072,
+                  "y": 1.597,
+                  "z": 8.194
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|2|9",
+                "object_type": "Watch",
+                "position": {
+                  "x": 5.28,
+                  "y": 0.243,
+                  "z": 7.679
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.0,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 3.398061752319336,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|surface|2|6",
+                "object_type": "Box",
+                "position": {
+                  "x": 5.28,
+                  "y": 0.419,
+                  "z": 7.759
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|2|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 5.279,
+                  "y": 0.0,
+                  "z": 4.846
+                },
+                "distance": 1.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 5.279,
+                  "y": 0.005,
+                  "z": 7.84
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|8.19|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.072,
+                  "y": 1.597,
+                  "z": 8.194
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|8.19|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.072,
+                  "y": 1.597,
+                  "z": 8.194
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|2|9",
+                "object_type": "Watch",
+                "position": {
+                  "x": 5.28,
+                  "y": 0.243,
+                  "z": 7.679
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.0,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 273.3980712890625,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateLeft",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateLeft"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated left",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 15,
+            "image_path": "obs_015.png",
+            "visible_objects": [
+              {
+                "object_id": "TVStand|2|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 5.279,
+                  "y": 0.005,
+                  "z": 7.84
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|8.19|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.072,
+                  "y": 1.597,
+                  "z": 8.194
+                },
+                "distance": 2.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|8.19|6.14|8.19",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.072,
+                  "y": 1.597,
+                  "z": 8.194
+                },
+                "distance": 2.21,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 273.3980712890625,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "MoveForward",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 16 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000041",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|10|90",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|10|90",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|10|103",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|10|103",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|10|103",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|10|103",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|10|90 in Safe|surface|10|103 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553/ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553/ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553.json
new file mode 100644
index 0000000000000000000000000000000000000000..9722a6c265726a78a6afd8fd2495357ef594f199
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553/ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553.json
@@ -0,0 +1,7198 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000053_ProcTHOR-test-000553",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|2 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|2",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|2 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Fridge|2|2",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000053",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Fork and place it into Drawer；[cool_and_place] Cool WineBottle and place it on GarbageCan。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.015,
+                  "y": 0.77,
+                  "z": 8.271
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|25",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 4.184,
+                  "y": 0.77,
+                  "z": 8.271
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 4.452,
+                  "y": 0.011,
+                  "z": 7.415
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 4.458,
+                  "y": 0.011,
+                  "z": 8.82
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.437,
+                  "y": 0.003,
+                  "z": 8.124
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|31",
+                "object_type": "Fork",
+                "position": {
+                  "x": 4.738,
+                  "y": 0.771,
+                  "z": 7.806
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|3",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 4.461,
+                  "y": 0.769,
+                  "z": 8.271
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|26",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 3.63,
+                  "y": 0.774,
+                  "z": 7.806
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|16",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 5.015,
+                  "y": 0.77,
+                  "z": 7.961
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|15",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 5.292,
+                  "y": 0.769,
+                  "z": 7.651
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|2|7",
+                "object_type": "Statue",
+                "position": {
+                  "x": 3.63,
+                  "y": 0.769,
+                  "z": 8.271
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|20",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 5.292,
+                  "y": 0.812,
+                  "z": 7.961
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|2",
+                "object_type": "Vase",
+                "position": {
+                  "x": 4.738,
+                  "y": 0.769,
+                  "z": 8.116
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 7.25
+              },
+              "rotation_y": 26.553321838378906,
+              "camera_horizon": 58.15208053588867,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|2|1|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|2|1|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.015,
+                  "y": 0.77,
+                  "z": 8.271
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|25",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 4.184,
+                  "y": 0.77,
+                  "z": 8.271
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 4.452,
+                  "y": 0.011,
+                  "z": 7.415
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 4.458,
+                  "y": 0.011,
+                  "z": 8.82
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.437,
+                  "y": 0.003,
+                  "z": 8.124
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|31",
+                "object_type": "Fork",
+                "position": {
+                  "x": 4.029,
+                  "y": 1.169,
+                  "z": 7.308
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|3",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 4.461,
+                  "y": 0.769,
+                  "z": 8.271
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|26",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 3.63,
+                  "y": 0.774,
+                  "z": 7.806
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|16",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 5.015,
+                  "y": 0.77,
+                  "z": 7.961
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|15",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 5.292,
+                  "y": 0.769,
+                  "z": 7.651
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|2|7",
+                "object_type": "Statue",
+                "position": {
+                  "x": 3.63,
+                  "y": 0.769,
+                  "z": 8.271
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|20",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 5.292,
+                  "y": 0.812,
+                  "z": 7.961
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|2",
+                "object_type": "Vase",
+                "position": {
+                  "x": 4.738,
+                  "y": 0.769,
+                  "z": 8.116
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 7.25
+              },
+              "rotation_y": 26.553321838378906,
+              "camera_horizon": 58.15208053588867,
+              "holding": "Fork|surface|2|31"
+            },
+            "action": {
+              "action_type": "PickUp",
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+                  "z": 5.551
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|6|21",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.825,
+                  "y": 0.74,
+                  "z": 6.056
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3",
+                "object_type": "Desk",
+                "position": {
+                  "x": 5.825,
+                  "y": -0.0,
+                  "z": 5.937
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|7|48",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 5.301,
+                  "y": 1.167,
+                  "z": 5.994
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|6|8",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 4.937,
+                  "y": -0.001,
+                  "z": 4.086
+                },
+                "distance": 1.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|surface|6|35",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": 5.825,
+                  "y": 0.741,
+                  "z": 5.803
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|6|7",
+                "object_type": "Painting",
+                "position": {
+                  "x": 6.12,
+                  "y": 1.663,
+                  "z": 5.635
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|6|43",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 5.825,
+                  "y": 0.74,
+                  "z": 5.677
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|6|2|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 5.771,
+                  "y": 0.005,
+                  "z": 7.815
+                },
+                "distance": 1.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|6.12|4.08|6.12|6.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 5.104
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|6.12|6.12|6.12|10.21",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 8.167
+                },
+                "distance": 2.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|6.12|4.08|6.12|6.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 5.104
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 6.0
+              },
+              "rotation_y": 96.23678588867188,
+              "camera_horizon": 60.000003814697266,
+              "holding": "DishSponge|surface|7|48"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "DishSponge|surface|7|48",
+              "instrument": null,
+              "natural_language": "Pick up DishSponge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up DishSponge|surface|7|48",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 34,
+            "image_path": "obs_034.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|8|61",
+                "object_type": "Apple",
+                "position": {
+                  "x": 6.223,
+                  "y": 1.012,
+                  "z": 3.811
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|8|65",
+                "object_type": "Bread",
+                "position": {
+                  "x": 6.377,
+                  "y": 0.987,
+                  "z": 3.811
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 6.15,
+                  "y": 0.001,
+                  "z": 3.05
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|7|48",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 6.934,
+                  "y": 1.169,
+                  "z": 4.513
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|8|67",
+                "object_type": "Fork",
+                "position": {
+                  "x": 6.3,
+                  "y": 0.939,
+                  "z": 5.722
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|8|57",
+                "object_type": "Pan",
+                "position": {
+                  "x": 6.608,
+                  "y": 0.943,
+                  "z": 4.575
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|8|51",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.608,
+                  "y": 0.939,
+                  "z": 3.811
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|8|60",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.531,
+                  "y": 0.944,
+                  "z": 4.958
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|8|55",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 6.377,
+                  "y": 0.939,
+                  "z": 5.34
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|6.12|4.08|6.12|6.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 5.104
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|6.12|4.08|6.12|6.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 5.104
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|8|53",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 6.377,
+                  "y": 0.938,
+                  "z": 4.193
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 280.9107971191406,
+              "camera_horizon": 57.76629638671875,
+              "holding": "DishSponge|surface|7|48"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Pan|surface|8|57",
+              "instrument": null,
+              "natural_language": "Navigate to Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Pan|surface|8|57",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 35,
+            "image_path": "obs_035.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|8|61",
+                "object_type": "Apple",
+                "position": {
+                  "x": 6.223,
+                  "y": 1.012,
+                  "z": 3.811
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|8|65",
+                "object_type": "Bread",
+                "position": {
+                  "x": 6.377,
+                  "y": 0.987,
+                  "z": 3.811
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 6.15,
+                  "y": 0.001,
+                  "z": 3.05
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|7|48",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 6.564,
+                  "y": 1.018,
+                  "z": 4.552
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|8|67",
+                "object_type": "Fork",
+                "position": {
+                  "x": 6.3,
+                  "y": 0.939,
+                  "z": 5.722
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|8|57",
+                "object_type": "Pan",
+                "position": {
+                  "x": 6.608,
+                  "y": 0.943,
+                  "z": 4.575
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|8|51",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.608,
+                  "y": 0.939,
+                  "z": 3.811
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|8|60",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.531,
+                  "y": 0.944,
+                  "z": 4.958
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|8|55",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 6.377,
+                  "y": 0.939,
+                  "z": 5.34
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|6.12|4.08|6.12|6.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 5.104
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|6.12|4.08|6.12|6.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.125,
+                  "y": 1.271,
+                  "z": 5.104
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|8|53",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 6.377,
+                  "y": 0.938,
+                  "z": 4.193
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 280.9107971191406,
+              "camera_horizon": 57.76629638671875,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pan|surface|8|57",
+              "instrument": null,
+              "natural_language": "Put DishSponge on Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pan|surface|8|57",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 36 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000053",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|2|0 in Microwave|surface|2|3 and not in Fridge|2|2",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|2)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584/ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584/ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6abcbdf5da4d5fffc50710cb6437ff1b000d479
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584/ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584.json
@@ -0,0 +1,11079 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000084_ProcTHOR-test-000584",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000084",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put KeyChain on Safe, then put Fork on Drawer；[pick_two_and_place] Put Egg on Bowl, then put CreditCard on Box。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|6|55",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 16.296,
+                  "y": 1.012,
+                  "z": 12.162
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 16.095,
+                  "y": 0.855,
+                  "z": 11.963
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 16.095,
+                  "y": 0.255,
+                  "z": 11.963
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 16.095,
+                  "y": 0.555,
+                  "z": 11.963
+                },
+                "distance": 1.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 16.289,
+                  "y": 0.0,
+                  "z": 11.963
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|6|58",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 16.402,
+                  "y": 1.012,
+                  "z": 11.763
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|52",
+                "object_type": "Mug",
+                "position": {
+                  "x": 16.455,
+                  "y": 1.011,
+                  "z": 12.162
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|6|49",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 16.19,
+                  "y": 1.016,
+                  "z": 12.262
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|6|50",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 16.402,
+                  "y": 1.016,
+                  "z": 11.664
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 15.0,
+                "y": 0.9009993672370911,
+                "z": 12.0
+              },
+              "rotation_y": 91.65464782714844,
+              "camera_horizon": 50.70535659790039,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|6|1",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|6|55",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 16.296,
+                  "y": 1.012,
+                  "z": 12.162
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
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+                  "z": 1.932
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+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 0.319,
+                  "y": 0.0,
+                  "z": 3.274
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.837,
+                  "z": 3.279
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|0.00|1.83|0.00|3.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.693,
+                  "z": 2.749
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.83|0.00|3.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.693,
+                  "z": 2.749
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.83|3.67|1.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.833,
+                  "y": 1.693,
+                  "z": 1.833
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|0.00|3.67|5.50|3.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.75,
+                  "y": 1.693,
+                  "z": 3.666
+                },
+                "distance": 1.8,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 272.5154113769531,
+              "camera_horizon": 47.87043380737305,
+              "holding": "Egg|surface|8|52"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|8|52",
+              "instrument": null,
+              "natural_language": "Pick up cleaned Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|8|52",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 61,
+            "image_path": "obs_061.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|8|55",
+                "object_type": "Apple",
+                "position": {
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+                  "z": 4.876
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+                "distance": 0.92,
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+              },
+              {
+                "object_id": "Book|surface|8|51",
+                "object_type": "Book",
+                "position": {
+                  "x": 6.849,
+                  "y": 0.944,
+                  "z": 5.03
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|9|66",
+                "object_type": "Bowl",
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+                  "x": 6.849,
+                  "y": 0.944,
+                  "z": 5.49
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|6|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.157,
+                  "y": 0.944,
+                  "z": 4.876
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|8|50",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 6.09,
+                  "y": 0.939,
+                  "z": 5.562
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.307,
+                  "y": 0.001,
+                  "z": 5.947
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|8|9",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 7.329,
+                  "y": -0.001,
+                  "z": 6.023
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|8|52",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.399,
+                  "y": 1.212,
+                  "z": 5.122
+                },
+                "distance": 0.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|8|54",
+                "object_type": "Knife",
+                "position": {
+                  "x": 7.036,
+                  "y": 0.945,
+                  "z": 5.339
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|8|46",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 6.992,
+                  "y": 0.961,
+                  "z": 5.638
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|8|44",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 7.157,
+                  "y": 1.012,
+                  "z": 5.797
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|8|41",
+                "object_type": "Mug",
+                "position": {
+                  "x": 6.772,
+                  "y": 0.943,
+                  "z": 5.797
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|8|4",
+                "object_type": "Painting",
+                "position": {
+                  "x": 7.327,
+                  "y": 1.979,
+                  "z": 5.391
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|42",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 7.08,
+                  "y": 0.938,
+                  "z": 5.03
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|8|33",
+                "object_type": "Plate",
+                "position": {
+                  "x": 7.157,
+                  "y": 0.94,
+                  "z": 5.336
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|8|38",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 7.08,
+                  "y": 0.938,
+                  "z": 5.49
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|8|35",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 6.849,
+                  "y": 0.939,
+                  "z": 5.336
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|8|48",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.09,
+                  "y": 1.172,
+                  "z": 5.58
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|8|36",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 7.157,
+                  "y": 0.939,
+                  "z": 5.643
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|7.33|3.67|7.33|7.33",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.332,
+                  "y": 1.693,
+                  "z": 5.499
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.25,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 50.70848083496094,
+              "camera_horizon": 39.23918533325195,
+              "holding": "Egg|surface|8|52"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bowl|surface|9|66",
+              "instrument": null,
+              "natural_language": "Navigate to Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bowl|surface|9|66",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 62,
+            "image_path": "obs_062.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|8|55",
+                "object_type": "Apple",
+                "position": {
+                  "x": 7.157,
+                  "y": 1.076,
+                  "z": 4.876
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|8|51",
+                "object_type": "Book",
+                "position": {
+                  "x": 6.849,
+                  "y": 0.944,
+                  "z": 5.03
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|9|66",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 6.849,
+                  "y": 0.944,
+                  "z": 5.49
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|6|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.157,
+                  "y": 0.944,
+                  "z": 4.876
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|8|50",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 6.09,
+                  "y": 0.939,
+                  "z": 5.562
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.307,
+                  "y": 0.001,
+                  "z": 5.947
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|8|9",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 7.329,
+                  "y": -0.001,
+                  "z": 6.023
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|8|52",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.816,
+                  "y": 1.035,
+                  "z": 5.523
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|8|54",
+                "object_type": "Knife",
+                "position": {
+                  "x": 7.036,
+                  "y": 0.945,
+                  "z": 5.339
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|8|46",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 6.992,
+                  "y": 0.961,
+                  "z": 5.638
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|8|44",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 7.157,
+                  "y": 1.012,
+                  "z": 5.797
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|8|41",
+                "object_type": "Mug",
+                "position": {
+                  "x": 6.772,
+                  "y": 0.943,
+                  "z": 5.797
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|8|4",
+                "object_type": "Painting",
+                "position": {
+                  "x": 7.327,
+                  "y": 1.979,
+                  "z": 5.391
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|42",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 7.08,
+                  "y": 0.938,
+                  "z": 5.03
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|8|33",
+                "object_type": "Plate",
+                "position": {
+                  "x": 7.157,
+                  "y": 0.94,
+                  "z": 5.336
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|8|38",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 7.08,
+                  "y": 0.938,
+                  "z": 5.49
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|8|35",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 6.849,
+                  "y": 0.939,
+                  "z": 5.336
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|8|48",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.09,
+                  "y": 1.172,
+                  "z": 5.58
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|8|36",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 7.157,
+                  "y": 0.939,
+                  "z": 5.643
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|7.33|3.67|7.33|7.33",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.332,
+                  "y": 1.693,
+                  "z": 5.499
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.25,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 50.70848083496094,
+              "camera_horizon": 39.23918533325195,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Bowl|surface|9|66",
+              "instrument": null,
+              "natural_language": "Put cleaned Egg on Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Bowl|surface|9|66",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 63 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000084",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|3|23",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|3|23",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|8|74",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|8|74",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|8|74",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|8|74",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|3|23 in Safe|surface|8|74 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598/ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598/ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598.json
new file mode 100644
index 0000000000000000000000000000000000000000..46ac6a90f4f1478510838ea3b2bd5a056f4d2349
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598/ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598.json
@@ -0,0 +1,2954 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000098_ProcTHOR-test-000598",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 14,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000098",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on SinkBasin。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 16,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 9.118,
+                  "y": 0.006,
+                  "z": 8.999
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|8.70|8.70|13.04|8.70",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.871,
+                  "y": 1.432,
+                  "z": 8.697
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
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+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 9,
+            "image_path": "obs_009.png",
+            "visible_objects": [
+              {
+                "object_id": "Sofa|2|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.389,
+                  "y": 0.01,
+                  "z": 3.633
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 265.4931640625,
+              "camera_horizon": 54.42391586303711,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 10,
+            "image_path": "obs_010.png",
+            "visible_objects": [
+              {
+                "object_id": "CreditCard|surface|2|6",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 3.722,
+                  "y": 0.569,
+                  "z": 1.797
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|5",
+                "object_type": "Plate",
+                "position": {
+                  "x": 3.854,
+                  "y": 0.184,
+                  "z": 1.032
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.912,
+                  "y": 0.648,
+                  "z": 1.552
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.477,
+                  "z": 1.552
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.302,
+                  "z": 0.396
+                },
+                "distance": 1.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|2|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 3.88,
+                  "y": 1.247,
+                  "z": 0.973
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 3.912,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 175.49317932128906,
+              "camera_horizon": 54.42390823364258,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateLeft",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateLeft"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated left",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 11,
+            "image_path": "obs_011.png",
+            "visible_objects": [
+              {
+                "object_id": "Sofa|2|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.389,
+                  "y": 0.01,
+                  "z": 3.633
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 265.4931640625,
+              "camera_horizon": 54.42391586303711,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
+              {
+                "object_id": "Sofa|2|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.389,
+                  "y": 0.01,
+                  "z": 3.633
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 265.4931640625,
+              "camera_horizon": 54.42391586303711,
+              "holding": null
+            },
+            "action": {
+              "action_type": "MoveForward",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "CreditCard|surface|2|6",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 3.722,
+                  "y": 0.569,
+                  "z": 1.797
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|5",
+                "object_type": "Plate",
+                "position": {
+                  "x": 3.854,
+                  "y": 0.184,
+                  "z": 1.032
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.912,
+                  "y": 0.648,
+                  "z": 1.552
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.477,
+                  "z": 1.552
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.302,
+                  "z": 0.396
+                },
+                "distance": 1.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|2|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 3.88,
+                  "y": 1.247,
+                  "z": 0.973
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 3.912,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 175.49317932128906,
+              "camera_horizon": 54.42390823364258,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateLeft",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateLeft"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated left",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "Sofa|2|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.389,
+                  "y": 0.01,
+                  "z": 3.633
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 265.4931640625,
+              "camera_horizon": 54.42391586303711,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 15,
+            "image_path": "obs_015.png",
+            "visible_objects": [
+              {
+                "object_id": "Pencil|surface|2|7",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 3.692,
+                  "y": 0.409,
+                  "z": 3.272
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 3.909,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|2|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.389,
+                  "y": 0.01,
+                  "z": 3.633
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 3.912,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 355.4931640625,
