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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "behavior-1k/make_pizza",
"suite": "behavior-1k",
"base": "behavior-make-pizza-i00",
"title_zh": "制作披萨",
"summary_zh": "配方生成的披萨接触并由烤盘从下方承托，披萨与烤盘均离手、静置且目标连续成立30个控制步。",
"embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人：左右臂各装二指夹爪，配可调躯干、轮式底盘及头部和双腕相机，采用辅助抓取；特权模式直接控制仿真，标准模式通过服务操作同一冻结实例。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "behavior-make-pizza-i00",
"bench": "behavior-1k",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "fridge_opened",
"zh": "打开冰箱",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可见冰箱门离开门框，开口足以接近装奶酪、香肠或蘑菇的保鲜盒；门仍挡住取料开口时未完成。门一度达到可取料状态即记为完成，无须最终保持打开。",
"step": {
"cat": "机构",
"item": "打开"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪抓住冰箱把手向外拉开门",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动到冰箱前操作",
"plan": 1
}
],
"optional": false,
"verify_zh": "待核实：冰箱门初态；实例只给物体位姿，未给门关节或开合谓词。",
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:26-38",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1285"
],
"conf": 6,
"note_zh": "配料初始在冰箱内；按必经容器前提默认保留。若初始已达到取料开度，此事件从起点成立；不添加关冰箱步骤。"
},
{
"id": "oven_opened",
"zh": "打开烤箱",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可见烤箱门已让出炉腔入口，烤盘能够通过；门仍遮住烤盘入口时未完成。达到装盘开度后即完成，不要求最后敞开。",
"step": {
"cat": "机构",
"item": "打开"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪抓住烤箱门把手拉开炉门",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动到烤箱前操作",
"plan": 1
}
],
"optional": false,
"verify_zh": "待核实：烤箱门初态；现有实例未给门关节值。",
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:40-42",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1285"
],
"conf": 6,
"note_zh": "文本要求进烤箱烘烤的容器前提；不凭常识补关炉门，现有输入没有证明关门是配方条件。"
},
{
"id": "oven_on",
"zh": "开启烤箱",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "烤箱控制件已被操作到加热开启状态；可见开机指示或后续加热状态可佐证，仅触碰旋钮、炉门敞开或把烤盘放进去均不算开启。现有材料未规定温度档位，不凭外观猜温度。",
"step": {
"cat": "机构",
"item": "启停设备"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪握住烤箱控制旋钮转到开启档",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动到烤箱控制件前",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "压/擦",
"note_zh": "一侧夹爪按压烤箱启动控制件，适用于按键式开启方案",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移到烤箱控制件前",
"plan": 2
}
],
"optional": false,
"verify_zh": "待核实：烤箱初始启停状态及其控制件形式；未提供设备状态或模型细节。",
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23"
],
"conf": 6,
"note_zh": "文本所指烘烤路线需要有效热源；设备可预热，故与切料、铺料和开门均无先后边。若初始已开启则起点成立；无需最终保持开启。"
},
{
"id": "cheese_on_dough",
"zh": "奶酪铺上饼坯",
"mode": "event",
"when": null,
"after": [
"fridge_opened"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可见碎奶酪已从保鲜盒转移并落在面团表面，形成奶酪配料；奶酪仍只在盒中、落在台面或仅落在面团旁的烤盘上均不算。文本没有覆盖率或质量阈值，不另设数字。",
"step": {
"cat": "材料",
"item": "倒"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪握住装碎奶酪的保鲜盒并倾倒到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人把奶酪从冰箱区域移到饼坯旁",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:25-27",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "文本步骤未被终点评分器单独检查；一度铺好即记录，之后配方消耗奶酪不算倒退。"
},
{
"id": "pepperoni_on_dough_1",
"zh": "第1片肠铺好",
"mode": "event",
"when": null,
"after": [
