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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "robowits/stack_bowls",
"suite": "robowits",
"base": "robowits-stack-bowls-i00",
"title_zh": "小碗同心套叠",
"summary_zh": "两碗的俯视轮廓在允许桌面范围内且中心距不超过1.1厘米，机器人不接触两碗，并通过两秒的静置检查。",
"embodiment_zh": "两种模式均为桌前固定基座的Marvin双臂机器人，每臂7自由度，左右末端各为Pika平行二指夹爪；可用任一臂或双臂配合，无需移动底盘。",
"task_class": "atomic",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "robowits-stack-bowls-i00",
"bench": "robowits",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "bowls_nested_concentrically",
"zh": "小碗同心套叠",
"mode": "state",
"when": null,
"after": [],
"hold_s": 2.0,
"goal": true,
"criterion_zh": "主视角中原本前后分开的两只深色碗重叠成同心的一组，可结合腕部视角查看碗沿；按评分验收，两碗俯视轮廓须均在 x∈[0.20,1.01] m、y∈[-0.70,0.70] m 内，轮廓凸包顶点均值中心的水平距离≤0.011 m（无有效凸包时依次用包围盒中心、物体位置），不额外要求小碗低于大碗或嵌入某个深度。机器人保持末次指令先等待1秒，再检查2秒：从窗口起点起每6个控制步及末步均满足上述关系且机器人任一部位均不接触两碗，每个控制步两碗各自距窗口起点位置的位移均≤0.002 m；仍被夹持、明显偏心、任一轮廓越界或持续移动均未完成，达成后丢失任一条件即失去该步。",
"step": {
"cat": "关系",
"item": "堆叠"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "任一臂的二指夹爪夹住中号碗碗沿并将其叠到大碗上；成功视频使用左夹爪，右夹爪也可执行此方案。",
"plan": 1
},
{
"who": "双臂协作",
"how": "抓握",
"note_zh": "一侧二指夹爪抓住大碗碗沿稳住或定位，另一侧二指夹爪抓住中号碗碗沿配合套叠；完成后两夹爪均须脱离两碗。",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:3-4 任务文字与双臂二指夹爪",
"inputs/task/privileged/instruction.md:13-77 内嵌原生成功判据：桌面范围、中心计算及0.011 m阈值",
"inputs/task/privileged/instruction.md:83-102 验收窗口及不检查高度、套叠顺序",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:313 控制频率30 Hz",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:339-355 等待30步、检查60步、步幅6及两碗均受评",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761 Genesis接触列表与瞬时目标",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:763-799 静置窗口及每步位移上限0.002 m",
"inputs/task/privileged/environment/instance.json:1 两碗初始分离，均在桌面范围内",
"inputs/oracle/replay.mp4 @ 0.0,2.0,4.0,6.0,8.0,10.0,12.0,14.0,16.0,18.0,19.0 s 主视角及双腕视角：左夹爪搬动中号碗至大碗上"
],
"conf": 6,
"note_zh": "仅一个套叠步骤；抓取、抬起、搬运、降低、松手和退手均是其动作阶段或验收，未拆节点。按说明中优先的评分标准接受俯视同心，大小碗上下顺序不固定；桌面边界是本步的摆放验收，不另建保持在桌上节点或历史约束。hold_s为60次控制间隔即2秒，窗口包含i=0至i=60；1秒预等待是评价安排。验收要求松手静置，保留持物冻结默认行为。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "dyn.bowls_radial_offset_m",
"level": "new_code",
"source": "需记录collect_objs_info两碗convex_hull_2d顶点均值中心的水平距离，及包围盒/位置回退；inputs/task/privileged/instruction.md:25-37,75-77。"
},
{
"atom": "dyn.bowls_footprints_in_table",
"level": "new_code",
"source": "需记录两碗俯视轮廓均落入扩展桌面矩形的布尔值；inputs/task/privileged/instruction.md:13-15,40-68。"
},
{
"atom": "dyn.bowls_robot_contact_clear",
"level": "new_code",
"source": "需逐帧记录Session.touching_robot对large bowl和medium bowl的实际接触结果；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761。"
},
{
"atom": "dyn.bowls_check_window_max_move_m",
"level": "new_code",
"source": "需记录窗口起点、每步两碗位置及相对该起点的最大位移，并同步目标检查采样；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:763-799。"
}
]
},
"native_metrics": [
{
"name": "radial_offset",
"unit": "m",
"threshold": 0.011,
"direction": "lower_better"
},
{
"name": "settle.max_move_m",
"unit": "m",
"threshold": 0.002,
"direction": "lower_better"
}
],
"open_questions_zh": [
"inputs/states/index.json的logs为空；按DECISIONS.md P8，所有节点when及success均为null。不能核验逐帧绑定、2毫米静置或精确凸包中心距，spec.atoms仅列待增加的世界状态记录，不代表已有日志字段。",
"任务设计问题：文字要求小碗同心嵌入大碗，但原生判据只检验俯视同心和桌面范围，不检验高度、容纳或上下顺序；说明已明确大碗置于中号碗上也可通过（inputs/task/privileged/instruction.md:98-102；standard/instruction.md:22-26）。依DECISIONS.md N3、D1采用说明优先的评分验收，不另造一个未受评的嵌入步骤。",
"文本与代码差异：两模式说明的not held解释为夹爪尖点不进入物体外扩3厘米包围盒，但实际Session.goal依据Genesis机器人任一部位的接触列表判定释放（inputs/task/privileged/instruction.md:104-106；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761）。以实际代码的无接触为验收，不添加3厘米退让阈值。",
"两模式的物理目标与静置检查共用Session.goal/settle_check；privileged对提交轨迹重复回放，CPU还检查状态哈希一致及实例匹配；standard由在线单回合通过窗口即成功（privileged/tests/grade.py:63,111-118；sim/server.py:165-176；standard/tests/grade.py:28-40，均位于inputs/grader/efe_robowits-files）。这些复现与交付有效性要求不建语义节点；重复回放同一冻结实例也不是不同任务场景。",
"输入未包含独立的19_stack_bowls.py模块，原生几何判据依据privileged说明中完整摘录的_check_success；成功视频末段碗沿被夹爪局部遮挡且无状态日志，精确中心距和无接触不能仅凭像素独立核验。"
],
"conf": 6,
"conf_reason_zh": "单个套叠步骤、初态、两模式共同验收及全部数值均有文字或代码依据，成功视频支持几何和典型接触方案；但没有状态日志，无法绑定或独立复核精确轮廓中心、接触与静置窗口，且文字和实际评分存在已列明的差异。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "任务文字只描述一个步骤（把小碗同心套入大碗），单节点、goal、state、hold_s 2.0、阈值（0.011 m、2 mm、桌面范围含1 cm容差）均与评分一致；松手静置与不接触已折入该节点，无状态日志故 when/success 为 null 符合 P8；任务设计问题（'套入'未被检验）已在 open_questions_zh 列出。未发现需改内容的错误。",
"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：['bowls_nested_concentrically']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T01:56:34Z",
"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/robowits__stack_bowls/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/robowits__stack_bowls/02_review_r1"
}
],
"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "68ebda6279e05a92feaa4cfbcc32edc4a53bd1e3381e890ea664067fc02b7754",
"repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
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}
|