+              "camera_horizon": 54.42390823364258,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 16 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000098",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|10|111",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|10|111",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|2|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|10|111 in Safe|2|3 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632/ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632/ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632.json
new file mode 100644
index 0000000000000000000000000000000000000000..09e8951846bff297c1d1f693ebe977d1d66e5aff
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632/ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632.json
@@ -0,0 +1,4894 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000132_ProcTHOR-test-000632",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|6|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 16,
+      "object_id": "Fridge|6|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000132",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Spatula and place it into Drawer；[L0] Put RemoteControl on Shelf。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 18,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 10.601,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|6|41",
+                "object_type": "Pot",
+                "position": {
+                  "x": 10.143,
+                  "y": 0.939,
+                  "z": 2.313
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|31",
+                "object_type": "Statue",
+                "position": {
+                  "x": 10.528,
+                  "y": 1.028,
+                  "z": 2.313
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|10.63|0.00|10.63|8.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.626,
+                  "y": 2.044,
+                  "z": 4.251
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.63|0.00|10.63|8.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.626,
+                  "y": 2.044,
+                  "z": 4.251
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.25,
+                "y": 0.9009993672370911,
+                "z": 3.5
+              },
+              "rotation_y": 140.57931518554688,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|6|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 10.601,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|6|41",
+                "object_type": "Pot",
+                "position": {
+                  "x": 10.143,
+                  "y": 0.939,
+                  "z": 2.313
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|24",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 10.283,
+                  "y": 1.167,
+                  "z": 3.46
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|31",
+                "object_type": "Statue",
+                "position": {
+                  "x": 10.528,
+                  "y": 1.028,
+                  "z": 2.313
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|10.63|0.00|10.63|8.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.626,
+                  "y": 2.044,
+                  "z": 4.251
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.63|0.00|10.63|8.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.626,
+                  "y": 2.044,
+                  "z": 4.251
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.25,
+                "y": 0.9009993672370911,
+                "z": 3.5
+              },
+              "rotation_y": 140.57931518554688,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Spatula|surface|6|24"
+            },
+            "action": {
+              "action_type": "PickUp",
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+                "distance": 0.51,
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+                "in_view_center": false
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+                "object_type": "Floor",
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+                "distance": 9.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|3|17",
+                "object_type": "HousePlant",
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+                  "x": 5.452,
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+              },
+              {
+                "object_id": "wall|3|5.18|6.91|5.18|10.36",
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+                "object_type": "Wall",
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+                  "y": 1.451,
+                  "z": 5.181
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+                "distance": 2.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 7.5
+              },
+              "rotation_y": 264.44659423828125,
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+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|3|2___9",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|3|2___9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 18,
+            "image_path": "obs_018.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|10",
+                "object_type": "Apple",
+                "position": {
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+                  "y": 1.02,
+                  "z": 5.31
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|2|8",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 11.913,
+                  "y": 0.939,
+                  "z": 4.699
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 12.063,
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+                "distance": 0.46,
+                "in_view_center": false
+              },
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+                "object_type": "Kettle",
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+                  "z": 5.004
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|7",
+                "object_type": "Pot",
+                "position": {
+                  "x": 11.682,
+                  "y": 0.94,
+                  "z": 5.31
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toaster|surface|2|5",
+                "object_type": "Toaster",
+                "position": {
+                  "x": 11.682,
+                  "y": 0.938,
+                  "z": 5.615
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|12.09|3.45|12.09|6.91",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.451,
+                  "z": 5.181
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|10.36|6.91|12.09|6.91",
+                "object_type": "Wall",
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+                  "y": 1.451,
+                  "z": 6.907
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|12.09|3.45|12.09|6.91",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.088,
+                  "y": 1.451,
+                  "z": 5.181
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 136.67172241210938,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 19,
+            "image_path": "obs_019.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|10",
+                "object_type": "Apple",
+                "position": {
+                  "x": 11.682,
+                  "y": 1.02,
+                  "z": 5.31
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bottle|surface|2|0",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 11.785,
+                  "y": 1.167,
+                  "z": 6.213
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|2|8",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 11.913,
+                  "y": 0.939,
+                  "z": 4.699
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 12.063,
+                  "y": 0.001,
+                  "z": 5.918
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|2|3",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 11.682,
+                  "y": 0.943,
+                  "z": 5.004
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|7",
+                "object_type": "Pot",
+                "position": {
+                  "x": 11.682,
+                  "y": 0.94,
+                  "z": 5.31
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toaster|surface|2|5",
+                "object_type": "Toaster",
+                "position": {
+                  "x": 11.682,
+                  "y": 0.938,
+                  "z": 5.615
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|12.09|3.45|12.09|6.91",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.088,
+                  "y": 1.451,
+                  "z": 5.181
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|10.36|6.91|12.09|6.91",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.225,
+                  "y": 1.451,
+                  "z": 6.907
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|12.09|3.45|12.09|6.91",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.088,
+                  "y": 1.451,
+                  "z": 5.181
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 136.67172241210938,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bottle|surface|2|0"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Bottle|surface|2|0",
+              "instrument": null,
+              "natural_language": "Pick up Bottle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Bottle|surface|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 20,
+            "image_path": "obs_020.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|2|0",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 0.4,
+                  "y": 1.369,
+                  "z": 2.682
+                },
+                "distance": 0.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3",
+                "object_type": "Desk",
+                "position": {
+                  "x": 0.244,
+                  "y": 0.0,
+                  "z": 2.668
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|4|22",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.311,
+                  "y": 0.8,
+                  "z": 2.109
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___13",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.144,
+                  "z": 2.403
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___12",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.123,
+                  "y": 1.501,
+                  "z": 2.179
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___11",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.494,
+                  "z": 2.627
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___10",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.377,
+                  "z": 3.076
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___9",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.122,
+                  "y": 0.91,
+                  "z": 3.076
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___14",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 0.91,
+                  "z": 2.403
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|0.00|3.45",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.451,
+                  "z": 1.727
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|6|44",
+                "object_type": "Watch",
+                "position": {
+                  "x": 0.138,
+                  "y": 1.277,
+                  "z": 2.125
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 259.0025634765625,
+              "camera_horizon": 7.250671863555908,
+              "holding": "Bottle|surface|2|0"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Desk|6|3___11",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Desk|6|3___11",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 21,
+            "image_path": "obs_021.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|2|0",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.288,
+                  "z": 2.526
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3",
+                "object_type": "Desk",
+                "position": {
+                  "x": 0.244,
+                  "y": 0.0,
+                  "z": 2.668
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|4|22",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.311,
+                  "y": 0.8,
+                  "z": 2.109
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___13",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.144,
+                  "z": 2.403
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___12",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.123,
+                  "y": 1.501,
+                  "z": 2.179
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___11",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.494,
+                  "z": 2.627
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___10",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 1.377,
+                  "z": 3.076
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___9",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.122,
+                  "y": 0.91,
+                  "z": 3.076
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___14",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.119,
+                  "y": 0.91,
+                  "z": 2.403
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|0.00|3.45",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.451,
+                  "z": 1.727
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|6|44",
+                "object_type": "Watch",
+                "position": {
+                  "x": 0.138,
+                  "y": 1.277,
+                  "z": 2.125
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 259.0025634765625,
+              "camera_horizon": 7.250671863555908,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Desk|6|3___11",
+              "instrument": null,
+              "natural_language": "Put Bottle on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Desk|6|3___11",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 22 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000132",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|4|10",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|4|10",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|6|35",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|6|35",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|6|35",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|6|35",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|4|10 in Microwave|surface|6|35 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744/ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744/ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40eeb40c24ec28eee18fba005f34c7117c0f8dc
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744/ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744.json
@@ -0,0 +1,10972 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000244_ProcTHOR-test-000744",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 24,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
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+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000244",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Ladle and place it on Bowl；[pick_two_and_place] Put RemoteControl on Box, then put Pencil on Drawer。期间尝试打开一个锁死的Fridge失败。",
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+              "natural_language": "Navigate to CounterTop"
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+              "natural_language": "Pick up Ladle"
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+              "message": "Picked up Ladle|surface|2|10",
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+                  "y": 0.943,
+                  "z": 4.743
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009991884231567,
+                "z": 4.25
+              },
+              "rotation_y": 285.5863952636719,
+              "camera_horizon": 51.07554626464844,
+              "holding": "Bowl|surface|4|16"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Bowl|surface|4|16",
+              "instrument": null,
+              "natural_language": "Pick up Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Bowl|surface|4|16",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|24",
+                "object_type": "Apple",
+                "position": {
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+                  "y": 1.284,
+                  "z": 8.733
+                },
+                "distance": 0.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|16",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 9.712,
+                  "y": 1.222,
+                  "z": 8.746
+                },
+                "distance": 0.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 7.574
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.721
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 9.886
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.738
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 8.439
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.019
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.605
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.26,
+                  "y": -0.0,
+                  "z": 8.731
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 12.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 11.008,
+                  "y": 0.193,
+                  "z": 9.022
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.5,
+                "y": 0.9009991884231567,
+                "z": 8.75
+              },
+              "rotation_y": 91.18826293945312,
+              "camera_horizon": 36.2592887878418,
+              "holding": "Bowl|surface|4|16"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|4|1___6",
+              "instrument": null,
+              "natural_language": "Navigate to Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|4|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 45,
+            "image_path": "obs_045.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|24",
+                "object_type": "Apple",
+                "position": {
+                  "x": 9.705,
+                  "y": 1.284,
+                  "z": 8.733
+                },
+                "distance": 0.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|16",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 9.712,
+                  "y": 1.222,
+                  "z": 8.746
+                },
+                "distance": 0.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 7.574
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.721
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 9.886
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.738
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 8.439
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.019
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.605
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.26,
+                  "y": -0.0,
+                  "z": 8.731
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 12.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 11.008,
+                  "y": 0.193,
+                  "z": 9.022
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.5,
+                "y": 0.9009991884231567,
+                "z": 8.75
+              },
+              "rotation_y": 91.18826293945312,
+              "camera_horizon": 36.2592887878418,
+              "holding": "Bowl|surface|4|16"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|4|1___6",
+              "instrument": null,
+              "natural_language": "Open Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|4|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 46,
+            "image_path": "obs_046.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|4|16",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 11.014,
+                  "y": 0.197,
+                  "z": 8.294
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 7.574
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.721
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 9.886
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.738
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 8.439
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.019
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.605
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.26,
+                  "y": -0.0,
+                  "z": 8.731
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 12.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 11.008,
+                  "y": 0.193,
+                  "z": 9.022
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.5,
+                "y": 0.9009991884231567,
+                "z": 8.75
+              },
+              "rotation_y": 91.18826293945312,
+              "camera_horizon": 36.2592887878418,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|4|1___6",
+              "instrument": null,
+              "natural_language": "Put Bowl into Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|4|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 47,
+            "image_path": "obs_047.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 7.574
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.721
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 9.886
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.883,
+                  "y": 0.561,
+                  "z": 8.738
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 8.439
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.019
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.982,
+                  "y": 1.014,
+                  "z": 9.605
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.26,
+                  "y": -0.0,
+                  "z": 8.731
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 12.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 11.008,
+                  "y": 0.193,
+                  "z": 9.022
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.5,
+                "y": 0.9009991884231567,
+                "z": 8.75
+              },
+              "rotation_y": 91.18826293945312,
+              "camera_horizon": 36.2592887878418,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|4|1___6",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|4|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 48 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000244",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|3|19",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|3|19",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|4|5",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|4|5",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|4|5",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|4|5",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|3|19 in Safe|4|5 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784/ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784/ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784.json
new file mode 100644
index 0000000000000000000000000000000000000000..806051a95119f0164fed3ed8b4a4523f839d059c
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784/ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784.json
@@ -0,0 +1,11853 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000284_ProcTHOR-test-000784",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|6|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Fridge|6|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
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+            "action": {
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+              "target": "Dresser|4|1___4",
+              "instrument": null,
+              "natural_language": "Close Drawer"
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+            "feedback": {
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+              "message": "Closed Dresser|4|1___4",
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+            "memory_cue_exposed": null
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+        ]
+      },
+      "micro_probe": {
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+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 60 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000284",
+        "expected_actions": [
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+            "target": "CreditCard|surface|6|5",
+            "object_held": null
+          },
+          {
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+            "target": "CreditCard|surface|6|5",
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+          },
+          {
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+            "target": "Microwave|surface|6|10",
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+          },
+          {
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+          },
+          {
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+            "target": "Microwave|surface|6|10",
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+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|6|10",
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+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|6|5 in Microwave|surface|6|10 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798/ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798/ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7879375cb60be92d69e54b3b81b96e1b8219bf
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798/ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798.json
@@ -0,0 +1,9822 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000298_ProcTHOR-test-000798",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000298",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Apple and place it on Bowl；[clean_and_place] Clean SoapBar and place it into Drawer。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bread|surface|2|10",
+                "object_type": "Bread",
+                "position": {
+                  "x": 4.158,
+                  "y": 1.013,
+                  "z": 5.808
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 3.851,
+                  "y": 0.0,
+                  "z": 5.275
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|2|0",
+                "object_type": "CreditCard",
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+                  "y": 0.938,
+                  "z": 5.808
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|11",
+                "object_type": "Cup",
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+                  "y": 0.937,
+                  "z": 5.579
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|13",
+                "object_type": "Egg",
+                "position": {
+                  "x": 4.389,
+                  "y": 0.965,
+                  "z": 5.351
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.127,
+                  "y": 0.006,
+                  "z": 4.382
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|1",
+                "object_type": "Mug",
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+                  "x": 4.389,
+                  "y": 0.937,
+                  "z": 5.427
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 4.158,
+                  "y": 0.938,
+                  "z": 5.503
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|2|6",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 3.928,
+                  "y": 0.937,
+                  "z": 5.427
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|8",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 3.928,
+                  "y": 0.937,
+                  "z": 5.732
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|3.83|0.00|3.83|7.65",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.825,
+                  "y": 1.643,
+                  "z": 3.825
+                },
+                "distance": 2.02,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 5.25
+              },
+              "rotation_y": 271.0219421386719,
+              "camera_horizon": 48.400299072265625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|14",
+                "object_type": "Apple",
+                "position": {
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+                  "y": 1.186,
+                  "z": 5.252
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|2|10",
+                "object_type": "Bread",
+                "position": {
+                  "x": 4.158,
+                  "y": 1.013,
+                  "z": 5.808
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
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+                  "y": 0.0,
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+                "distance": 1.4,
+                "in_view_center": false
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+              {
+                "object_id": "CreditCard|surface|2|0",
+                "object_type": "CreditCard",
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+                  "y": 0.938,
+                  "z": 5.808
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|11",
+                "object_type": "Cup",
+                "position": {
+                  "x": 4.389,
+                  "y": 0.937,
+                  "z": 5.579
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|13",
+                "object_type": "Egg",
+                "position": {
+                  "x": 4.389,
+                  "y": 0.965,
+                  "z": 5.351
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.127,
+                  "y": 0.006,
+                  "z": 4.382
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|1",
+                "object_type": "Mug",
+                "position": {
+                  "x": 4.389,
+                  "y": 0.937,
+                  "z": 5.427
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 4.158,
+                  "y": 0.938,
+                  "z": 5.503
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|2|6",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 3.928,
+                  "y": 0.937,
+                  "z": 5.427
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|8",
+                "object_type": "SprayBottle",
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+                  "y": 0.937,
+                  "z": 5.732
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|3.83|0.00|3.83|7.65",
+                "object_type": "Wall",
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+                  "y": 1.643,
+                  "z": 3.825
+                },
+                "distance": 2.02,
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+            "agent_state": {
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+                "z": 5.25
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+              "rotation_y": 271.0219421386719,
+              "camera_horizon": 48.400299072265625,
+              "holding": "Apple|surface|2|14"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Apple|surface|2|14",
+              "instrument": null,
+              "natural_language": "Pick up Apple"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Apple|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|14",
+                "object_type": "Apple",
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+                  "y": 1.187,
+                  "z": 8.848
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+                "distance": 0.14,
+                "in_view_center": false
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+              {
+                "object_id": "door|10|11",
+                "object_type": "Doorway",
+                "position": {
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+                  "y": -0.001,
+                  "z": 9.337
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+                "distance": 2.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|11|1|1",
+                "object_type": "Faucet",
+                "position": {
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+                  "y": 1.002,
+                  "z": 9.492
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+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|11|1|0",
+                "object_type": "Sink",
+                "position": {
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+                  "y": 0.0,
+                  "z": 9.244
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+                "distance": 0.68,
+                "in_view_center": false
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+              {
+                "object_id": "Sink|11|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
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+                "object_id": "wall|8|15.30|9.56|19.13|9.56",
+                "object_type": "Wall",
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+                  "z": 9.563
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+                "distance": 0.86,
+                "in_view_center": false
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+              {
+                "object_id": "wall|11|15.30|9.56|19.13|9.56",
+                "object_type": "Wall",
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+                  "z": 9.563
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+            "agent_state": {
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+                "z": 8.75
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+              "target": "Sink|11|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|11|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
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+                "object_id": "Apple|surface|2|14",
+                "object_type": "Apple",
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+                "object_type": "Faucet",
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+                "object_type": "Sink",
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+                  "z": 9.563
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+                  "z": 9.563
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+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
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+                "z": 8.75
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+            "action": {
+              "action_type": "PutObject",
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+              "natural_language": "Put Apple into SinkBasin"
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+            "feedback": {
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+              "message": "Put object on Sink|11|1|0___0",
+              "event_memory_tag": null
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+            "memory_cue_exposed": null
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+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
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+              {
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+              },
+              {
+                "object_id": "Sink|11|1|0",
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+                "position": {
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+                  "y": 0.0,
+                  "z": 9.244
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+                "distance": 0.72,
+                "in_view_center": false
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+              {
+                "object_id": "Sink|11|1|0___0",
+                "object_type": "SinkBasin",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|15.30|9.56|19.13|9.56",
+                "object_type": "Wall",
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+                  "z": 9.563
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|11|15.30|9.56|19.13|9.56",
+                "object_type": "Wall",
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+                  "z": 9.563
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+                "distance": 0.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+              "rotation_y": 288.5731506347656,
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+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Faucet|11|1|1",
+              "instrument": null,
+              "natural_language": "Navigate to Faucet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Faucet|11|1|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