"fridge_opened"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少1片不同的辣香肠片已接触并铺在面团上；还在盒中、夹爪中悬空或仅在面团外的烤盘上的片不计。按满足关系的片数计，不依赖四片的实例身份；同一片重复移动不增加数量。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一片辣香肠，把它放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将香肠从冰箱区域移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:7",
"inputs/bddl/make_pizza.bddl:28-32",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "四片同类食材按累计数量建立事件；配方随后消耗配料不撤销已完成事件。未被评分器单独验收，不把取出和搬运拆成步骤。"
},
{
"id": "pepperoni_on_dough_2",
"zh": "第2片肠铺好",
"mode": "event",
"when": null,
"after": [
"pepperoni_on_dough_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少2片不同的辣香肠片已接触并铺在面团上；还在盒中、夹爪中悬空或仅在面团外的烤盘上的片不计。按满足关系的片数计，不依赖四片的实例身份；同一片重复移动不增加数量。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一片辣香肠，把它放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将香肠从冰箱区域移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:7",
"inputs/bddl/make_pizza.bddl:28-32",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "四片同类食材按累计数量建立事件；配方随后消耗配料不撤销已完成事件。未被评分器单独验收，不把取出和搬运拆成步骤。"
},
{
"id": "pepperoni_on_dough_3",
"zh": "第3片肠铺好",
"mode": "event",
"when": null,
"after": [
"pepperoni_on_dough_2"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少3片不同的辣香肠片已接触并铺在面团上；还在盒中、夹爪中悬空或仅在面团外的烤盘上的片不计。按满足关系的片数计，不依赖四片的实例身份；同一片重复移动不增加数量。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一片辣香肠，把它放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将香肠从冰箱区域移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:7",
"inputs/bddl/make_pizza.bddl:28-32",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "四片同类食材按累计数量建立事件；配方随后消耗配料不撤销已完成事件。未被评分器单独验收，不把取出和搬运拆成步骤。"
},
{
"id": "pepperoni_on_dough_4",
"zh": "第4片肠铺好",
"mode": "event",
"when": null,
"after": [
"pepperoni_on_dough_3"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少4片不同的辣香肠片已接触并铺在面团上；还在盒中、夹爪中悬空或仅在面团外的烤盘上的片不计。按满足关系的片数计，不依赖四片的实例身份；同一片重复移动不增加数量。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一片辣香肠，把它放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将香肠从冰箱区域移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:7",
"inputs/bddl/make_pizza.bddl:28-32",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "四片同类食材按累计数量建立事件；配方随后消耗配料不撤销已完成事件。未被评分器单独验收，不把取出和搬运拆成步骤。"
},
{
"id": "mushrooms_halved_1",
"zh": "第1只菇切半",
"mode": "event",
"when": null,
"after": [
"fridge_opened"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "至少1只不同的完整蘑菇已各变成两个可分辨的半块；视角可见分离半块或模拟器切割替换事件，刀刃仅靠近或触到而蘑菇仍完整均不算。每只蘑菇一次切割形成两半，按已切开的整菇数量计，不把两个半块算成两次切割。",
"step": {
"cat": "材料",
"item": "切"
},
"contact": [
{
"who": "手持工具",
"how": "压/擦",
"note_zh": "夹爪持雕刻刀，以刀刃压切蘑菇",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人在取菇位置和切料位置间移动",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪握住蘑菇，将蘑菇移向静置雕刻刀的有效刀刃",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人把蘑菇移到刀刃处",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:8",
"inputs/bddl/make_pizza.bddl:34-38"
],
"conf": 6,
"note_zh": "文本要求两只蘑菇切半，终点评分器未逐只检查。接触有效切割器后由模拟器替换成半块；2秒刀刃冷却是过程机制，不是额外步骤或完成等待阈值。"
},
{
"id": "mushrooms_halved_2",
"zh": "第2只菇切半",
"mode": "event",
"when": null,
"after": [
"mushrooms_halved_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "至少2只不同的完整蘑菇已各变成两个可分辨的半块；视角可见分离半块或模拟器切割替换事件，刀刃仅靠近或触到而蘑菇仍完整均不算。每只蘑菇一次切割形成两半，按已切开的整菇数量计，不把两个半块算成两次切割。",
"step": {
"cat": "材料",
"item": "切"
},
"contact": [
{
"who": "手持工具",
"how": "压/擦",
