File size: 10,645 Bytes
deadbe4 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 | {
"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "myosuite/baoding",
"suite": "myosuite",
"base": "myosuite-baoding-i00",
"title_zh": "掌中双球循迹",
"summary_zh": "两球在掌内分别跟随各自移动目标，连续200个控制步内各自目标距离均严格小于0.015米且均未低于世界高度1.25米。",
"embodiment_zh": "两模式均为MyoHand肌肉骨骼前臂及单只灵巧手，由39条肌肉驱动，直接用手指与掌面操控两球，无移动底盘；特权模式可读物体与目标状态，标准模式通过相机和本体感觉控制同一冻结实例。",
"task_class": "atomic",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "myosuite-baoding-i00",
"bench": "myosuite",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "ball1_tracking",
"zh": "两球循迹",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "掌上视角（hand_top）中，两球在掌内互绕并分别跟随各自小目标标记，按初始球身份对应的球心与当前目标三维距离均严格小于0.015米，且两球世界高度均不低于1.25米，在同一连续200个控制步（每步0.025秒，合计5秒）内保持达标；被手持住也可达标，无须松手。任一球距离达到或超过0.015米，或世界高度低于1.25米，则联合循迹条件失去、连续计数清零；单帧二维画面重合不足以证明三维误差及持续窗口达标，临界判定需数值状态确认。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "手内调整",
"plan": 1,
"note_zh": "MyoHand灵巧手的手指与掌面共同操控两球，在掌内滚动换位，使两球分别跟随各自移动目标。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:5-7",
"task/privileged/instruction.md:13-14",
"task/privileged/instruction.md:49-53",
"grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:58-68",
"grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:273-274",
"grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-467"
],
"conf": 6,
"note_zh": "按docs/01_task_dag.md Step 3第5条，同一联合循迹检查点对两球只设一个步骤；保留原ball1_tracking作为合并后的节点id，避免无关改名。按初始球身份分别跟踪对应目标，不把屏幕左右位置或即时颜色当实例身份；不能仅凭球的变色判定对应误差，须观察球心与目标并结合可用的数值证据。连续200步是本步骤的联合验收条件，不另建节点；无状态日志时when及success均为null，补日志后可比较原生solved_run>=200。"
}
],
"constraints": [
{
"id": "ball_dropped",
"zh": "球掉出掌心",
"never": null,
"criterion_zh": "任一球的球心世界坐标z严格小于1.25米时立即判负终止；侧视画面可见球跌离掌心，但掌上相机随前臂运动，不能仅凭屏幕高度推断世界高度，临界值须数值状态确认。",
"consequence": "立即终止",
"sources": [
"task/privileged/instruction.md:5",
"task/privileged/instruction.md:20-33",
"task/privileged/instruction.md:49-53",
"grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:446-467"
]
}
],
"success": null,
"atoms": [
{
"atom": "ball1_target_distance",
"level": "new_code",
"source": "dyn.baoding_target1_dist <- norm(obs_dict.target1_err); task/privileged/instruction.md:13,49; not present in any supplied state log"
},
{
"atom": "ball2_target_distance",
"level": "new_code",
"source": "dyn.baoding_target2_dist <- norm(obs_dict.target2_err); task/privileged/instruction.md:14,50; not present in any supplied state log"
},
{
"atom": "ball1_world_height",
"level": "new_code",
"source": "dyn.baoding_object1_z <- obs_dict.object1_pos[2]; task/privileged/instruction.md:21-25,31; not present in any supplied state log"
},
{
"atom": "ball2_world_height",
"level": "new_code",
"source": "dyn.baoding_object2_z <- obs_dict.object2_pos[2]; task/privileged/instruction.md:26-32; not present in any supplied state log"
},
{
"atom": "joint_tracking_run",
"level": "new_code",
"source": "dyn.baoding_solved_run <- Session.solved_run (both errors < 0.015 and both heights >= 1.25); grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-465; compare >= 200; not present in any supplied state log"
}
]
},
"native_metrics": [
{
"name": "target1_dist",
"unit": "m",
"threshold": 0.015,