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+                "object_id": "Apple|surface|2|14",
+                "object_type": "Apple",
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+              {
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+            "feedback": {
+              "success": true,
+              "message": "Picked up Pen|surface|7|10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "ShelvingUnit|7|6___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 6.354,
+                  "y": 0.729,
+                  "z": 4.978
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|7|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.205,
+                  "y": 0.002,
+                  "z": 5.985
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.006,
+                  "y": 0.487,
+                  "z": 6.037
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.006,
+                  "y": 0.71,
+                  "z": 6.037
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.006,
+                  "y": 0.953,
+                  "z": 6.037
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.006,
+                  "y": 1.165,
+                  "z": 5.824
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.657,
+                  "y": 1.165,
+                  "z": 6.25
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.006,
+                  "y": 0.265,
+                  "z": 6.037
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|4",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 6.247,
+                  "y": -0.0,
+                  "z": 6.037
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|7|10",
+                "object_type": "Pen",
+                "position": {
+                  "x": 5.784,
+                  "y": 1.167,
+                  "z": 5.788
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|7|6",
+                "object_type": "ShelvingUnit",
+                "position": {
+                  "x": 6.374,
+                  "y": 0.001,
+                  "z": 4.978
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|3.28|6.55|6.55|6.55",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.913,
+                  "y": 1.539,
+                  "z": 6.551
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|6.55|3.28|6.55|6.55",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.551,
+                  "y": 1.539,
+                  "z": 4.913
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 5.75
+              },
+              "rotation_y": 41.76984786987305,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pen|surface|7|10"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|7|4___3",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|7|4___3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 55,
+            "image_path": "obs_055.png",
+            "visible_objects": [
+              {
+                "object_id": "ShelvingUnit|6|2___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.245,
+                  "y": 0.729,
+                  "z": 0.197
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.752,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|7",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|7|10",
+                "object_type": "Pen",
+                "position": {
+                  "x": 2.288,
+                  "y": 1.167,
+                  "z": 0.716
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|2___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.245,
+                  "y": 1.452,
+                  "z": 0.197
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|6|4",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 2.469,
+                  "y": 1.327,
+                  "z": 0.261
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|3.28|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.638,
+                  "y": 1.539,
+                  "z": 0.0
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 132.0,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pen|surface|7|10"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ShelvingUnit|6|2___1",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ShelvingUnit|6|2___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 56,
+            "image_path": "obs_056.png",
+            "visible_objects": [
+              {
+                "object_id": "ShelvingUnit|6|2___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.245,
+                  "y": 0.729,
+                  "z": 0.197
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.752,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|7",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|2___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 2.245,
+                  "y": 1.452,
+                  "z": 0.197
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|6|4",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 2.469,
+                  "y": 1.327,
+                  "z": 0.261
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|3.28|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.638,
+                  "y": 1.539,
+                  "z": 0.0
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 132.0,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ShelvingUnit|6|2___1",
+              "instrument": null,
+              "natural_language": "Put Pen on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ShelvingUnit|6|2___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 57 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000298",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|3|27",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|3|27",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|10|98",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|10|98",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|10|98",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|10|98",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|3|27 in Safe|surface|10|98 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827/ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827/ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d950bd9ba5f3a7d497e95a342a0222a08ccee31
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827/ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827.json
@@ -0,0 +1,9144 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000327_ProcTHOR-test-000827",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|6|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 15,
+      "object_id": "Fridge|6|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000327",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put SprayBottle on GarbageCan, then put Knife on Drawer；[L0] Put Ladle into Drawer。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 17,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.163,
+                  "y": 0.0,
+                  "z": 14.214
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|23",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.468,
+                  "y": 0.97,
+                  "z": 13.676
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|33",
+                "object_type": "Fork",
+                "position": {
+                  "x": 8.468,
+                  "y": 0.938,
+                  "z": 14.06
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|34",
+                "object_type": "Fork",
+                "position": {
+                  "x": 8.62,
+                  "y": 0.939,
+                  "z": 13.907
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|22",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 8.377,
+                  "y": 1.013,
+                  "z": 14.135
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|6|18",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 8.544,
+                  "y": 0.937,
+                  "z": 13.983
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|19",
+                "object_type": "Potato",
+                "position": {
+                  "x": 8.391,
+                  "y": 0.981,
+                  "z": 13.83
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|29",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 8.696,
+                  "y": 0.939,
+                  "z": 13.676
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|6|21",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 8.696,
+                  "y": 0.937,
+                  "z": 13.907
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|27",
+                "object_type": "Statue",
+                "position": {
+                  "x": 8.239,
+                  "y": 1.027,
+                  "z": 13.983
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|8.14|10.17|8.14|14.24",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.137,
+                  "y": 1.419,
+                  "z": 12.206
+                },
+                "distance": 1.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.14|14.24|14.24|14.24",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.188,
+                  "y": 1.419,
+                  "z": 14.24
+                },
+                "distance": 2.2,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.0,
+                "y": 0.9009993672370911,
+                "z": 14.0
+              },
+              "rotation_y": 284.3424987792969,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|6|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.163,
+                  "y": 0.0,
+                  "z": 14.214
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|23",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.468,
+                  "y": 0.97,
+                  "z": 13.676
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|33",
+                "object_type": "Fork",
+                "position": {
+                  "x": 8.468,
+                  "y": 0.938,
+                  "z": 14.06
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|34",
+                "object_type": "Fork",
+                "position": {
+                  "x": 8.62,
+                  "y": 0.939,
+                  "z": 13.907
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|22",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 8.377,
+                  "y": 1.013,
+                  "z": 14.135
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|6|18",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 8.544,
+                  "y": 0.937,
+                  "z": 13.983
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|19",
+                "object_type": "Potato",
+                "position": {
+                  "x": 8.391,
+                  "y": 0.981,
+                  "z": 13.83
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|29",
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+                "position": {
+                  "x": 17.252,
+                  "y": 1.167,
+                  "z": 2.551
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|17.46|0.00|17.46|5.82",
+                "object_type": "Wall",
+                "position": {
+                  "x": 17.456,
+                  "y": 1.944,
+                  "z": 2.909
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|17.46|0.00|17.46|5.82",
+                "object_type": "Wall",
+                "position": {
+                  "x": 17.456,
+                  "y": 1.944,
+                  "z": 2.909
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 17.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 1.937246322631836,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pencil|surface|6|80"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|8|5",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|8|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|8|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 15.561,
+                  "y": 0.001,
+                  "z": 2.714
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|8|5",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 17.264,
+                  "y": -0.029,
+                  "z": 2.918
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|6|80",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 17.166,
+                  "y": 0.131,
+                  "z": 3.023
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|17.46|0.00|17.46|5.82",
+                "object_type": "Wall",
+                "position": {
+                  "x": 17.456,
+                  "y": 1.944,
+                  "z": 2.909
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|17.46|0.00|17.46|5.82",
+                "object_type": "Wall",
+                "position": {
+                  "x": 17.456,
+                  "y": 1.944,
+                  "z": 2.909
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 17.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 1.937246322631836,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|8|5",
+              "instrument": null,
+              "natural_language": "Put Pencil on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|8|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 55 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000327",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|6|20",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|6|20",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|6|20 in Safe|surface|4|1 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891/ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891/ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a4847b1c68340a0261954bb27b85a60ae632e74
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891/ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891.json
@@ -0,0 +1,9154 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000391_ProcTHOR-test-000891",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 20,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000391",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Lettuce and place it on GarbageCan；[pick_two_and_place] Put ButterKnife on Pan, then put Mug on Shelf。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 22,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.025,
+                  "y": 0.001,
+                  "z": 2.235
+                },
+                "distance": 0.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|16",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 0.252,
+                  "y": 0.938,
+                  "z": 3.376
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.303,
+                  "z": 2.654
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.303,
+                  "z": 2.654
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 316.24530029296875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.025,
+                  "y": 0.001,
+                  "z": 2.235
+                },
+                "distance": 0.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|20",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 0.214,
+                  "y": 1.167,
+                  "z": 2.037
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|16",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 0.252,
+                  "y": 0.938,
+                  "z": 3.376
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.303,
+                  "z": 2.654
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.303,
+                  "z": 2.654
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 316.24530029296875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Lettuce|surface|2|20"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Lettuce|surface|2|20",
+              "instrument": null,
+              "natural_language": "Pick up Lettuce"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Lettuce|surface|2|20",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.712,
+                  "y": 0.008,
+                  "z": 4.821
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|20",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.051,
+                  "y": 1.167,
+                  "z": 4.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.31|7.08|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.539,
+                  "y": 1.303,
+                  "z": 5.308
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 84.34031677246094,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Lettuce|surface|2|20"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.712,
+                  "y": 0.008,
+                  "z": 4.821
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|20",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.051,
+                  "y": 1.167,
+                  "z": 4.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.31|7.08|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.539,
+                  "y": 1.303,
+                  "z": 5.308
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 84.34031677246094,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Lettuce|surface|2|20"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.712,
+                  "y": 0.008,
+                  "z": 4.821
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.31|7.08|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.539,
+                  "y": 1.303,
+                  "z": 5.308
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 84.34031677246094,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Lettuce into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.712,
+                  "y": 0.008,
+                  "z": 4.821
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.31|7.08|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.539,
+                  "y": 1.303,
+                  "z": 5.308
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 84.34031677246094,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge to cool item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.712,
+                  "y": 0.008,
+                  "z": 4.821
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.31|7.08|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.539,
+                  "y": 1.303,
+                  "z": 5.308
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 84.34031677246094,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Open Fridge to retrieve item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 7,
+            "image_path": "obs_007.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.712,
+                  "y": 0.008,
+                  "z": 4.821
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|20",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.051,
+                  "y": 1.167,
+                  "z": 4.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.31|7.08|5.31",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.539,
+                  "y": 1.303,
+                  "z": 5.308
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.0,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
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+              "rotation_y": 171.96890258789062,
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+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Bowl|surface|7|36",
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+              "natural_language": "Put Apple on Bowl"
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+            "feedback": {
+              "success": true,
+              "message": "Put object on Bowl|surface|7|36",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
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+                "object_id": "Candle|surface|7|40",
+                "object_type": "Candle",
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+                "object_type": "RemoteControl",
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+                  "z": 7.657
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+                "distance": 1.46,
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+              {
+                "object_id": "TVStand|7|1",
+                "object_type": "TVStand",
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+            },
+            "action": {
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+              "target": "TVStand|7|1",
+              "instrument": null,
+              "natural_language": "Navigate to TVStand"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|7|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|40",
+                "object_type": "Candle",
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+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|7|45",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 4.981,
+                  "y": 0.242,
+                  "z": 7.415
+                },
+                "distance": 1.2,
+                "in_view_center": false
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+              {
+                "object_id": "door|6|7",
+                "object_type": "Doorway",
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+                  "x": 3.204,
+                  "y": -0.001,
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+                },
+                "distance": 2.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|7",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 6.412,
+                  "y": -0.001,
+                  "z": 7.779
+                },
+                "distance": 1.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|7|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 6.154,
+                  "y": -0.033,
+                  "z": 6.52
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|7|44",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 5.248,
+                  "y": 1.186,
+                  "z": 6.384
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|37",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 4.856,
+                  "y": 0.243,
+                  "z": 7.657
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|1",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 5.23,
+                  "y": 0.005,
+                  "z": 7.657
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 359.18218994140625,
+              "camera_horizon": 48.15229415893555,
+              "holding": "Pencil|surface|7|44"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Pencil|surface|7|44",
+              "instrument": null,
+              "natural_language": "Pick up Pencil"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Pencil|surface|7|44",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 55,
+            "image_path": "obs_055.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|59",
+                "object_type": "Book",
+                "position": {
+                  "x": 0.284,
+                  "y": 0.42,
+                  "z": 0.37
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.284,
+                  "y": 0.012,
+                  "z": 0.315
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|2|50",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 0.188,
+                  "y": 1.011,
+                  "z": 1.74
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.442,
+                  "y": 0.855,
+                  "z": 1.84
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.442,
+                  "y": 0.555,
+                  "z": 1.84
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.442,
+                  "y": 0.255,
+                  "z": 1.84
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.248,
+                  "y": 0.0,
+                  "z": 1.84
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|57",
+                "object_type": "Mug",
+                "position": {
+                  "x": 0.347,
+                  "y": 1.012,
+                  "z": 1.64
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|55",
+                "object_type": "Pen",
+                "position": {
+                  "x": 0.082,
+                  "y": 1.017,
+                  "z": 1.64
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|7|44",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.656,
+                  "y": 1.175,
+                  "z": 1.724
+                },
+                "distance": 0.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|54",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 0.294,
+                  "y": 1.012,
+                  "z": 2.139
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|3.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.562,
+                  "z": 1.602
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.562,
+                  "z": 1.602
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 254.7821044921875,
+              "camera_horizon": 53.4817008972168,
+              "holding": "Pencil|surface|7|44"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Mug|surface|2|57",
+              "instrument": null,
+              "natural_language": "Navigate to Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Mug|surface|2|57",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 56,
+            "image_path": "obs_056.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|59",
+                "object_type": "Book",
+                "position": {
+                  "x": 0.284,
+                  "y": 0.42,
+                  "z": 0.37
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.284,
+                  "y": 0.012,
+                  "z": 0.315
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|2|50",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 0.188,
+                  "y": 1.011,
+                  "z": 1.74
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.442,
+                  "y": 0.855,
+                  "z": 1.84
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.442,
+                  "y": 0.555,
+                  "z": 1.84
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.442,
+                  "y": 0.255,
+                  "z": 1.84
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.248,
+                  "y": 0.0,
+                  "z": 1.84
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|57",
+                "object_type": "Mug",
+                "position": {
+                  "x": 0.347,
+                  "y": 1.012,
+                  "z": 1.64
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|55",
+                "object_type": "Pen",
+                "position": {
+                  "x": 0.082,
+                  "y": 1.017,
+                  "z": 1.64
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|7|44",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.363,
+                  "y": 1.123,
+                  "z": 1.613
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|54",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 0.294,
+                  "y": 1.012,
+                  "z": 2.139
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|3.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.562,
+                  "z": 1.602
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.562,
+                  "z": 1.602
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 254.7821044921875,
+              "camera_horizon": 53.4817008972168,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Mug|surface|2|57",
+              "instrument": null,
+              "natural_language": "Put Pencil on Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Mug|surface|2|57",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 57 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000391",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|2|6",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|2|6",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|2|16",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|2|16",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|2|16",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|2|16",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|2|6 in Microwave|surface|2|16 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901/ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901/ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8b27f1ca69e85bdacd6d1d30571ee3c34ded943
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901/ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901.json
@@ -0,0 +1,9373 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000401_ProcTHOR-test-000901",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
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+              "natural_language": "Put cleaned Spoon on Bowl"
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+              "message": "Put object on Bowl|surface|7|35",
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+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 60 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000401",
+        "expected_actions": [
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+            "target": "CreditCard|surface|6|29",
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+          {
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+            "target": "CreditCard|surface|6|29",
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+          },
+          {
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+            "target": "Microwave|surface|6|19",
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+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|6|19",
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+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|6|19",
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+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|6|19",
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+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|6|29 in Microwave|surface|6|19 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943/ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943/ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943.json
new file mode 100644
index 0000000000000000000000000000000000000000..8033aba07835be31b7b67464a9f2a2e7f4c5259c
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943/ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943.json
@@ -0,0 +1,6944 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000443_ProcTHOR-test-000943",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|2 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|2",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|2 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 27,
+      "object_id": "Fridge|2|2",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000443",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Bowl；[clean_and_place] Clean ButterKnife and place it into Drawer。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 29,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
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+                  "y": -0.001,
+                  "z": 6.396
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 20.039,
+                  "y": 0.007,
+                  "z": 4.599
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|4",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 19.24,
+                  "y": 0.015,
+                  "z": 4.429
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|12.71|4.24|21.19|4.24",
+                "object_type": "Wall",
+                "position": {
+                  "x": 16.95,
+                  "y": 1.378,
+                  "z": 4.237
+                },
+                "distance": 3.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 20.0,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 177.51292419433594,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|2",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|10",
+                "object_type": "Apple",
+                "position": {
+                  "x": 19.915,
+                  "y": 1.013,
+                  "z": 4.716
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 21.187,
+                  "y": -0.001,
+                  "z": 6.396
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|16",
+                "object_type": "Egg",
+                "position": {
+                  "x": 19.668,
+                  "y": 0.988,
+                  "z": 4.717
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|14",
+                "object_type": "Egg",
+                "position": {
+                  "x": 19.792,
+                  "y": 1.223,
+                  "z": 4.578
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 20.039,
+                  "y": 0.007,
+                  "z": 4.599
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|4",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 19.24,
+                  "y": 0.015,
+                  "z": 4.429
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|11",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 20.04,
+                  "y": 1.27,
+                  "z": 4.578
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|7",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 20.287,
+                  "y": 1.0,
+                  "z": 4.669
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 20.0,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 177.51292419433594,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|2",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|10",
+                "object_type": "Apple",
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+                  "y": 1.013,
+                  "z": 4.716
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+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
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+                  "y": -0.001,
+                  "z": 6.396
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|16",
+                "object_type": "Egg",
+                "position": {
+                  "x": 19.668,
+                  "y": 0.988,
+                  "z": 4.717
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|14",
+                "object_type": "Egg",
+                "position": {
+                  "x": 20.002,
+                  "y": 1.167,
+                  "z": 5.449
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 20.039,
+                  "y": 0.007,
+                  "z": 4.599
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|4",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 19.24,
+                  "y": 0.015,
+                  "z": 4.429
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|11",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 20.04,
+                  "y": 1.27,
+                  "z": 4.578
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|7",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 20.287,
+                  "y": 1.0,
+                  "z": 4.669
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 20.0,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 177.51292419433594,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Egg|surface|2|14"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|14",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
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+                  "z": 6.396
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+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|14",
+                "object_type": "Egg",
+                "position": {
+                  "x": 20.002,
+                  "y": 1.167,
+                  "z": 5.449
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+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
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+                  "z": 4.599
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+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|4",
+                "object_type": "GarbageCan",
+                "position": {
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+                  "y": 0.015,
+                  "z": 4.429
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+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|12.71|4.24|21.19|4.24",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.378,
+                  "z": 4.237
+                },
+                "distance": 3.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 20.0,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 177.51292419433594,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Egg|surface|2|14"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|2",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
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+                "object_type": "Egg",
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+                  "z": 1.344
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+                  "z": 1.8