"note_zh": "夹爪持雕刻刀，以刀刃压切蘑菇",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人在取菇位置和切料位置间移动",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪握住蘑菇，将蘑菇移向静置雕刻刀的有效刀刃",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人把蘑菇移到刀刃处",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:8",
"inputs/bddl/make_pizza.bddl:34-38"
],
"conf": 6,
"note_zh": "文本要求两只蘑菇切半，终点评分器未逐只检查。接触有效切割器后由模拟器替换成半块；2秒刀刃冷却是过程机制，不是额外步骤或完成等待阈值。"
},
{
"id": "mushroom_halves_on_dough_1",
"zh": "第1块菇铺好",
"mode": "event",
"when": null,
"after": [
"mushrooms_halved_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少1个不同的蘑菇半块已接触并放在面团上；完整蘑菇、悬空半块或面团外的半块不计。两只蘑菇共四个半块可任意排序，同一半块不能重复计数。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一蘑菇半块放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将蘑菇半块从切料处移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:8",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "两个切割事件各产生两半；第1、2块只需已有一只菇切半，第3、4块必需两只均切半。不强迫先切完全部再铺第一块；终点评分器未逐块检查。"
},
{
"id": "mushroom_halves_on_dough_2",
"zh": "第2块菇铺好",
"mode": "event",
"when": null,
"after": [
"mushroom_halves_on_dough_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少2个不同的蘑菇半块已接触并放在面团上；完整蘑菇、悬空半块或面团外的半块不计。两只蘑菇共四个半块可任意排序，同一半块不能重复计数。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一蘑菇半块放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将蘑菇半块从切料处移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:8",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "两个切割事件各产生两半；第1、2块只需已有一只菇切半，第3、4块必需两只均切半。不强迫先切完全部再铺第一块；终点评分器未逐块检查。"
},
{
"id": "mushroom_halves_on_dough_3",
"zh": "第3块菇铺好",
"mode": "event",
"when": null,
"after": [
"mushroom_halves_on_dough_2",
"mushrooms_halved_2"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少3个不同的蘑菇半块已接触并放在面团上；完整蘑菇、悬空半块或面团外的半块不计。两只蘑菇共四个半块可任意排序，同一半块不能重复计数。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一蘑菇半块放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将蘑菇半块从切料处移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:8",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "两个切割事件各产生两半；第1、2块只需已有一只菇切半，第3、4块必需两只均切半。不强迫先切完全部再铺第一块；终点评分器未逐块检查。"
},
{
"id": "mushroom_halves_on_dough_4",
"zh": "第4块菇铺好",
"mode": "event",
"when": null,
"after": [
"mushroom_halves_on_dough_3"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可数出至少4个不同的蘑菇半块已接触并放在面团上；完整蘑菇、悬空半块或面团外的半块不计。两只蘑菇共四个半块可任意排序，同一半块不能重复计数。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住任一蘑菇半块放到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将蘑菇半块从切料处移向饼坯",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:8",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "两个切割事件各产生两半；第1、2块只需已有一只菇切半，第3、4块必需两只均切半。不强迫先切完全部再铺第一块；终点评分器未逐块检查。"
},
{
"id": "onion_diced",
"zh": "洋葱切成丁",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可见整只洋葱已转成洋葱丁粒子，不能只停在完整洋葱或两个未切丁的半块。先切半再把可切丁半块转为碎丁属于完成这一只洋葱切丁的操作，不另把刀路拆为节点。",
"step": {
"cat": "材料",
"item": "切"
},
"contact": [
{
"who": "手持工具",
"how": "压/擦",
"note_zh": "夹爪持雕刻刀，以刀刃切开洋葱并继续切丁",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移到洋葱及刀具附近",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪握住洋葱或其半块移向静置刀刃，形成切割接触",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移到切料处",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:9",
"inputs/bddl/make_pizza.bddl:39"
],
"conf": 6,
"note_zh": "一个被描述为切丁的洋葱为一个材料变化步骤；输入未给切丁数量、粒径或配方粒子比例，不能虚构阈值。终点评分器未单独验收。"
},
{
"id": "diced_onion_on_dough",
"zh": "洋葱丁铺上饼坯",
"mode": "event",
"when": null,