"direction": "lower_better"
},
{
"name": "target2_dist",
"unit": "m",
"threshold": 0.015,
"direction": "lower_better"
},
{
"name": "solved_run",
"unit": "control_steps",
"threshold": 200,
"direction": "higher_better"
}
],
"open_questions_zh": [
"无成功示范：inputs/oracle_none.txt说明本目录所供14次目录运行均失败；未提供成功视频或solution，按文本、冻结初态说明和评分代码规划（N2）。README提到的历史成功轨迹未随本任务提供，不能据此声称已核对示范。",
"状态日志为空（inputs/states/index.json），按P8将所有when及success设为null，掉球约束never也为null；atoms仅列需要补记的世界状态与计数器，不把特权观测或未来字段冒充现有日志。视频可判断明显偏离，0.015米三维误差及连续200步临界判定仍需数值日志。",
"初态只由文本核实为两球位于朝上掌心，重置代码恢复同一冻结快照；inputs/MANIFEST.json列出instance.npz被省略，缺少首帧与球、目标的初始数值，无法核实联合循迹节点在零时刻是否成立，也不能预设零时刻进度。",
"粒度按docs/01_task_dag.md Step 3第5条及TAXONOMY_v2.md规则2第5条处理：两球共同循迹是一个联合检查点，合并为一个状态步骤，按初始球身份分别绑定对应目标；不拆成逐球节点、轨道相位、每圈或持球步骤。连续200步属于该步骤的验收，补日志时应直接比较原生solved_run>=200，避免把两个不同时间段的单球达标误当共同成功。",
"模式差异：特权评分还要求两次新进程回放均成功、终态哈希一致且冻结初态匹配（grader/efe_myosuite-files/privileged/tests/grade.py:168-171）；标准模式读取最后一次现场回合判决与有效终结记录，不重放评分（grader/efe_myosuite-files/standard/tests/grade.py:51-57）。这些交付及有效性条件不建世界状态节点；本DAG刻画共同物理目标，现无日志可表达完整评分判决。标准README:10,22另记载浮点精度改变后既有特权轨迹失败，标准模式可解性未获正例验证，不能推断不可解。",
"视觉判据局限：task/privileged/instruction.md:60-69所附代码的两个球变色都读取target1_dist，二号球颜色不能独立证明二号球循迹达标；应按初始球身份跟踪其对应目标，不把屏幕左右位置或即时颜色当实例身份。缺少视频，尚未核实目标标记遮挡及球身份的可辨性（N8）。",
"1000个控制步（25秒）目标轨迹结束上限由Session.step实施（grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:468-473）；按P21属于回合时限，不列约束。文本另有“步数不限”的通用表述，实际仍受该目标轨迹长度限制。"
],
"conf": 6,
"conf_reason_zh": "文本和评分包装代码支持两球共同循迹、连续200步联合验收及掉球终止，数值阈值有明确出处；但无状态日志、实例数值或成功视频，不能验证零时刻进度、数值绑定、球身份视觉判定及标准模式可解性。",
"review": {
"status": "agreed",
"rounds": 2,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "fix",
"conf": 6,
"summary_zh": "文本只描述一个步骤：把两球在掌内互绕，使各自跟随目标；评分是两球同一200步窗口内同时达标，两个节点是同一检查点对两个实体，应合并为一个节点。其余（掉球约束、success=null、open_questions）符合P8/无日志规则。",
"n_issues": 1,
"n_major": 1
},
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 2,
"verdict": "agree",
"conf": 7,
"summary_zh": "单一联合循迹状态步骤与文本一致（两球分别跟随目标，连续200步<0.015 m，z≥1.25 m）；无状态日志，when/success/never为null并已在open_questions_zh说明；掉球约束为立即终止；阈值与评分代码一致；标签位姿·沿轨迹移动与手内调整可接受。未发现需改动处。",
"n_issues": 0,
"n_major": 0
}
],
"open_zh": []
},
"evidence_check": {
"n_state_runs": 0,
"n_faithful": 0,
"success_runs_reaching_all": "0/0",
"spec_success_eq_grader": "0/0",
"diverged_runs": [],
"notes_zh": [
"when=null 的节点不在状态日志上检查：['ball1_tracking']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T02:06:00Z",
"review_prompt": "prompts/02_task_dag_review.md",
"review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
"reconcile_prompt": "prompts/05_reconcile.md",
"reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
"calls": [
{
"stage": "dag",
"round": 0,
"ok": true,
"space": "work/tasks/myosuite__baoding/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/myosuite__baoding/02_review_r1"
},
{
"stage": "reconcile",
"round": 1,
"ok": true,
"space": "work/tasks/myosuite__baoding/05_reconcile_r1"
},
{
"stage": "dag_review",
"round": 2,
"ok": true,
"space": "work/tasks/myosuite__baoding/02_review_r2"
}
],
"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "b21ef3653df75d806c5e1f56a24909cbf1fc665d3f13a20fa94ead29e8278a7f",
"repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
}
}
|