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+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|9|1|0___0",
+                "object_type": "SinkBasin",
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+            "agent_state": {
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+              "holding": "Egg|surface|2|14"
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+            "action": {
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+              "target": "Sink|9|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
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+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|9|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
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+              }
+            ],
+            "agent_state": {
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+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|9|1|0___0",
+              "instrument": null,
+              "natural_language": "Put Egg into SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|9|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
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+                "object_type": "Faucet",
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+              "natural_language": "Navigate to Faucet"
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+                "object_id": "TVStand|3|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
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+                  "z": 8.669
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
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+                  "z": 8.672
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+                "distance": 0.76,
+                "in_view_center": false
+              },
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+                "object_id": "Television|3|0|1",
+                "object_type": "Television",
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+                  "y": 1.241,
+                  "z": 8.732
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+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0",
+                "object_type": "TVStand",
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+                  "y": -0.001,
+                  "z": 8.673
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+              },
+              {
+                "object_id": "wall|exterior|0.00|8.96|7.17|8.96",
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+                  "z": 8.964
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+              },
+              {
+                "object_id": "wall|3|0.00|5.38|0.00|8.96",
+                "object_type": "Wall",
+                "position": {
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+                  "z": 7.172
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+              "holding": "ButterKnife|surface|2|3"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bowl|surface|2|10",
+              "instrument": null,
+              "natural_language": "Navigate to Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bowl|surface|2|10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 36,
+            "image_path": "obs_036.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|3|13",
+                "object_type": "CellPhone",
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+                  "z": 8.583
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+              },
+              {
+                "object_id": "Egg|surface|2|0",
+                "object_type": "Egg",
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+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0___4",
+                "object_type": "Shelf",
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+                  "z": 8.67
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+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0___5",
+                "object_type": "Shelf",
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+                  "y": 0.446,
+                  "z": 8.672
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0___0",
+                "object_type": "Shelf",
+                "position": {
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+                  "y": 0.278,
+                  "z": 8.669
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.477,
+                  "z": 8.669
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.648,
+                  "z": 8.672
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|3|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.973,
+                  "y": 1.241,
+                  "z": 8.732
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|3|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.971,
+                  "y": -0.001,
+                  "z": 8.673
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|8.96|7.17|8.96",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.586,
+                  "y": 1.337,
+                  "z": 8.964
+                },
+                "distance": 2.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|5.38|0.00|8.96",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.337,
+                  "z": 7.172
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 8.0
+              },
+              "rotation_y": 8.137043952941895,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Bowl|surface|2|10",
+              "instrument": null,
+              "natural_language": "Put ButterKnife on Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Bowl|surface|2|10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 37,
+            "image_path": "obs_037.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.146,
+                  "y": 0.001,
+                  "z": 4.588
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|5.38|7.17|5.38",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.337,
+                  "z": 5.379
+                },
+                "distance": 3.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|7.17|0.00|7.17|5.38",
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+                  "z": 2.69
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+                "distance": 2.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.17|0.00|7.17|5.38",
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+            "agent_state": {
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+                "z": 5.0
+              },
+              "rotation_y": 136.16000366210938,
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+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 38,
+            "image_path": "obs_038.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
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+                  "y": 0.001,
+                  "z": 4.588
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|9",
+                "object_type": "Fork",
+                "position": {
+                  "x": 6.786,
+                  "y": 1.167,
+                  "z": 4.963
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|5.38|7.17|5.38",
+                "object_type": "Wall",
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+                  "y": 1.337,
+                  "z": 5.379
+                },
+                "distance": 3.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|7.17|0.00|7.17|5.38",
+                "object_type": "Wall",
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+                  "y": 1.337,
+                  "z": 2.69
+                },
+                "distance": 2.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.17|0.00|7.17|5.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.171,
+                  "y": 1.337,
+                  "z": 2.69
+                },
+                "distance": 2.35,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 136.16000366210938,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Fork|surface|2|9"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Fork|surface|2|9",
+              "instrument": null,
+              "natural_language": "Pick up Fork"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Fork|surface|2|9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 39,
+            "image_path": "obs_039.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.769,
+                  "y": 0.001,
+                  "z": 2.893
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.051,
+                  "y": 0.001,
+                  "z": 4.157
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|2|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.001,
+                  "z": 2.892
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.057,
+                  "y": 0.003,
+                  "z": 2.914
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|9",
+                "object_type": "Fork",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.173,
+                  "z": 3.453
+                },
+                "distance": 0.09,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.0,
+                "y": 0.9009993672370911,
+                "z": 3.5
+              },
+              "rotation_y": 238.13320922851562,
+              "camera_horizon": 54.77984619140625,
+              "holding": "Fork|surface|2|9"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|2|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|2|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.769,
+                  "y": 0.001,
+                  "z": 2.893
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.051,
+                  "y": 0.001,
+                  "z": 4.157
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|2|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.001,
+                  "z": 2.892
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.057,
+                  "y": 0.003,
+                  "z": 2.914
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|9",
+                "object_type": "Fork",
+                "position": {
+                  "x": 1.513,
+                  "y": 0.777,
+                  "z": 2.058
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.0,
+                "y": 0.9009993672370911,
+                "z": 3.5
+              },
+              "rotation_y": 238.13320922851562,
+              "camera_horizon": 54.77984619140625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "DiningTable|2|2|0",
+              "instrument": null,
+              "natural_language": "Put Fork on DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on DiningTable|2|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 41 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000443",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|3|34",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|3|34",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|2|1",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|3|34 in Microwave|surface|2|1 and not in Fridge|2|2",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|2)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956/ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956/ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac859cfea8eb994fa947222bca851fafc5ecf6bf
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956/ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956.json
@@ -0,0 +1,7994 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000456_ProcTHOR-test-000956",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|8|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 22,
+      "object_id": "Fridge|8|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
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+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000456",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Spoon and place it into Drawer；[pick_two_and_place] Put Pillow on ArmChair, then put Pen on Shelf。期间尝试打开一个锁死的Fridge失败。",
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+      "room_type": "Kitchen",
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+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.093,
+                  "y": 1.744,
+                  "z": 0.197
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|2|4",
+                "object_type": "ShelvingUnit",
+                "position": {
+                  "x": 4.093,
+                  "y": 0.001,
+                  "z": 0.177
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|8.17|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.085,
+                  "y": 1.858,
+                  "z": 0.0
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|8.17|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.085,
+                  "y": 1.858,
+                  "z": 0.0
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 170.47650146484375,
+              "camera_horizon": -30.0,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ShelvingUnit|2|4___2",
+              "instrument": null,
+              "natural_language": "Put cooled Bowl on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ShelvingUnit|2|4___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 56 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000456",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|6|25",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|6|25",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|8|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|8|4",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|8|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|8|4",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|6|25 in Safe|8|4 and not in Fridge|8|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992/ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992/ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992.json
new file mode 100644
index 0000000000000000000000000000000000000000..22fc102ba8f3563c321dea3a437b19339c7b25ac
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992/ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992.json
@@ -0,0 +1,4090 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000492_ProcTHOR-test-000992",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 9,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000492",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[L0] Put Pen on Box；[L0] Put CellPhone on Shelf。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 11,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|6|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.373,
+                  "z": 1.821
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.168,
+                  "z": 1.307
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___7",
+                "object_type": "Drawer",
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+                  "y": 0.579,
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+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___6",
+                "object_type": "Drawer",
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+                  "x": 10.767,
+                  "y": 0.373,
+                  "z": 1.307
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.168,
+                  "z": 0.795
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.579,
+                  "z": 0.795
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.373,
+                  "z": 0.795
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.168,
+                  "z": 0.281
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.579,
+                  "z": 0.281
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.168,
+                  "z": 1.821
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.373,
+                  "z": 0.281
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.767,
+                  "y": 0.579,
+                  "z": 1.821
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 10.62,
+                  "y": 0.001,
+                  "z": 1.053
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|6|66",
+                "object_type": "Pen",
+                "position": {
+                  "x": 10.523,
+                  "y": 0.735,
+                  "z": 1.857
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|6|54",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 10.718,
+                  "y": 0.73,
+                  "z": 1.596
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|surface|6|63",
+                "object_type": "Safe",
+                "position": {
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+                  "y": 0.729,
+                  "z": 0.812
+                },
+                "distance": 0.75,
+                "in_view_center": false
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+              {
+                "object_id": "TissueBox|surface|6|64",
+                "object_type": "TissueBox",
+                "position": {
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+                  "y": 0.73,
+                  "z": 1.596
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.20|0.00|12.24|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.221,
+                  "y": 1.609,
+                  "z": 0.0
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|10.20|0.00|10.20|8.16",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.201,
+                  "y": 1.609,
+                  "z": 4.081
+                },
+                "distance": 3.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.25,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 274.80352783203125,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|6|1",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|6|1___9",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.373,
+                  "z": 1.821
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___8",
+                "object_type": "Drawer",
+                "position": {
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+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___7",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.579,
+                  "z": 1.307
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___6",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.373,
+                  "z": 1.307
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+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___5",
+                "object_type": "Drawer",
+                "position": {
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___4",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.579,
+                  "z": 0.795
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+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___3",
+                "object_type": "Drawer",
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+                  "z": 0.795
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+                "distance": 0.52,
+                "in_view_center": false
+              },
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+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.168,
+                  "z": 0.281
+                },
+                "distance": 0.87,
+                "in_view_center": false
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+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
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+                "distance": 0.87,
+                "in_view_center": false
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+                "object_type": "Drawer",
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+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
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+                "in_view_center": false
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+                "in_view_center": false
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+                "object_type": "Dresser",
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+                "object_id": "RemoteControl|surface|6|54",
+                "object_type": "RemoteControl",
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+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|surface|6|63",
+                "object_type": "Safe",
+                "position": {
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+                "in_view_center": false
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+              {
+                "object_id": "TissueBox|surface|6|64",
+                "object_type": "TissueBox",
+                "position": {
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+                  "y": 0.73,
+                  "z": 1.596
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.20|0.00|12.24|0.00",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.609,
+                  "z": 0.0
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|10.20|0.00|10.20|8.16",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.609,
+                  "z": 4.081
+                },
+                "distance": 3.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9009993672370911,
+                "z": 1.0
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+              "rotation_y": 274.80352783203125,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Pen|surface|6|66"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Pen|surface|6|66",
+              "instrument": null,
+              "natural_language": "Pick up Pen"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Pen|surface|6|66",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
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+                "object_id": "Box|surface|6|68",
+                "object_type": "Box",
+                "position": {
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+              {
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+                "object_type": "Shelf",
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+                  "z": 5.062
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+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|4",
+                "object_type": "ShelvingUnit",
+                "position": {
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+                  "y": 0.001,
+                  "z": 5.062
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.75,
+                "y": 0.9009993672370911,
+                "z": 5.25
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+              "rotation_y": 252.1012420654297,
+              "camera_horizon": -6.738800048828125,
+              "holding": "Pen|surface|6|66"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Box|surface|6|68",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|5|65",
+                "object_type": "Pen",
+                "position": {
+                  "x": 11.089,
+                  "y": 0.422,
+                  "z": 2.927
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|10.51|4.20|12.61|4.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.56,
+                  "y": 1.503,
+                  "z": 4.204
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|12.61|0.00|12.61|4.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.611,
+                  "y": 1.503,
+                  "z": 2.102
+                },
+                "distance": 1.86,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.75,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 190.77920532226562,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "MoveForward",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": false,
+              "message": "Blocked",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 15,
+            "image_path": "obs_015.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|5|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.395,
+                  "y": 0.012,
+                  "z": 3.811
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|5|2|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 11.077,
+                  "y": 0.012,
+                  "z": 3.089
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|5|48",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 10.638,
+                  "y": 0.769,
+                  "z": 3.402
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|5|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 9.831,
+                  "y": 0.003,
+                  "z": 3.084
+                },
+                "distance": 2.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.066,
+                  "y": 0.71,
+                  "z": 3.69
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.066,
+                  "y": 0.487,
+                  "z": 3.69
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.717,
+                  "y": 0.265,
+                  "z": 3.69
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 12.307,
+                  "y": -0.0,
+                  "z": 3.69
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|19",
+                "object_type": "Fork",
+                "position": {
+                  "x": 11.009,
+                  "y": 0.427,
+                  "z": 3.246
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|5|65",
+                "object_type": "Pen",
+                "position": {
+                  "x": 11.089,
+                  "y": 0.422,
+                  "z": 2.927
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|6.31|4.20|10.51|4.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.408,
+                  "y": 1.503,
+                  "z": 4.204
+                },
+                "distance": 3.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|10.51|4.20|12.61|4.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.56,
+                  "y": 1.503,
+                  "z": 4.204
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|6.31|4.20|10.51|4.20",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.408,
+                  "y": 1.503,
+                  "z": 4.204
+                },
+                "distance": 3.37,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.75,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 280.7792053222656,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 16 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000492",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|8|85",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|8|85",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|3|25",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|3|25",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|3|25",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|3|25",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|8|85 in Safe|surface|3|25 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000/ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000/ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8dc80d21427a4233d533c818f60646c4bf76f5
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000/ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000.json
@@ -0,0 +1,11331 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000500_ProcTHOR-test-000000",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 28,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000500",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pillow on Sofa, then put Pen on Drawer；[clean_and_place] Clean SoapBar and place it into Cabinet。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 30,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|6|56",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 13.65,
+                  "y": 0.751,
+                  "z": 5.442
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|6|1",
+                "object_type": "Bed",
+                "position": {
+                  "x": 12.75,
+                  "y": 0.001,
+                  "z": 5.033
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|surface|6|60",
+                "object_type": "Box",
+                "position": {
+                  "x": 12.51,
+                  "y": 0.949,
+                  "z": 4.555
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|surface|6|59",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 11.944,
+                  "y": 0.761,
+                  "z": 5.273
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 12.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 180.00062561035156,
+              "camera_horizon": 52.319522857666016,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bed|6|1",
+              "instrument": null,
+              "natural_language": "Navigate to Bed"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bed|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|6|56",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 13.65,
+                  "y": 0.751,
+                  "z": 5.442
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bed|6|1",
+                "object_type": "Bed",
+                "position": {
+                  "x": 12.75,
+                  "y": 0.001,
+                  "z": 5.033
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|surface|6|60",
+                "object_type": "Box",
+                "position": {
+                  "x": 12.51,
+                  "y": 0.949,
+                  "z": 4.555
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|surface|6|59",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 12.75,
+                  "y": 1.177,
+                  "z": 6.144
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 12.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 180.00062561035156,
+              "camera_horizon": 52.319522857666016,
+              "holding": "Pillow|surface|6|59"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Pillow|surface|6|59",
+              "instrument": null,
+              "natural_language": "Pick up Pillow"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Pillow|surface|6|59",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 4.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|surface|6|59",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 3.495,
+                  "y": 1.168,
+                  "z": 2.561
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|4|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.426,
+                  "y": 0.01,
+                  "z": 3.451
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 355.5406799316406,
+              "camera_horizon": 58.65773391723633,
+              "holding": "Pillow|surface|6|59"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sofa|4|0|1",
+              "instrument": null,
+              "natural_language": "Navigate to Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sofa|4|0|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 4.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|surface|6|59",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 2.537,
+                  "y": 0.462,
+                  "z": 3.174
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|4|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.426,
+                  "y": 0.01,
+                  "z": 3.451
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 355.5406799316406,
+              "camera_horizon": 58.65773391723633,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sofa|4|0|1",
+              "instrument": null,
+              "natural_language": "Put Pillow on Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sofa|4|0|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "DeskLamp|surface|6|57",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 13.616,
+                  "y": 0.818,
+                  "z": 7.577
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DogBed|6|3",
+                "object_type": "DogBed",
+                "position": {
+                  "x": 12.25,
+                  "y": 0.005,
+                  "z": 8.833
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.635,
+                  "y": 0.731,
+                  "z": 7.577
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.41,
+                  "z": 6.834
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.41,
+                  "z": 7.577
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.089,
+                  "z": 6.834
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.247,
+                  "z": 7.577
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.247,
+                  "z": 6.834
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.574,
+                  "z": 6.834
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.089,
+                  "z": 7.577
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 13.634,
+                  "y": 0.574,
+                  "z": 7.577
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|2",
+                "object_type": "Dresser",
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+              "message": "Leaving Kitchen, heading to Kitchen.",
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+              "natural_language": "Navigate to TVStand"
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+              "message": "Navigated to TVStand|4|4|0",
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+              "message": "Picked up TissueBox|surface|4|1",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|8.98|7.18|12.57|7.18",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.776,
+                  "y": 1.578,
+                  "z": 7.184
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|12.57|3.59|12.57|7.18",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.572,
+                  "y": 1.578,
+                  "z": 5.388
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.5,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 44.189292907714844,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|5|0",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|5|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 56,
+            "image_path": "obs_056.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|6|37",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.769,
+                  "z": 7.467
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|6|34",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.467
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.781,
+                  "y": 0.011,
+                  "z": 8.632
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.789,
+                  "y": 0.011,
+                  "z": 7.226
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|6|35",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.77,
+                  "z": 7.932
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.805,
+                  "y": 0.003,
+                  "z": 7.924
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|6|26",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.777
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|32",
+                "object_type": "Potato",
+                "position": {
+                  "x": 2.057,
+                  "y": 0.802,
+                  "z": 7.622
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 334.2704772949219,
+              "camera_horizon": 56.89714431762695,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|6|3|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|6|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 57,
+            "image_path": "obs_057.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|6|37",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.769,
+                  "z": 7.467
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|6|34",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.467
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.781,
+                  "y": 0.011,
+                  "z": 8.632
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.789,
+                  "y": 0.011,
+                  "z": 7.226
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|6|35",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.77,
+                  "z": 7.932
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.805,
+                  "y": 0.003,
+                  "z": 7.924
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|6|26",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.777
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|32",
+                "object_type": "Potato",
+                "position": {
+                  "x": 2.218,
+                  "y": 1.17,
+                  "z": 7.066
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 334.2704772949219,
+              "camera_horizon": 56.89714431762695,
+              "holding": "Potato|surface|6|32"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Potato|surface|6|32",
+              "instrument": null,
+              "natural_language": "Pick up Potato"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Potato|surface|6|32",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|6|37",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.769,
+                  "z": 7.467
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|6|34",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.467
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.781,
+                  "y": 0.011,
+                  "z": 8.632
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.789,
+                  "y": 0.011,
+                  "z": 7.226
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|1",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.026,
+                  "y": 0.0,
+                  "z": 8.954
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|6|35",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.77,
+                  "z": 7.932
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.805,
+                  "y": 0.003,
+                  "z": 7.924
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 7.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|6|26",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.777
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|32",
+                "object_type": "Potato",
+                "position": {
+                  "x": 0.379,
+                  "y": 1.185,
+                  "z": 7.755
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|8.98|5.39|8.98",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.694,
+                  "y": 1.578,
+                  "z": 8.98
+                },
+                "distance": 2.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|8.98|5.39|8.98",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.694,
+                  "y": 1.578,
+                  "z": 8.98
+                },
+                "distance": 2.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 87.77684020996094,
+              "camera_horizon": 48.866050720214844,
+              "holding": "Potato|surface|6|32"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Plate|surface|6|26",
+              "instrument": null,
+              "natural_language": "Navigate to Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Plate|surface|6|26",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 59,
+            "image_path": "obs_059.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|6|37",
+                "object_type": "Book",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.769,
+                  "z": 7.467
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|6|34",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.467
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.781,
+                  "y": 0.011,
+                  "z": 8.632
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.789,
+                  "y": 0.011,
+                  "z": 7.226
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|1",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.026,
+                  "y": 0.0,
+                  "z": 8.954
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|6|35",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 1.226,
+                  "y": 0.77,
+                  "z": 7.932
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.805,
+                  "y": 0.003,
+                  "z": 7.924
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 7.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|6|26",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.949,
+                  "y": 0.775,
+                  "z": 7.777
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|32",
+                "object_type": "Potato",
+                "position": {
+                  "x": 0.896,
+                  "y": 0.844,
+                  "z": 7.777
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|8.98|5.39|8.98",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.694,
+                  "y": 1.578,
+                  "z": 8.98
+                },
+                "distance": 2.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|8.98|5.39|8.98",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.694,
+                  "y": 1.578,
+                  "z": 8.98
+                },
+                "distance": 2.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 87.77684020996094,
+              "camera_horizon": 48.866050720214844,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Plate|surface|6|26",
+              "instrument": null,
+              "natural_language": "Put Potato on Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Plate|surface|6|26",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 60 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000500",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|2|8",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|2|8",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|5|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|5|4",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|5|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|5|4",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|2|8 in Safe|5|4 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092/ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092/ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe754636ef6c6b4e8f82bfd042c45326c991347
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092/ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092.json
@@ -0,0 +1,7988 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000592_ProcTHOR-test-000092",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 22,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000592",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Fork on Pan, then put Egg on Pan；[cool_and_place] Cool Mug and place it on Shelf。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 24,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bread|surface|2|3",
+                "object_type": "Bread",
+                "position": {
+                  "x": 0.252,
+                  "y": 1.019,
+                  "z": 8.248
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.025,
+                  "y": 0.001,
+                  "z": 7.484
+                },
+                "distance": 0.76,
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+              "natural_language": "Put CreditCard on Box"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Box|surface|8|69",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 44 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000592",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|3|20",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|3|20",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|3|2",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|3|2",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|3|2",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|3|2",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|3|20 in Safe|3|2 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133/ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133/ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133.json
new file mode 100644
index 0000000000000000000000000000000000000000..47229bf6ac26f7d23097c4e1915709b53f5d87f8
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133/ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133.json
@@ -0,0 +1,4198 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|8|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Fridge|8|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000633",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put KeyChain on Shelf, then put Pen on Drawer；[clean_and_place] Clean Egg and place it on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|4|2",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 11.421,
+                  "y": 1.043,
+                  "z": 7.41
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|6",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.242,
+                  "y": 0.001,
+                  "z": 7.14
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.241,
+                  "y": 0.001,
+                  "z": 8.238
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|4|0",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 10.491,
+                  "y": 0.77,
+                  "z": 8.519
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 10.964,
+                  "y": 0.003,
+                  "z": 7.712
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|8",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 10.956,
+                  "y": 0.757,
+                  "z": 7.965
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|3",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 11.111,
+                  "y": 0.77,
+                  "z": 7.411
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|4|6",
+                "object_type": "Pen",
+                "position": {
+                  "x": 11.266,
+                  "y": 0.777,
+                  "z": 7.411
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.0,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 92.24795532226562,
+              "camera_horizon": 58.468536376953125,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|4|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|4|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|4|2",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 11.421,
+                  "y": 1.043,
+                  "z": 7.41
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|6",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.242,
+                  "y": 0.001,
+                  "z": 7.14
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.241,
+                  "y": 0.001,
+                  "z": 8.238
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|4|0",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 10.491,
+                  "y": 0.77,
+                  "z": 8.519
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 10.964,
+                  "y": 0.003,
+                  "z": 7.712
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|8",
+                "object_type": "HousePlant",
+                "position": {
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+                  "y": 0.757,
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+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|3",
+                "object_type": "KeyChain",
+                "position": {
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+                  "y": 1.168,
+                  "z": 7.748
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|4|6",
+                "object_type": "Pen",
+                "position": {
+                  "x": 11.266,
+                  "y": 0.777,
+                  "z": 7.411
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.0,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 92.24795532226562,
+              "camera_horizon": 58.468536376953125,
+              "holding": "KeyChain|surface|4|3"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "KeyChain|surface|4|3",
+              "instrument": null,
+              "natural_language": "Pick up KeyChain"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up KeyChain|surface|4|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "DiningTable|9|1",
+                "object_type": "DiningTable",
+                "position": {
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+                  "y": -0.002,
+                  "z": 10.072
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|3",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.938,
+                  "y": 1.169,
+                  "z": 11.761
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___5",
+                "object_type": "Shelf",
+                "position": {
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+                  "y": 0.446,
+                  "z": 11.873
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.316,
+                  "y": 0.302,
+                  "z": 12.45
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___2",
+                "object_type": "Shelf",
+                "position": {
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+                  "y": 0.648,
+                  "z": 11.294
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___0",
+                "object_type": "Shelf",
+                "position": {
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+                  "y": 0.278,
+                  "z": 11.294
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.317,
+                  "y": 0.477,
+                  "z": 11.294
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|9|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 2.093,
+                  "y": -0.0,
+                  "z": 12.375
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|9|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.345,
+                  "y": 1.247,
+                  "z": 11.873
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.313,
+                  "y": -0.001,
+                  "z": 11.871
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|0.00|12.85|4.28|12.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.141,
+                  "y": 1.256,
+                  "z": 12.846
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 11.75
+              },
+              "rotation_y": 280.1580810546875,
+              "camera_horizon": 58.337276458740234,
+              "holding": "KeyChain|surface|4|3"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|9|0|0___5",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|9|0|0___5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "DiningTable|9|1",
+                "object_type": "DiningTable",
+                "position": {
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+                  "y": -0.002,
+                  "z": 10.072
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|3",
+                "object_type": "KeyChain",
+                "position": {
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+                  "y": 0.183,
+                  "z": 11.711
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___5",
+                "object_type": "Shelf",
+                "position": {
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+                  "z": 11.873
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+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.316,
+                  "y": 0.302,
+                  "z": 12.45
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.314,
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+                  "z": 11.294
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___0",
+                "object_type": "Shelf",
+                "position": {
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+                  "y": 0.278,
+                  "z": 11.294
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.317,
+                  "y": 0.477,
+                  "z": 11.294
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|9|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 2.093,
+                  "y": -0.0,
+                  "z": 12.375
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|9|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.345,
+                  "y": 1.247,
+                  "z": 11.873
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.313,
+                  "y": -0.001,
+                  "z": 11.871
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|0.00|12.85|4.28|12.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.141,
+                  "y": 1.256,
+                  "z": 12.846
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 11.75
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+              "rotation_y": 280.1580810546875,
+              "camera_horizon": 58.337276458740234,
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+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "TVStand|9|0|0___5",
+              "instrument": null,
+              "natural_language": "Put KeyChain on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on TVStand|9|0|0___5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|4|2",
+                "object_type": "BaseballBat",
+                "position": {
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+                  "y": 1.043,
+                  "z": 7.41
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|6",
+                "object_type": "Chair",
+                "position": {
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+                  "y": 0.001,
+                  "z": 7.14
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.241,
+                  "y": 0.001,
+                  "z": 8.238
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|4|0",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 10.491,
+                  "y": 0.77,
+                  "z": 8.519
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 10.964,
+                  "y": 0.003,
+                  "z": 7.712
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|8",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 10.956,
+                  "y": 0.757,
+                  "z": 7.965
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|4|6",
+                "object_type": "Pen",
+                "position": {
+                  "x": 11.266,
+                  "y": 0.777,
+                  "z": 7.411
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 0.0
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 176.9889373779297,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SprayBottle|surface|2|2"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "SprayBottle|surface|2|2",
+              "instrument": null,
+              "natural_language": "Pick up SprayBottle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SprayBottle|surface|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|2|1",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.162,
+                  "y": 1.037,
+                  "z": 0.236
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 0.253,
+                  "y": 1.167,
+                  "z": 1.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|2|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 0.29,
+                  "y": 0.002,
+                  "z": 0.497
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|0",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.162,
+                  "y": 1.035,
+                  "z": 0.144
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.385,
+                  "z": 1.061
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|4.25|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 0.0
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.385,
+                  "z": 1.061
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|4.25|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 0.0
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 176.9889373779297,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SprayBottle|surface|2|2"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|2|0",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 4.054,
+                  "y": 0.015,
+                  "z": 1.875
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 3.782,
+                  "y": 1.167,
+                  "z": 1.54
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.25|0.00|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.246,
+                  "y": 1.385,
+                  "z": 1.061
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|2.12|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 2.123
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.25|0.00|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.246,
+                  "y": 1.385,
+                  "z": 1.061
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|2.12|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 2.123
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 1.5
+              },
+              "rotation_y": 39.08012390136719,
+              "camera_horizon": 60.000003814697266,
+              "holding": "SprayBottle|surface|2|2"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|2|3",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 4.054,
+                  "y": 0.015,
+                  "z": 1.875
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 4.025,
+                  "y": 0.225,
+                  "z": 1.993
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.25|0.00|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.246,
+                  "y": 1.385,
+                  "z": 1.061
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|2.12|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 2.123
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.25|0.00|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.246,
+                  "y": 1.385,
+                  "z": 1.061
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|2.12|4.25|2.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.123,
+                  "y": 1.385,
+                  "z": 2.123
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 1.5
+              },
+              "rotation_y": 39.08012390136719,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|2|3",
+              "instrument": null,
+              "natural_language": "Put SprayBottle on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 7 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000633",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|4|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|4|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|4|1",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|4|0 in Safe|surface|4|1 and not in Fridge|8|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149/ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149/ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1911f571093f165eb36c8904a5c2fe5465d8ec0
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149/ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149.json
@@ -0,0 +1,7189 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|6|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 22,
+      "object_id": "Fridge|6|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000649",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Bowl and place it on Dresser；[pick_two_and_place] Put Statue on SideTable, then put Egg on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 24,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 2.15,
+                  "y": 0.774,
+                  "z": 12.219
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.986,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.221,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.864,
+                  "y": 0.001,
+                  "z": 12.061
+                },
+                "distance": 1.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|7|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.62,
+                  "y": 0.003,
+                  "z": 12.056
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|20",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.873,
+                  "y": 0.784,
+                  "z": 11.599
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|19",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.041,
+                  "y": 0.771,
+                  "z": 11.754
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|8.75|0.00|13.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.062,
+                  "z": 10.934
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 11.0
+              },
+              "rotation_y": 6.482513427734375,
+              "camera_horizon": 55.95934295654297,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|7|1|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|7|1|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 1.509,
+                  "y": 1.172,
+                  "z": 11.08
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.986,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.221,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.864,
+                  "y": 0.001,
+                  "z": 12.061
+                },
+                "distance": 1.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|7|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.62,
+                  "y": 0.003,
+                  "z": 12.056
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|20",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.873,
+                  "y": 0.784,
+                  "z": 11.599
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|19",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.041,
+                  "y": 0.771,
+                  "z": 11.754
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|8.75|0.00|13.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.062,
+                  "z": 10.934
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 11.0
+              },
+              "rotation_y": 6.482513427734375,
+              "camera_horizon": 55.95934295654297,
+              "holding": "Bowl|surface|7|18"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Bowl|surface|7|18",
+              "instrument": null,
+              "natural_language": "Pick up Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Bowl|surface|7|18",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.551,
+                  "y": 1.167,
+                  "z": 0.506
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.196,
+                  "y": 0.003,
+                  "z": 0.971
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.385,
+                  "y": 0.007,
+                  "z": 0.597
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|8.75|0.00",
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+                "position": {
+                  "x": 5.801,
+                  "y": 1.167,
+                  "z": 1.009
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|2|2|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 6.414,
+                  "y": 1.202,
+                  "z": 1.112
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 6.418,
+                  "y": 0.005,
+                  "z": 1.112
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|6.77|0.00|6.77|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.772,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 2.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.69|0.00|6.77|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.233,
+                  "y": 1.405,
+                  "z": 0.0
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|6.77|0.00|6.77|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.772,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 2.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 6.772,
+                  "y": 1.101,
+                  "z": 2.874
+                },
+                "distance": 2.13,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 80.47469329833984,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|surface|2|6"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "KeyChain|surface|2|6",
+              "instrument": null,
+              "natural_language": "Pick up KeyChain"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up KeyChain|surface|2|6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 37,
+            "image_path": "obs_037.png",
+            "visible_objects": [
+              {
+                "object_id": "SideTable|3|3___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.285,
+                  "y": 0.166,
+                  "z": 4.704
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.285,
+                  "y": 0.458,
+                  "z": 4.704
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|2|6",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.699,
+                  "y": 1.167,
+                  "z": 4.745
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 0.218,
+                  "y": 0.003,
+                  "z": 4.704
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|3|8",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.296,
+                  "y": 0.677,
+                  "z": 4.532
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 264.4032287597656,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|surface|2|6"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "SideTable|3|3___1",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to SideTable|3|3___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 38,
+            "image_path": "obs_038.png",
+            "visible_objects": [
+              {
+                "object_id": "SideTable|3|3___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.482,
+                  "y": 0.166,
+                  "z": 4.704
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.285,
+                  "y": 0.458,
+                  "z": 4.704
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|2|6",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.699,
+                  "y": 1.167,
+                  "z": 4.745
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 0.218,
+                  "y": 0.003,
+                  "z": 4.704
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|3|8",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.296,
+                  "y": 0.677,
+                  "z": 4.532
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 264.4032287597656,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|surface|2|6"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "SideTable|3|3___1",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened SideTable|3|3___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 39,
+            "image_path": "obs_039.png",
+            "visible_objects": [
+              {
+                "object_id": "SideTable|3|3___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.482,
+                  "y": 0.166,
+                  "z": 4.704
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.285,
+                  "y": 0.458,
+                  "z": 4.704
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|2|6",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.517,
+                  "y": 0.077,
+                  "z": 4.575
+                },
+                "distance": 0.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 0.218,
+                  "y": 0.003,
+                  "z": 4.704
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|3|8",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.296,
+                  "y": 0.677,
+                  "z": 4.532
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 264.4032287597656,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "SideTable|3|3___1",
+              "instrument": null,
+              "natural_language": "Put KeyChain into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on SideTable|3|3___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "SideTable|3|3___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.285,
+                  "y": 0.166,
+                  "z": 4.704
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.285,
+                  "y": 0.458,
+                  "z": 4.704
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|3|3",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 0.218,
+                  "y": 0.003,
+                  "z": 4.704
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|3|8",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.296,
+                  "y": 0.677,
+                  "z": 4.532
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 4.75
+              },
+              "rotation_y": 264.4032287597656,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "SideTable|3|3___1",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed SideTable|3|3___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个Pencil藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 41 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000649",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Pencil|surface|6|13",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Pencil|surface|6|13",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|6|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|6|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|6|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|6|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Pencil|surface|6|13 in Microwave|surface|6|3 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174/ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174/ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e6a227c1d5fa01fd3a34bfdfd5690e2896efda
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174/ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174.json
@@ -0,0 +1,10010 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000674_ProcTHOR-test-000174",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 26,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000674",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Newspaper on Drawer, then put KeyChain on Drawer；[clean_and_place] Clean Egg and place it on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|4|13",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 5.946,
+                  "y": 0.708,
+                  "z": 8.308
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|4|10",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 5.586,
+                  "y": 0.708,
+                  "z": 8.308
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|0|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.234,
+                  "y": 0.001,
+                  "z": 7.883
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|0|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.77,
+                  "y": 0.001,
+                  "z": 7.885
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|11",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 5.856,
+                  "y": 0.709,
+                  "z": 8.023
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|12",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 5.946,
+                  "y": 0.708,
+                  "z": 8.166
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|surface|4|14",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": 5.766,
+                  "y": 0.708,
+                  "z": 7.882
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.0,
+                "y": 0.9009993672370911,
+                "z": 8.0
+              },
+              "rotation_y": 98.50995635986328,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|4|0|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|4|0|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
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+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.253,
+                  "y": 0.579,
+                  "z": 12.592
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.253,
+                  "y": 0.168,
+                  "z": 12.592
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.765,
+                  "y": 0.168,
+                  "z": 12.592
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.765,
+                  "y": 0.579,
+                  "z": 12.592
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.765,
+                  "y": 0.373,
+                  "z": 12.592
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.739,
+                  "y": 0.373,
+                  "z": 12.189
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 3.511,
+                  "y": 0.001,
+                  "z": 12.739
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|4|3",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 3.009,
+                  "y": 0.729,
+                  "z": 12.739
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|13.16|6.58|13.16",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.289,
+                  "y": 1.874,
+                  "z": 13.158
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|6|15",
+                "object_type": "Watch",
+                "position": {
+                  "x": 2.567,
+                  "y": 0.535,
+                  "z": 12.363
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.75,
+                "y": 0.9009993672370911,
+                "z": 11.75
+              },
+              "rotation_y": 358.6282653808594,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|4|1___1",
+              "instrument": null,
+              "natural_language": "Put Watch into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|4|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 46,
+            "image_path": "obs_046.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|4|0",
+                "object_type": "Bed",
+                "position": {
+                  "x": 1.05,
+                  "y": 0.001,
+                  "z": 11.959
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|4|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.683,
+                  "y": 0.001,
+                  "z": 11.277
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|4",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 3.793,
+                  "y": 0.729,
+                  "z": 12.641
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.739,
+                  "y": 0.579,
+                  "z": 12.592
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.253,
+                  "y": 0.373,
+                  "z": 12.592
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.253,
+                  "y": 0.579,
+                  "z": 12.592
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.253,
+                  "y": 0.168,
+                  "z": 12.592
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.765,
+                  "y": 0.168,
+                  "z": 12.592
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.765,
+                  "y": 0.579,
+                  "z": 12.592
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.765,
+                  "y": 0.373,
+                  "z": 12.592
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.739,
+                  "y": 0.373,
+                  "z": 12.189
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 3.511,
+                  "y": 0.001,
+                  "z": 12.739
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|4|3",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 3.009,
+                  "y": 0.729,
+                  "z": 12.739
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|13.16|6.58|13.16",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.289,
+                  "y": 1.874,
+                  "z": 13.158
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.75,
+                "y": 0.9009993672370911,
+                "z": 11.75
+              },
+              "rotation_y": 358.6282653808594,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|4|1___1",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|4|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 47 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000674",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|4|11",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|4|11",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|2|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|4|11 in Safe|2|3 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197/ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197/ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2213cde512d2586b8e26353c6d8f44a97db4332
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197/ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197.json
@@ -0,0 +1,10975 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000697_ProcTHOR-test-000197",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|8|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 24,
+      "object_id": "Fridge|8|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000697",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on GarbageCan；[pick_two_and_place] Put TissueBox on Drawer, then put Book on Bed。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 26,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|8|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.508,
+                  "y": 0.008,
+                  "z": 11.361
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|4.15|8.31|4.15|14.54",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.153,
+                  "y": 1.512,
+                  "z": 11.421
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|4.15|8.31|4.15|14.54",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.153,
+                  "y": 1.512,
+                  "z": 11.421
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 11.25
+              },
+              "rotation_y": 278.54119873046875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|8|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|8|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|8|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.508,
+                  "y": 0.008,
+                  "z": 11.361
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|8|45",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 4.568,
+                  "y": 1.42,
+                  "z": 11.45
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 11.25
+              },
+              "rotation_y": 278.54119873046875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|8|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|8|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|8|56",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.199,
+                  "y": 1.167,
+                  "z": 11.258
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|8|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.508,
+                  "y": 0.008,
+                  "z": 11.361
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|8|45",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 4.576,
+                  "y": 1.419,
+                  "z": 11.448
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 11.25
+              },
+              "rotation_y": 278.54119873046875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|8|56"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|8|56",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|8|56",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|8|56",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.199,
+                  "y": 1.167,
+                  "z": 11.258
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|8|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.508,
+                  "y": 0.008,
+                  "z": 11.361
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|4.15|8.31|4.15|14.54",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.153,
+                  "y": 1.512,
+                  "z": 11.421
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|4.15|8.31|4.15|14.54",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.153,
+                  "y": 1.512,
+                  "z": 11.421
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 11.25
+              },
+              "rotation_y": 278.54119873046875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|8|56"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|8|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|8|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|8|56",
+                "object_type": "Egg",
+                "position": {
+                  "x": 9.997,
+                  "y": 1.179,
+                  "z": 2.888
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 9.991,
+                  "y": 1.002,
+                  "z": 2.161
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 9.991,
+                  "y": 0.0,
+                  "z": 2.396
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 9.986,
+                  "y": 0.837,
+                  "z": 2.41
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|10.38|2.08|10.38|4.15",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.383,
+                  "y": 1.512,
+                  "z": 3.115
+                },
+                "distance": 0.4,
+                "in_view_center": false
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+              "natural_language": "尝试打开Fridge"
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+              "natural_language": "Pick up Ladle"
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+              "message": "Picked up Ladle|surface|2|6",
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+                  "x": 9.924,
+                  "y": 0.011,
+                  "z": 4.372
+                },
+                "distance": 1.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|17",
+                "object_type": "Cup",
+                "position": {
+                  "x": 8.326,
+                  "y": 1.174,
+                  "z": 3.798
+                },
+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 9.191,
+                  "y": 0.003,
+                  "z": 4.353
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|2|16",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 9.363,
+                  "y": 0.796,
+                  "z": 4.654
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.25,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 57.34528350830078,
+              "camera_horizon": 54.59938049316406,
+              "holding": "Cup|surface|2|17"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Cup|surface|2|17",
+              "instrument": null,
+              "natural_language": "Pick up Cup"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Cup|surface|2|17",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 50,
+            "image_path": "obs_050.png",
+            "visible_objects": [
+              {
+                "object_id": "Cup|surface|2|17",
+                "object_type": "Cup",
+                "position": {
+                  "x": 8.495,
+                  "y": 1.167,
+                  "z": 0.949
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.441,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 185.26612854003906,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Cup|surface|2|17"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 51,
+            "image_path": "obs_051.png",
+            "visible_objects": [
+              {
+                "object_id": "Cup|surface|2|17",
+                "object_type": "Cup",
+                "position": {
+                  "x": 8.495,
+                  "y": 1.167,
+                  "z": 0.949
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.441,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 185.26612854003906,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Cup|surface|2|17"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 52,
+            "image_path": "obs_052.png",
+            "visible_objects": [
+              {
+                "object_id": "Cup|surface|2|17",
+                "object_type": "Cup",
+                "position": {
+                  "x": 8.784,
+                  "y": 1.37,
+                  "z": 0.485
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|2",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.441,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|6.19|0.00|10.32|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.253,
+                  "y": 1.429,
+                  "z": 0.0
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 183.80079650878906,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Cup into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "room|2",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.441,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|6.19|0.00|10.32|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.253,
+                  "y": 1.429,
+                  "z": 0.0
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|6.19|0.00|10.32|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.253,
+                  "y": 1.429,
+                  "z": 0.0
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 183.80079650878906,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 54 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000697",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|6|34",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|6|34",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|9|2",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|9|2",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|9|2",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|9|2",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|6|34 in Safe|9|2 and not in Fridge|8|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202/ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202/ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202.json
new file mode 100644
index 0000000000000000000000000000000000000000..43260632e5006a88664356fdf2ddfa3e392c49f6
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202/ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202.json
@@ -0,0 +1,7839 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000702_ProcTHOR-test-000202",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 27,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000702",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean ButterKnife and place it into Drawer；[clean_and_place] Clean ButterKnife and place it into Drawer。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 29,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 5.838,
+                  "y": 0.001,
+                  "z": 8.756
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|3",
+                "object_type": "Doorframe",
+                "position": {
+                  "x": 5.268,
+                  "y": -0.001,
+                  "z": 8.501
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|3|4",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 4.607,
+                  "y": -0.001,
+                  "z": 8.5
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|2|29",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 6.448,
+                  "y": 0.965,
+                  "z": 8.615
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|2|22",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 5.991,
+                  "y": 1.046,
+                  "z": 8.072
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|0",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.224,
+                  "y": 0.941,
+                  "z": 7.996
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|23",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 6.141,
+                  "y": 0.939,
+                  "z": 8.221
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toaster|surface|2|10",
+                "object_type": "Toaster",
+                "position": {
+                  "x": 6.752,
+                  "y": 0.938,
+                  "z": 8.529
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|5.27|8.78|8.78|8.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.025,
+                  "y": 1.27,
+                  "z": 8.781
+                },
+                "distance": 1.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|8.78|5.27|8.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.635,
+                  "y": 1.27,
+                  "z": 8.781
+                },
+                "distance": 2.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.27|0.00|5.27|8.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.269,
+                  "y": 1.27,
+                  "z": 4.391
+                },
+                "distance": 3.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|2|3",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 6.447,
+                  "y": 0.938,
+                  "z": 8.22
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.5,
+                "y": 0.9009993672370911,
+                "z": 8.25
+              },
+              "rotation_y": 33.760467529296875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|surface|2|12",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 5.529,
+                  "y": 1.167,
+                  "z": 8.293
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 5.838,
+                  "y": 0.001,
+                  "z": 8.756
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|3",
+                "object_type": "Doorframe",
+                "position": {
+                  "x": 5.268,
+                  "y": -0.001,
+                  "z": 8.501
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|3|4",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 4.607,
+                  "y": -0.001,
+                  "z": 8.5
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|2|29",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 6.448,
+                  "y": 0.965,
+                  "z": 8.615
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|2|22",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 5.991,
+                  "y": 1.046,
+                  "z": 8.072
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|0",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.224,
+                  "y": 0.941,
+                  "z": 7.996
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|23",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 6.141,
+                  "y": 0.939,
+                  "z": 8.221
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toaster|surface|2|10",
+                "object_type": "Toaster",
+                "position": {
+                  "x": 6.752,
+                  "y": 0.938,
+                  "z": 8.529
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|5.27|8.78|8.78|8.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.025,
+                  "y": 1.27,
+                  "z": 8.781
+                },
+                "distance": 1.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|8.78|5.27|8.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.635,
+                  "y": 1.27,
+                  "z": 8.781
+                },
+                "distance": 2.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.27|0.00|5.27|8.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.269,
+                  "y": 1.27,
+                  "z": 4.391
+                },
+                "distance": 3.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|2|3",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 6.447,
+                  "y": 0.938,
+                  "z": 8.22
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "object_type": "Dresser",
+                "position": {
+                  "x": 7.579,
+                  "y": -0.0,
+                  "z": 7.369
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|15",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 7.653,
+                  "y": 1.304,
+                  "z": 7.367
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|7.88|7.88|7.88",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.941,
+                  "y": 1.405,
+                  "z": 7.883
+                },
+                "distance": 2.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|7.88|7.88|7.88",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.941,
+                  "y": 1.405,
+                  "z": 7.883
+                },
+                "distance": 2.94,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 32.898765563964844,
+              "camera_horizon": 54.79853820800781,
+              "holding": "Book|surface|2|4"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|2|1___2",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|2|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 27,
+            "image_path": "obs_027.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|4",
+                "object_type": "Book",
+                "position": {
+                  "x": 7.169,
+                  "y": 0.853,
+                  "z": 7.57
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|3",
+                "object_type": "Book",
+                "position": {
+                  "x": 7.653,
+                  "y": 1.305,
+                  "z": 7.61
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.989,
+                  "y": 0.265,
+                  "z": 7.369
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.989,
+                  "y": 0.953,
+                  "z": 7.369
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 1.165,
+                  "z": 7.156
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 1.165,
+                  "z": 7.582
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 7.579,
+                  "y": -0.0,
+                  "z": 7.369
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|15",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 7.653,
+                  "y": 1.304,
+                  "z": 7.367
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|13",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.069,
+                  "y": 0.189,
+                  "z": 7.671
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|7.88|7.88|7.88",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.941,
+                  "y": 1.405,
+                  "z": 7.883
+                },
+                "distance": 2.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|7.88|7.88|7.88",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.941,
+                  "y": 1.405,
+                  "z": 7.883
+                },
+                "distance": 2.94,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 32.898765563964844,
+              "camera_horizon": 54.79853820800781,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|1___2",
+              "instrument": null,
+              "natural_language": "Put Book into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 28,
+            "image_path": "obs_028.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|3",
+                "object_type": "Book",
+                "position": {
+                  "x": 7.653,
+                  "y": 1.305,
+                  "z": 7.61
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 6.989,
+                  "y": 0.265,
+                  "z": 7.369
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 0.487,
+                  "z": 7.369
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 0.71,
+                  "z": 7.369
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 0.953,
+                  "z": 7.369
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 1.165,
+                  "z": 7.156
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.338,
+                  "y": 1.165,
+                  "z": 7.582
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 7.579,
+                  "y": -0.0,
+                  "z": 7.369
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|15",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 7.653,
+                  "y": 1.304,
+                  "z": 7.367
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|13",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.069,
+                  "y": 0.189,
+                  "z": 7.671
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|7.88|7.88|7.88",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.941,
+                  "y": 1.405,
+                  "z": 7.883
+                },
+                "distance": 2.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|7.88|7.88|7.88",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.941,
+                  "y": 1.405,
+                  "z": 7.883
+                },
+                "distance": 2.94,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 32.898765563964844,
+              "camera_horizon": 54.79853820800781,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|1___2",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 29 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000702",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|3|32",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|3|32",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|8|81",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|8|81",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|8|81",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|8|81",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|3|32 in Safe|surface|8|81 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221/ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221/ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b37190e404dcbcd14533474fd58e38527b64056
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221/ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221.json
@@ -0,0 +1,11276 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000721_ProcTHOR-test-000221",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|2 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|2",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|8|2 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 15,
+      "object_id": "Fridge|8|2",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000721",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Knife on Bowl, then put AlarmClock on Shelf；[L0] Put CellPhone into Safe。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 17,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|6|20",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 14.42,
+                  "y": 0.944,
+                  "z": 1.979
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|7",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 14.42,
+                  "y": 0.944,
+                  "z": 1.673
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 14.57,
+                  "y": 0.001,
+                  "z": 2.283
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|8|32",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 14.349,
+                  "y": 0.961,
+                  "z": 1.815
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|8|31",
+                "object_type": "Plate",
+                "position": {
+                  "x": 14.42,
+                  "y": 0.946,
+                  "z": 1.366
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|8|37",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 14.266,
+                  "y": 0.938,
+                  "z": 2.133
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|8|41",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 14.343,
+                  "y": 0.938,
+                  "z": 2.133
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|8|3",
+                "object_type": "Stool",
+                "position": {
+                  "x": 14.454,
+                  "y": 0.001,
+                  "z": 3.067
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|14.60|0.00|14.60|4.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.595,
+                  "y": 2.104,
+                  "z": 2.085
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|14.60|0.00|14.60|4.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.595,
+                  "y": 2.104,
+                  "z": 2.085
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 14.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 124.08409118652344,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|8|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|8|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|6|20",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 14.42,
+                  "y": 0.944,
+                  "z": 1.979
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|7",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 14.42,
+                  "y": 0.944,
+                  "z": 1.673
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 14.57,
+                  "y": 0.001,
+                  "z": 2.283
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|8|36",
+                "object_type": "Knife",
+                "position": {
+                  "x": 14.293,
+                  "y": 1.167,
+                  "z": 2.471
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|8|32",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 14.349,
+                  "y": 0.961,
+                  "z": 1.815
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|8|31",
+                "object_type": "Plate",
+                "position": {
+                  "x": 14.42,
+                  "y": 0.946,
+                  "z": 1.366
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|8|37",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 14.266,
+                  "y": 0.938,
+                  "z": 2.133
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|8|41",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 14.343,
+                  "y": 0.938,
+                  "z": 2.133
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|8|3",
+                "object_type": "Stool",
+                "position": {
+                  "x": 14.454,
+                  "y": 0.001,
+                  "z": 3.067
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|14.60|0.00|14.60|4.17",
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+              },
+              {
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+                "object_type": "Dresser",
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+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
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+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|4|3",
+                "object_type": "Laptop",
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+                  "z": 9.536
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+                "in_view_center": false
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+                "object_id": "Pencil|surface|4|16",
+                "object_type": "Pencil",
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+                  "z": 9.275
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 7.344091892242432,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CellPhone|surface|4|13"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|4|1___2",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|4|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 57,
+            "image_path": "obs_057.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|4|13",
+                "object_type": "CellPhone",
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+                  "z": 8.801
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.969,
+                  "y": 0.168,
+                  "z": 9.266
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 9.266
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 9.266
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
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+                  "y": 0.001,
+                  "z": 10.037
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|4|3",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.729,
+                  "z": 9.536
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|16",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.517,
+                  "y": 0.734,
+                  "z": 9.275
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 7.344091892242432,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CellPhone|surface|4|13"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|4|1___2",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|4|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|4|13",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 0.795,
+                  "y": 0.192,
+                  "z": 9.094
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 9.779
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 10.292
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 10.292
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 10.292
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.969,
+                  "y": 0.168,
+                  "z": 9.266
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 9.779
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 9.266
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 9.266
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 9.779
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.001,
+                  "z": 10.037
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|4|3",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.729,
+                  "z": 9.536
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|16",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.517,
+                  "y": 0.734,
+                  "z": 9.275
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 356.59124755859375,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|4|1___2",
+              "instrument": null,
+              "natural_language": "Put CellPhone into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|4|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 59,
+            "image_path": "obs_059.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 9.779
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 10.292
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 10.292
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 10.292
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 9.266
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 9.779
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 9.266
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 9.266
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 9.779
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.001,
+                  "z": 10.037
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|4|3",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.729,
+                  "z": 9.536
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|16",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.517,
+                  "y": 0.734,
+                  "z": 9.275
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|6.12|0.00|14.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.388,
+                  "z": 10.207
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 356.59124755859375,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|4|1___2",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|4|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 60 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000721",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|6|19",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|6|19",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|8|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|8|4",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|8|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|8|4",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|6|19 in Safe|8|4 and not in Fridge|8|2",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|2)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223/ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223/ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f61f4678d8382cfbe27965972c12b724bf29094
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223/ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223.json
@@ -0,0 +1,9850 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000723_ProcTHOR-test-000223",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
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+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 10.928,
+                  "y": 0.0,
+                  "z": 15.646
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 10.942,
+                  "y": 0.837,
+                  "z": 15.652
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|10.61|14.14|10.61|17.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.609,
+                  "y": 1.719,
+                  "z": 15.913
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|10.61|14.14|10.61|17.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.609,
+                  "y": 1.719,
+                  "z": 15.913
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.5,
+                "y": 0.9009993672370911,
+                "z": 15.75
+              },
+              "rotation_y": 260.0231018066406,
+              "camera_horizon": 52.48769760131836,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|5|1|0___0",
+              "instrument": null,
+              "natural_language": "Return to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|5|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|10",
+                "object_type": "Egg",
+                "position": {
+                  "x": 11.397,
+                  "y": 1.177,
+                  "z": 15.732
+                },
+                "distance": 0.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 10.693,
+                  "y": 1.002,
+                  "z": 15.646
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "LaundryHamper|5|3",
+                "object_type": "LaundryHamper",
+                "position": {
+                  "x": 10.889,
+                  "y": 0.007,
+                  "z": 16.63
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 10.928,
+                  "y": 0.0,
+                  "z": 15.646
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 10.942,
+                  "y": 0.837,
+                  "z": 15.652
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|10.61|14.14|10.61|17.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.609,
+                  "y": 1.719,
+                  "z": 15.913
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|10.61|14.14|10.61|17.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.609,
+                  "y": 1.719,
+                  "z": 15.913
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.5,
+                "y": 0.9009993672370911,
+                "z": 15.75
+              },
+              "rotation_y": 260.0231018066406,
+              "camera_horizon": 52.48769760131836,
+              "holding": "Egg|surface|2|10"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|10",
+              "instrument": null,
+              "natural_language": "Pick up cleaned Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.274,
+                  "y": 0.001,
+                  "z": 7.097
+                },
+                "distance": 2.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|10",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.352,
+                  "y": 1.191,
+                  "z": 9.245
+                },
+                "distance": 0.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|9",
+                "object_type": "Knife",
+                "position": {
+                  "x": 8.087,
+                  "y": 0.945,
+                  "z": 8.312
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|5",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.888,
+                  "y": 0.944,
+                  "z": 9.535
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|3",
+                "object_type": "Plate",
+                "position": {
+                  "x": 7.888,
+                  "y": 0.94,
+                  "z": 9.23
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|15",
+                "object_type": "Potato",
+                "position": {
+                  "x": 8.199,
+                  "y": 0.982,
+                  "z": 9.23
+                },
+                "distance": 0.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 268.1421203613281,
+              "camera_horizon": 46.11028289794922,
+              "holding": "Egg|surface|2|10"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Plate|surface|2|3",
+              "instrument": null,
+              "natural_language": "Navigate to Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Plate|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 55,
+            "image_path": "obs_055.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.274,
+                  "y": 0.001,
+                  "z": 7.097
+                },
+                "distance": 2.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|10",
+                "object_type": "Egg",
+                "position": {
+                  "x": 7.921,
+                  "y": 0.983,
+                  "z": 9.254
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|9",
+                "object_type": "Knife",
+                "position": {
+                  "x": 8.087,
+                  "y": 0.945,
+                  "z": 8.312
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|5",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.888,
+                  "y": 0.944,
+                  "z": 9.535
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|3",
+                "object_type": "Plate",
+                "position": {
+                  "x": 7.888,
+                  "y": 0.94,
+                  "z": 9.23
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|15",
+                "object_type": "Potato",
+                "position": {
+                  "x": 8.199,
+                  "y": 0.982,
+                  "z": 9.23
+                },
+                "distance": 0.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 268.1421203613281,
+              "camera_horizon": 46.11028289794922,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Plate|surface|2|3",
+              "instrument": null,
+              "natural_language": "Put cleaned Egg on Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Plate|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 56 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000723",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|7|14",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|7|14",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|2|5",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|2|5",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|2|5",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|2|5",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|7|14 in Safe|2|5 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243/ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243/ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243.json
new file mode 100644
index 0000000000000000000000000000000000000000..5867289308e53cc2c15aff5e8cd4c6b75246e9c6
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243/ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243.json
@@ -0,0 +1,8919 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|2 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|2",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|6|2 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 24,
+      "object_id": "Fridge|6|2",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000743",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put ButterKnife on Bowl, then put Spatula on Drawer；[heat_and_place] Heat Mug and place it on Shelf。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 26,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|6|13",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 0.96,
+                  "y": 0.938,
+                  "z": 8.958
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|6|2",
+                "object_type": "Bread",
+                "position": {
+                  "x": 0.96,
+                  "y": 1.022,
+                  "z": 8.573
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|surface|6|0",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 1.266,
+                  "y": 0.954,
+                  "z": 8.727
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.657,
+                  "y": 0.001,
+                  "z": 9.031
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|6|1",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.876,
+                  "y": 0.938,
+                  "z": 8.727
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|14",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 0.732,
+                  "y": 0.946,
+                  "z": 8.347
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|9.06|3.62|9.06",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.811,
+                  "y": 2.082,
+                  "z": 9.056
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|3.62|0.00|9.06",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.082,
+                  "z": 6.339
+                },
+                "distance": 2.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|9.06|3.62|9.06",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.811,
+                  "y": 2.082,
+                  "z": 9.056
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 55.3661994934082,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|6|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|6|13",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 0.96,
+                  "y": 0.938,
+                  "z": 8.958
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|6|2",
+                "object_type": "Bread",
+                "position": {
+                  "x": 0.96,
+                  "y": 1.022,
+                  "z": 8.573
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|surface|6|0",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 0.292,
+                  "y": 1.167,
+                  "z": 8.779
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.657,
+                  "y": 0.001,
+                  "z": 9.031
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|6|1",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.876,
+                  "y": 0.938,
+                  "z": 8.727
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|14",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 0.732,
+                  "y": 0.946,
+                  "z": 8.347
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|9.06|3.62|9.06",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.811,
+                  "y": 2.082,
+                  "z": 9.056
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|3.62|0.00|9.06",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.082,
+                  "z": 6.339
+                },
+                "distance": 2.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|9.06|3.62|9.06",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.811,
+                  "y": 2.082,
+                  "z": 9.056
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 55.3661994934082,
+              "camera_horizon": 60.000003814697266,
+              "holding": "ButterKnife|surface|6|0"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "ButterKnife|surface|6|0",
+              "instrument": null,
+              "natural_language": "Pick up ButterKnife"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up ButterKnife|surface|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
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+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|3",
+                "object_type": "Lettuce",
+                "position": {
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+                  "y": 1.408,
+                  "z": 4.593
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.04|5.04|5.04",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.52,
+                  "y": 1.998,
+                  "z": 5.041
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Put Mug into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 39,
+            "image_path": "obs_039.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.739,
+                  "y": 0.001,
+                  "z": 5.016
+                },
+                "distance": 2.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|12",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 2.81,
+                  "y": 0.939,
+                  "z": 4.558
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Close Fridge to cool item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|3",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.366,
+                  "y": 1.408,
+                  "z": 4.593
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.04|5.04|5.04",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.52,
+                  "y": 1.998,
+                  "z": 5.041
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Open Fridge to retrieve item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 41,
+            "image_path": "obs_041.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|3",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.366,
+                  "y": 1.408,
+                  "z": 4.593
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 3.505,
+                  "y": 1.167,
+                  "z": 3.802
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.04|5.04|5.04",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.52,
+                  "y": 1.998,
+                  "z": 5.041
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": "Mug|surface|2|28"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Mug|surface|2|28",
+              "instrument": null,
+              "natural_language": "Pick up cooled Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Mug|surface|2|28",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 42,
+            "image_path": "obs_042.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.739,
+                  "y": 0.001,
+                  "z": 5.016
+                },
+                "distance": 2.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 3.505,
+                  "y": 1.167,
+                  "z": 3.802
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|12",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 2.81,
+                  "y": 0.939,
+                  "z": 4.558
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": "Mug|surface|2|28"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 43,
+            "image_path": "obs_043.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|22",
+                "object_type": "Candle",
+                "position": {
+                  "x": 9.6,
+                  "y": 0.176,
+                  "z": 0.64
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 9.3,
+                  "y": 1.167,
+                  "z": 0.49
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|17",
+                "object_type": "Plate",
+                "position": {
+                  "x": 9.846,
+                  "y": 0.184,
+                  "z": 1.032
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|20",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 9.62,
+                  "y": 0.183,
+                  "z": 0.981
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.788,
+                  "y": 0.302,
+                  "z": 0.396
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.79,
+                  "y": 0.446,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.787,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|7|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 8.174,
+                  "y": -0.0,
+                  "z": 0.471
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 9.794,
+                  "y": 1.238,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 9.791,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|5.04|0.00|10.08|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.561,
+                  "y": 1.998,
+                  "z": 0.0
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.08|0.00|10.08|3.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.082,
+                  "y": 1.998,
+                  "z": 1.681
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|6|8",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 9.62,
+                  "y": 0.182,
+                  "z": 1.135
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.25,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 100.97489929199219,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Mug|surface|2|28"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|7|0|0___3",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|7|0|0___3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|22",
+                "object_type": "Candle",
+                "position": {
+                  "x": 9.6,
+                  "y": 0.176,
+                  "z": 0.64
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 9.621,
+                  "y": 0.473,
+                  "z": 0.638
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|17",
+                "object_type": "Plate",
+                "position": {
+                  "x": 9.846,
+                  "y": 0.184,
+                  "z": 1.032
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|20",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 9.62,
+                  "y": 0.183,
+                  "z": 0.981
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.788,
+                  "y": 0.302,
+                  "z": 0.396
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.79,
+                  "y": 0.446,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.787,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|7|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 8.174,
+                  "y": -0.0,
+                  "z": 0.471
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 9.794,
+                  "y": 1.238,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 9.791,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|5.04|0.00|10.08|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.561,
+                  "y": 1.998,
+                  "z": 0.0
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.08|0.00|10.08|3.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.082,
+                  "y": 1.998,
+                  "z": 1.681
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|6|8",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 9.62,
+                  "y": 0.182,
+                  "z": 1.135
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.25,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 100.97489929199219,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "TVStand|7|0|0___3",
+              "instrument": null,
+              "natural_language": "Put cooled Mug on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on TVStand|7|0|0___3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 45 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000743",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|6|5",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|6|5",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|6|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|6|1",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|6|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|6|1",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|6|5 in Microwave|surface|6|1 and not in Fridge|6|2",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|2)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326/ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326/ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326.json
new file mode 100644
index 0000000000000000000000000000000000000000..58eb7282bf46968f0812aa8c16dac430b4a41734
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326/ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326.json
@@ -0,0 +1,7507 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000826_ProcTHOR-test-000326",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
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+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|35",
+                "object_type": "Mug",
+                "position": {
+                  "x": 11.204,
+                  "y": 1.218,
+                  "z": 1.259
+                },
+                "distance": 0.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.50|0.00|13.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.306,
+                  "y": 1.794,
+                  "z": 0.0
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|7.50|0.00|13.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.306,
+                  "y": 1.794,
+                  "z": 0.0
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 87.57957458496094,
+              "camera_horizon": 37.5226936340332,
+              "holding": "Mug|surface|6|35"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|6|1___6",
+              "instrument": null,
+              "natural_language": "Open Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|6|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 38,
+            "image_path": "obs_038.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|6|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 2.47
+                },
+                "distance": 1.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 1.323
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 1.306
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 0.158
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 2.189
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 1.603
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 1.024
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 0.44
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 12.697,
+                  "y": -0.0,
+                  "z": 1.316
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|35",
+                "object_type": "Mug",
+                "position": {
+                  "x": 12.387,
+                  "y": 0.197,
+                  "z": 0.809
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.50|0.00|13.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.306,
+                  "y": 1.794,
+                  "z": 0.0
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|7.50|0.00|13.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.306,
+                  "y": 1.794,
+                  "z": 0.0
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 87.57957458496094,
+              "camera_horizon": 37.5226936340332,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|6|1___6",
+              "instrument": null,
+              "natural_language": "Put Mug into Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|6|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 39,
+            "image_path": "obs_039.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|6|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 2.47
+                },
+                "distance": 1.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 1.323
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 1.306
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.32,
+                  "y": 0.561,
+                  "z": 0.158
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 2.189
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 1.603
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 1.024
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.419,
+                  "y": 1.014,
+                  "z": 0.44
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 12.697,
+                  "y": -0.0,
+                  "z": 1.316
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.50|0.00|13.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.306,
+                  "y": 1.794,
+                  "z": 0.0
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|7.50|0.00|13.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.306,
+                  "y": 1.794,
+                  "z": 0.0
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 87.57957458496094,
+              "camera_horizon": 37.5226936340332,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|6|1___6",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|6|1___6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Bathroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 40 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000826",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|4|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|4|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|8|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|8|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|8|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|8|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|4|0 in Safe|8|3 and not in Fridge|8|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bathroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bathroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335/ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335/ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335.json
new file mode 100644
index 0000000000000000000000000000000000000000..43cd2a1f91d367262abb8bcbc080a15a8f7eaf35
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335/ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335.json
@@ -0,0 +1,5351 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|8|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 18,
+      "object_id": "Fridge|8|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000835",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Fork and place it on Pan；[L0] Put Egg on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 20,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|8|43",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 9.81,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 9.733,
+                  "y": 0.0,
+                  "z": 12.954
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|8|37",
+                "object_type": "Fork",
+                "position": {
+                  "x": 10.194,
+                  "y": 0.939,
+                  "z": 13.259
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|8|46",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 10.04,
+                  "y": 0.942,
+                  "z": 13.106
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|42",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 9.887,
+                  "y": 0.937,
+                  "z": 13.411
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|8|38",
+                "object_type": "Potato",
+                "position": {
+                  "x": 10.271,
+                  "y": 0.97,
+                  "z": 13.411
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|8|53",
+                "object_type": "Vase",
+                "position": {
+                  "x": 10.04,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|9.71|9.71|9.71|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.707,
+                  "y": 1.785,
+                  "z": 11.649
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|9.71|13.59|13.59|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.649,
+                  "y": 1.785,
+                  "z": 13.59
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|9.71|9.71|9.71|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.707,
+                  "y": 1.785,
+                  "z": 11.649
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 13.0
+              },
+              "rotation_y": 267.9339599609375,
+              "camera_horizon": 51.18478012084961,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|8|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|8|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|8|43",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 9.81,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 9.733,
+                  "y": 0.0,
+                  "z": 12.954
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|8|37",
+                "object_type": "Fork",
+                "position": {
+                  "x": 10.887,
+                  "y": 1.18,
+                  "z": 12.996
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|8|46",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 10.04,
+                  "y": 0.942,
+                  "z": 13.106
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|42",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 9.887,
+                  "y": 0.937,
+                  "z": 13.411
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|8|38",
+                "object_type": "Potato",
+                "position": {
+                  "x": 10.271,
+                  "y": 0.97,
+                  "z": 13.411
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|8|53",
+                "object_type": "Vase",
+                "position": {
+                  "x": 10.04,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|9.71|9.71|9.71|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.707,
+                  "y": 1.785,
+                  "z": 11.649
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|9.71|13.59|13.59|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.649,
+                  "y": 1.785,
+                  "z": 13.59
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|9.71|9.71|9.71|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.707,
+                  "y": 1.785,
+                  "z": 11.649
+                },
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.635,
+                  "y": 0.006,
+                  "z": 0.302
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|0",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 2.051,
+                  "y": 1.167,
+                  "z": 0.254
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.705,
+                  "y": 1.333,
+                  "z": 1.704
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|3.41|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.557,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 85.31770324707031,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|0"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 29,
+            "image_path": "obs_029.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.705,
+                  "y": -0.001,
+                  "z": 0.943
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.635,
+                  "y": 0.006,
+                  "z": 0.302
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|0",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 2.051,
+                  "y": 1.167,
+                  "z": 0.254
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.705,
+                  "y": 1.333,
+                  "z": 1.704
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|3.41|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.557,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 85.31770324707031,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|0"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 30,
+            "image_path": "obs_030.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.705,
+                  "y": -0.001,
+                  "z": 0.943
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.635,
+                  "y": 0.006,
+                  "z": 0.302
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.705,
+                  "y": 1.333,
+                  "z": 1.704
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|3.41|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.557,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 85.31770324707031,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Tomato into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 31,
+            "image_path": "obs_031.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.705,
+                  "y": -0.001,
+                  "z": 0.943
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.635,
+                  "y": 0.006,
+                  "z": 0.302
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.705,
+                  "y": 1.333,
+                  "z": 1.704
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.71|0.00|3.41|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.557,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 85.31770324707031,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 32 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000835",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|8|43",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|8|43",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|8|49",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|8|49",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|8|49",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|8|49",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|8|43 in Microwave|surface|8|49 and not in Fridge|8|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417/ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417/ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417.json
new file mode 100644
index 0000000000000000000000000000000000000000..7590363bbcc00d8d3b7d47d69ed10632ac716bd0
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417/ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417.json
@@ -0,0 +1,4522 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000917_ProcTHOR-test-000417",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|8|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|8|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|8|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 26,
+      "object_id": "Fridge|8|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000917",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put TissueBox on Shelf, then put CD on Drawer；[clean_and_place] Clean Egg and place it into Microwave。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|9|53",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.119,
+                  "y": 0.74,
+                  "z": 9.123
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|9|46",
+                "object_type": "Candle",
+                "position": {
+                  "x": 4.292,
+                  "y": 0.469,
+                  "z": 8.967
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cart|9|3",
+                "object_type": "Cart",
+                "position": {
+                  "x": 5.206,
+                  "y": 0.002,
+                  "z": 7.287
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|9|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.611,
+                  "y": -0.002,
+                  "z": 9.143
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|9|47",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 4.251,
+                  "y": 0.47,
+                  "z": 9.289
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|surface|9|59",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": 4.092,
+                  "y": 0.755,
+                  "z": 9.26
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.104,
+                  "y": 0.302,
+                  "z": 9.128
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.102,
+                  "y": 0.446,
+                  "z": 8.551
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.102,
+                  "y": 0.648,
+                  "z": 7.972
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.105,
+                  "y": 0.477,
+                  "z": 7.972
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.105,
+                  "y": 0.278,
+                  "z": 7.972
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|5",
+                "object_type": "Statue",
+                "position": {
+                  "x": 5.156,
+                  "y": 0.239,
+                  "z": 7.528
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|9|50",
+                "object_type": "Statue",
+                "position": {
+                  "x": 4.092,
+                  "y": 0.752,
+                  "z": 7.842
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|9|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 4.073,
+                  "y": 1.238,
+                  "z": 8.551
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|surface|9|45",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": 4.286,
+                  "y": 0.754,
+                  "z": 9.024
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 4.101,
+                  "y": -0.001,
+                  "z": 8.549
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|9|57",
+                "object_type": "Vase",
+                "position": {
+                  "x": 3.989,
+                  "y": 0.168,
+                  "z": 8.595
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|3.81|9.52|7.62|9.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.715,
+                  "y": 1.375,
+                  "z": 9.524
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.0,
+                "y": 0.9009993672370911,
+                "z": 8.5
+              },
+              "rotation_y": 273.1120300292969,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|9|0|0",
+              "instrument": null,
+              "natural_language": "Navigate to TVStand"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|9|0|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|9|53",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.119,
+                  "y": 0.74,
+                  "z": 9.123
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|9|46",
+                "object_type": "Candle",
+                "position": {
+                  "x": 4.292,
+                  "y": 0.469,
+                  "z": 8.967
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cart|9|3",
+                "object_type": "Cart",
+                "position": {
+                  "x": 5.206,
+                  "y": 0.002,
+                  "z": 7.287
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|9|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.611,
+                  "y": -0.002,
+                  "z": 9.143
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|9|47",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 4.251,
+                  "y": 0.47,
+                  "z": 9.289
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|surface|9|59",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": 4.092,
+                  "y": 0.755,
+                  "z": 9.26
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.104,
+                  "y": 0.302,
+                  "z": 9.128
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.102,
+                  "y": 0.446,
+                  "z": 8.551
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.102,
+                  "y": 0.648,
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.22",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.791,
+                  "z": 1.608
+                },
+                "distance": 1.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|3.22|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.608,
+                  "y": 1.791,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009997844696045,
+                "z": 0.5
+              },
+              "rotation_y": 270.0,
+              "camera_horizon": 30.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "wall|3|0.00|0.00|3.22|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.608,
+                  "y": 1.791,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|3.22|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.608,
+                  "y": 1.791,
+                  "z": 0.0
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009997844696045,
+                "z": 0.5
+              },
+              "rotation_y": 180.0,
+              "camera_horizon": 30.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateLeft",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateLeft"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated left",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 15,
+            "image_path": "obs_015.png",
+            "visible_objects": [
+              {
+                "object_id": "wall|3|0.00|0.00|3.22|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.608,
+                  "y": 1.791,
+                  "z": 0.0
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|3.22|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.608,
+                  "y": 1.791,
+                  "z": 0.0
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009997844696045,
+                "z": 0.25
+              },
+              "rotation_y": 180.0,
+              "camera_horizon": 30.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "MoveForward",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 16 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000917",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|8|40",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|8|40",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|8|27",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|8|27",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|8|27",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|8|27",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|8|40 in Microwave|surface|8|27 and not in Fridge|8|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Bedroom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Bedroom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|8|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437/ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437/ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7371478f50b0b4f8648bd1e84ff5fae742bc9e
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437/ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437.json
@@ -0,0 +1,7780 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000937_ProcTHOR-test-000437",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "Fridge|2|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000937",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[heat_and_place] Heat Egg and place it on Pan；[heat_and_place] Heat Potato and place it on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 33,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.557,
+                  "y": 0.006,
+                  "z": 6.585
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.25|7.01|7.01|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.13,
+                  "y": 1.534,
+                  "z": 7.006
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.25|5.25|5.25|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.255,
+                  "y": 1.534,
+                  "z": 6.13
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 275.1435241699219,
+              "camera_horizon": 58.90071105957031,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|1",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.667,
+                  "y": 0.845,
+                  "z": 6.497
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.502,
+                  "y": 0.845,
+                  "z": 6.761
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.557,
+                  "y": 0.006,
+                  "z": 6.585
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|8",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 5.502,
+                  "y": 1.205,
+                  "z": 6.761
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|7",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 5.563,
+                  "y": 0.892,
+                  "z": 6.57
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|0",
+                "object_type": "Potato",
+                "position": {
+                  "x": 5.723,
+                  "y": 1.169,
+                  "z": 6.497
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.25|7.01|7.01|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.13,
+                  "y": 1.534,
+                  "z": 7.006
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 275.1435241699219,
+              "camera_horizon": 58.90071105957031,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|1",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.667,
+                  "y": 0.845,
+                  "z": 6.497
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.441,
+                  "y": 1.168,
+                  "z": 6.505
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.557,
+                  "y": 0.006,
+                  "z": 6.585
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|8",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 5.502,
+                  "y": 1.205,
+                  "z": 6.761
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|7",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 5.573,
+                  "y": 0.89,
+                  "z": 6.569
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|0",
+                "object_type": "Potato",
+                "position": {
+                  "x": 5.723,
+                  "y": 1.169,
+                  "z": 6.497
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.25|7.01|7.01|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.13,
+                  "y": 1.534,
+                  "z": 7.006
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 275.1435241699219,
+              "camera_horizon": 58.90071105957031,
+              "holding": "Egg|surface|2|2"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|2",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.441,
+                  "y": 1.168,
+                  "z": 6.505
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.557,
+                  "y": 0.006,
+                  "z": 6.585
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.25|7.01|7.01|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.13,
+                  "y": 1.534,
+                  "z": 7.006
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.25|5.25|5.25|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.255,
+                  "y": 1.534,
+                  "z": 6.13
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 275.1435241699219,
+              "camera_horizon": 58.90071105957031,
+              "holding": "Egg|surface|2|2"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 6.981,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 2.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.734,
+                  "y": 1.179,
+                  "z": 2.64
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|12",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 6.676,
+                  "y": 0.938,
+                  "z": 2.249
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.01|0.00|7.01|7.01",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.534,
+                  "z": 3.503
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 188.37452697753906,
+              "camera_horizon": 51.53850555419922,
+              "holding": "Egg|surface|2|2"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Microwave|surface|2|12",
+              "instrument": null,
+              "natural_language": "Navigate to Microwave"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Microwave|surface|2|12",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 6.981,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 2.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.731,
+                  "y": 1.179,
+                  "z": 2.64
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|12",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 6.664,
+                  "y": 0.938,
+                  "z": 2.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|7.01|0.00|7.01|7.01",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.006,
+                  "y": 1.534,
+                  "z": 3.503
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
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+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.25,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 273.4425048828125,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Apple|surface|6|17"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 45,
+            "image_path": "obs_045.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|17",
+                "object_type": "Apple",
+                "position": {
+                  "x": 5.949,
+                  "y": 1.167,
+                  "z": 4.504
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.44,
+                  "y": 0.006,
+                  "z": 4.549
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 274.9728698730469,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Apple|surface|6|17"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 46,
+            "image_path": "obs_046.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|17",
+                "object_type": "Apple",
+                "position": {
+                  "x": 5.606,
+                  "y": 0.895,
+                  "z": 4.285
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.44,
+                  "y": 0.006,
+                  "z": 4.549
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 274.9728698730469,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Put Apple into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 47,
+            "image_path": "obs_047.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 5.44,
+                  "y": 0.006,
+                  "z": 4.549
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 274.9728698730469,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进LivingRoom里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 48 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000937",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|3|21",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|3|21",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|2|12",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|2|12",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|2|12",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|2|12",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|3|21 in Microwave|surface|2|12 and not in Fridge|2|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than LivingRoom",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放LivingRoom收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452/ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452/ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452.json
new file mode 100644
index 0000000000000000000000000000000000000000..d371147bff80a16e22837d52d463ed4771db2950
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452/ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452.json
@@ -0,0 +1,8407 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000952_ProcTHOR-test-000452",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|2|2 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|2|2",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|2|2 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 26,
+      "object_id": "Fridge|2|2",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000952",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[heat_and_place] Heat Egg and place it on Pan；[pick_two_and_place] Put Egg on Plate, then put CreditCard on Shelf。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.685,
+                  "y": 0.012,
+                  "z": 2.274
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.158,
+                  "y": 0.006,
+                  "z": 0.98
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.08|0.00|8.46|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.831,
+                  "z": 0.0
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.46|0.00|8.46|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.46,
+                  "y": 1.831,
+                  "z": 3.384
+                },
+                "distance": 2.67,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.25,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 91.24462890625,
+              "camera_horizon": 59.94499969482422,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|2",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|15",
+                "object_type": "Apple",
+                "position": {
+                  "x": 8.213,
+                  "y": 1.183,
+                  "z": 0.98
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|10",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.048,
+                  "y": 1.176,
+                  "z": 1.156
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.268,
+                  "y": 0.85,
+                  "z": 0.716
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.158,
+                  "y": 0.006,
+                  "z": 0.98
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.08|0.00|8.46|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.831,
+                  "z": 0.0
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.25,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 91.24462890625,
+              "camera_horizon": 59.94499969482422,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|2",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|15",
+                "object_type": "Apple",
+                "position": {
+                  "x": 8.213,
+                  "y": 1.183,
+                  "z": 0.98
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|10",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.048,
+                  "y": 1.176,
+                  "z": 1.156
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 7.302,
+                  "y": 1.167,
+                  "z": 0.999
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.158,
+                  "y": 0.006,
+                  "z": 0.98
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.08|0.00|8.46|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.831,
+                  "z": 0.0
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.25,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 91.24462890625,
+              "camera_horizon": 59.94499969482422,
+              "holding": "Egg|surface|2|11"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|11",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|11",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.685,
+                  "y": 0.012,
+                  "z": 2.274
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 7.302,
+                  "y": 1.167,
+                  "z": 0.999
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|2",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.158,
+                  "y": 0.006,
+                  "z": 0.98
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.08|0.00|8.46|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.831,
+                  "z": 0.0
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.46|0.00|8.46|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.46,
+                  "y": 1.831,
+                  "z": 3.384
+                },
+                "distance": 2.67,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.25,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 91.24462890625,
+              "camera_horizon": 59.94499969482422,
+              "holding": "Egg|surface|2|11"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|2",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.435,
+                  "y": 0.001,
+                  "z": 6.743
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 7.653,
+                  "y": 1.193,
+                  "z": 5.243
+                },
+                "distance": 0.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|3",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 8.131,
+                  "y": 0.938,
+                  "z": 5.22
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|12",
+                "object_type": "Pan",
+                "position": {
+                  "x": 7.977,
+                  "y": 0.939,
+                  "z": 5.983
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.46|0.00|8.46|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.46,
+                  "y": 1.831,
+                  "z": 3.384
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 5.25
+              },
+              "rotation_y": 92.69305419921875,
+              "camera_horizon": 45.28586196899414,
+              "holding": "Egg|surface|2|11"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Microwave|surface|2|3",
+              "instrument": null,
+              "natural_language": "Navigate to Microwave"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Microwave|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|2|8",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 7.598,
+                  "y": 0.938,
+                  "z": 6.208
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|surface|2|19",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 8.208,
+                  "y": 0.952,
+                  "z": 4.839
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.435,
+                  "y": 0.001,
+                  "z": 6.743
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 7.028,
+                  "y": 1.271,
+                  "z": 5.244
+                },
+                "distance": 0.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|3",
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+              "position": {
+                "x": 8.0,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 277.07977294921875,
+              "camera_horizon": 55.20560836791992,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Box|surface|7|22",
+              "instrument": null,
+              "natural_language": "Close Box"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Box|surface|7|22",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 53 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000952",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Microwave|surface|2|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|2|0 in Microwave|surface|2|3 and not in Fridge|2|2",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|2|2)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454/ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454/ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454.json
new file mode 100644
index 0000000000000000000000000000000000000000..195a88e1b69329caae06b8cb7a0d602f204c5e10
--- /dev/null
+++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454/ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454.json
@@ -0,0 +1,10560 @@
+{
+  "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000954_ProcTHOR-test-000454",
+  "episode_name": "L2-失败经验检索",
+  "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误",
+  "difficulty": "L2",
+  "hidden_rules": [
+    {
+      "rule_id": "rule_locked",
+      "description": "Fridge|6|1 被锁死",
+      "rule_type": "interaction_constraint",
+      "condition": {
+        "object_id": "Fridge|6|1",
+        "action": "Open"
+      },
+      "effect": "Action Failed: Locked",
+      "related_sessions": [
+        1
+      ]
+    }
+  ],
+  "memory_cues": [
+    {
+      "cue_id": "cue_locked_container",
+      "cue_type": "failure_event",
+      "description": "尝试打开 Fridge|6|1 失败",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Fridge|6|1",
+      "initial_location": null,
+      "tested_in_probe": "probe_avoid_failure"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务+失败事件（Context）",
+      "scene": "ProcTHOR-test-000954",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Egg and place it on Bowl；[cool_and_place] Cool Egg and place it on Bowl。期间尝试打开一个锁死的Fridge失败。",
+        "total_steps": 27,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bread|surface|6|1",
+                "object_type": "Bread",
+                "position": {
+                  "x": 4.75,
+                  "y": 1.016,
+                  "z": 0.255
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|6|0",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 4.442,
+                  "y": 0.938,
+                  "z": 0.177
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 4.904,
+                  "y": 0.0,
+                  "z": 0.636
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|6|13",
+                "object_type": "Cup",
+                "position": {
+                  "x": 4.75,
+                  "y": 0.938,
+                  "z": 0.102
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|6|27",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 4.366,
+                  "y": 0.94,
+                  "z": 0.102
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|23",
+                "object_type": "Egg",
+                "position": {
+                  "x": 4.52,
+                  "y": 0.965,
+                  "z": 0.331
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|6|2",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 4.443,
+                  "y": 0.942,
+                  "z": 0.484
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|9",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 4.659,
+                  "y": 1.012,
+                  "z": 0.418
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|21",
+                "object_type": "Potato",
+                "position": {
+                  "x": 4.52,
+                  "y": 0.97,
+                  "z": 0.255
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|6|14",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 4.52,
+                  "y": 0.937,
+                  "z": 0.102
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|26",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 4.366,
+                  "y": 0.939,
+                  "z": 0.331
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|6|22",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 4.597,
+                  "y": 0.98,
+                  "z": 0.102
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|4.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.465,
+                  "y": 2.388,
+                  "z": 0.0
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|4.93|0.00|4.93|4.93",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.93,
+                  "y": 2.388,
+                  "z": 2.465
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 132.0414276123047,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|6|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bread|surface|6|1",
+                "object_type": "Bread",
+                "position": {
+                  "x": 4.75,
+                  "y": 1.016,
+                  "z": 0.255
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|6|0",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 4.442,
+                  "y": 0.938,
+                  "z": 0.177
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 4.904,
+                  "y": 0.0,
+                  "z": 0.636
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|6|13",
+                "object_type": "Cup",
+                "position": {
+                  "x": 4.75,
+                  "y": 0.938,
+                  "z": 0.102
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|6|27",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 4.366,
+                  "y": 0.94,
+                  "z": 0.102
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|23",
+                "object_type": "Egg",
+                "position": {
+                  "x": 4.538,
+                  "y": 1.167,
+                  "z": 0.966
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|6|2",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 4.443,
+                  "y": 0.942,
+                  "z": 0.484
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|9",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 4.657,
+                  "y": 1.01,
+                  "z": 0.408
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|6|21",
+                "object_type": "Potato",
+                "position": {
+                  "x": 4.52,
+                  "y": 0.97,
+                  "z": 0.255
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|6|14",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 4.52,
+                  "y": 0.937,
+                  "z": 0.102
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|26",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 4.366,
+                  "y": 0.939,
+                  "z": 0.331
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|6|22",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 4.597,
+                  "y": 0.98,
+                  "z": 0.102
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|4.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.465,
+                  "y": 2.388,
+                  "z": 0.0
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|4.93|0.00|4.93|4.93",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.93,
+                  "y": 2.388,
+                  "z": 2.465
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 132.0414276123047,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|6|23"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|6|23",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|6|23",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|6|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.051,
+                  "y": -0.0,
+                  "z": 0.457
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.05,
+                  "y": -0.0,
+                  "z": 1.329
+                },
+                "distance": 1.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 2.064,
+                  "y": 0.001,
+                  "z": 0.892
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|23",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.167,
+                  "z": 1.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.587,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|6|17",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 1.635,
+                  "y": 0.708,
+                  "z": 0.716
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|4.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.465,
+                  "y": 2.388,
+                  "z": 0.0
+                },
+                "distance": 2.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.388,
+                  "z": 1.643
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 174.4549560546875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|6|23"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|6|3|2",
+                "object_type": "Chair",
+                "position": {
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+                  "y": -0.0,
+                  "z": 0.457
+                },
+                "distance": 1.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.05,
+                  "y": -0.0,
+                  "z": 1.329
+                },
+                "distance": 1.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
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+                  "y": 0.001,
+                  "z": 0.892
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+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.816,
+                  "y": 1.386,
+                  "z": 0.474
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|23",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.167,
+                  "z": 1.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.587,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|0.00|4.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.465,
+                  "y": 2.388,
+                  "z": 0.0
+                },
+                "distance": 2.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.388,
+                  "z": 1.643
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 174.4549560546875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|6|23"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
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+                "in_view_center": false
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+            "agent_state": {
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+              "rotation_y": 74.53192901611328,
+              "camera_horizon": 48.476051330566406,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|5|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|5|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 56,
+            "image_path": "obs_056.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
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+                  "z": 3.936
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+                "distance": 0.76,
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+                "object_type": "GarbageCan",
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+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "Ladle",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.02|4.01|10.02|8.01",
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+                "distance": 2.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.02|0.00|10.02|4.01",
+                "object_type": "Wall",
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+                  "z": 2.003
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+                "distance": 1.81,
+                "in_view_center": false
+              }
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+              "camera_horizon": 48.476051330566406,
+              "holding": "Ladle|surface|6|17"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Ladle|surface|6|17",
+              "instrument": null,
+              "natural_language": "Pick up Ladle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Ladle|surface|6|17",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 57,
+            "image_path": "obs_057.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|6|18",
+                "object_type": "Bottle",
+                "position": {
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+                  "z": 9.762
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+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
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+                },
+                "distance": 2.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|6|17",
+                "object_type": "Ladle",
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+                  "y": 1.21,
+                  "z": 9.189
+                },
+                "distance": 0.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|6|29",
+                "object_type": "Pan",
+                "position": {
+                  "x": 2.152,
+                  "y": 0.939,
+                  "z": 9.762
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|6|16",
+                "object_type": "Pot",
+                "position": {
+                  "x": 1.846,
+                  "y": 0.939,
+                  "z": 9.762
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|6|14",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 2.764,
+                  "y": 0.938,
+                  "z": 9.529
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|10.02|4.01|10.02",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.67,
+                  "z": 10.017
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|10.02|4.01|10.02",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.003,
+                  "y": 1.67,
+                  "z": 10.017
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 9.0
+              },
+              "rotation_y": 352.65301513671875,
+              "camera_horizon": 39.68437957763672,
+              "holding": "Ladle|surface|6|17"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Pan|surface|6|29",
+              "instrument": null,
+              "natural_language": "Navigate to Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Pan|surface|6|29",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "Bottle|surface|6|18",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 2.458,
+                  "y": 0.938,
+                  "z": 9.762
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+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
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+                },
+                "distance": 2.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Ladle|surface|6|17",
+                "object_type": "Ladle",
+                "position": {
+                  "x": 2.166,
+                  "y": 1.107,
+                  "z": 9.842
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|6|29",
+                "object_type": "Pan",
+                "position": {
+                  "x": 2.152,
+                  "y": 0.939,
+                  "z": 9.762
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|6|16",
+                "object_type": "Pot",
+                "position": {
+                  "x": 1.846,
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+                  "z": 9.762
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|6|14",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 2.764,
+                  "y": 0.938,
+                  "z": 9.529
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|10.02|4.01|10.02",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.67,
+                  "z": 10.017
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|10.02|4.01|10.02",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.67,
+                  "z": 10.017
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 9.0
+              },
+              "rotation_y": 352.65301513671875,
+              "camera_horizon": 39.68437957763672,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pan|surface|6|29",
+              "instrument": null,
+              "natural_language": "Put Ladle on Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pan|surface|6|29",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_avoid_failure",
+        "probe_level": "L2",
+        "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。",
+        "context": "模型之前尝试打开 Fridge 失败（锁死），经过 59 步噪声后需要记住避开那个容器",
+        "scene": "ProcTHOR-test-000954",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|2|58",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|2|58",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Safe|surface|7|29",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Safe|surface|7|29",
+            "object_held": null
+          },
+          {
+            "action_type": "PutObject",
+            "target": "Safe|surface|7|29",
+            "object_held": null
+          },
+          {
+            "action_type": "Close",
+            "target": "Safe|surface|7|29",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 6,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|2|58 in Safe|surface|7|29 and not in Fridge|6|1",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to room other than Kitchen",
+              "penalty_type": "blind_navigation",
+              "weight": 2.0,
+              "description": "指令说放Kitchen收纳容器，不应去其他房间"
+            }
+          ],
+          "err_triggers": [
+            {
+              "trigger_condition": "Open(Fridge|6|1)",
+              "penalty_type": "critical_err",
+              "weight": 5.0,
+              "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验"
+            }
+          ]
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file