"after": [
"onion_diced"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可见洋葱碎丁已转移并落在面团上作为配料；仍全在砧板或碗中、只落在面团旁或仅有未切丁洋葱均不算。输入没有粒子数或覆盖率要求，不增设数值门槛。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手持工具",
"how": "推/扫",
"note_zh": "夹爪持刀，以刀面把砧板上的洋葱丁推落到面团上",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将洋葱丁从切料处移向饼坯",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪握住盛洋葱丁的碗，倾斜使洋葱丁落在面团上",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人把盛料碗移到饼坯处",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:33-39",
"inputs/bddl/make_pizza.bddl:50-54"
],
"conf": 6,
"note_zh": "推落或用碗倒入是替代接触方案；盛料碗不是每条路线必需工具，不添加取碗步骤。终点评分器未单独验收。"
},
{
"id": "dough_in_oven",
"zh": "饼坯送入烤箱",
"mode": "event",
"when": null,
"after": [
"oven_opened"
],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部视角可见承载饼坯的烤盘通过炉门，饼坯及其烤盘已进入烤箱炉腔并由炉内承托；只停在烤箱外、炉门上或空烤盘入炉均不算。可在入炉前或入炉后继续铺料，不要求某一取放轨迹。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪夹住承载饼坯的烤盘边缘送入炉腔",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人把烤盘从台面移向烤箱",
"plan": 1
},
{
"who": "双臂协作",
"how": "抓握",
"note_zh": "左右夹爪分别握住烤盘两侧，将承载饼坯的烤盘共同送入炉腔",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人把双手承载的烤盘移到炉前",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/bddl/make_pizza.bddl:25",
"inputs/bddl/make_pizza.bddl:40-42"
],
"conf": 6,
"note_zh": "入炉是文本烘烤路线的可暂停前提，按一个放入步骤保留；初始面团在烤盘上，不增加拿起或搬运阶段。终点评分器不直接检查炉内关系。"
},
{
"id": "pizza_baked",
"zh": "烘烤成披萨",
"mode": "state",
"when": null,
"after": [
"dough_in_oven",
"oven_on",
"cheese_on_dough",
"pepperoni_on_dough_4",
"mushroom_halves_on_dough_4",
"diced_onion_on_dough"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "饼坯和配料经加热配方转变，头部或腕部视角可见生成的成品披萨，不再仅是生面团上堆放配料；原始披萨占位对象仍不存在时未完成。此步只对应披萨真实存在，离手、静置和烤盘关系作为最终联合验收另述。",
"step": {
"cat": "材料",
"item": "温度变化"
},
"contact": [
{
"who": "无接触",
"how": "不适用",
"note_zh": "设备完成：烤箱加热使饼坯及配料经配方转变成披萨，机器人不必持续接触食物",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4-8",
"inputs/task/privileged/instruction.md:23",
"inputs/bddl/make_pizza.bddl:41",
"inputs/bddl/make_pizza.bddl:50-54",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1417-1434"
],
"conf": 7,
"note_zh": "设备完成：烤箱；目标字面量为 real(pizza)。按说明书指定的烘烤路线，饼坯入炉、烤箱开启及奶酪、四片香肠、四个蘑菇半块、洋葱丁铺好均须先于配方触发生成披萨；铺料可在入炉前或入炉后完成，故铺料末节点只连到本节点。本节点仍为state，after仅说明达成顺序，不门控真实存在状态，也不改写评分器。披萨若消失则此状态失去；联合成功还要求披萨在烤盘上且两者离手静置连续30控制步。"
},
{
"id": "pizza_on_sheet",
"zh": "披萨留在烤盘",
"mode": "state",
"when": null,
"after": [
"pizza_baked"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "成品披萨接触烤盘且烤盘直接在其下方而不在其上方，头部或腕部视角可见成品由烤盘承托；只在盘旁、悬空、落到地面或只有生饼坯均不算，披萨离开烤盘即失去此状态。最终还须披萨与烤盘均未被辅助抓取附着，线速度各不超过0.05米/秒，并与披萨存在及盘上关系一起连续成立30个30赫兹控制步。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手持工具",
"how": "托/舀",
"note_zh": "夹爪移动承载饼坯的烤盘，以烤盘持续托住食物直到生成披萨",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动承载饼坯的烤盘",
"plan": 1
},
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧夹爪直接把生成后偏离烤盘的披萨放回烤盘",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人将披萨移向烤盘",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4-8",
"inputs/task/privileged/instruction.md:21-23",
"inputs/bddl/make_pizza.bddl:50-54",
"inputs/grader/efe_behavior-files/rcb_behavior.py:103-105",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1417-1434"
],
"conf": 7,
"note_zh": "对应 ontop(pizza,cookie_sheet)，不重复单列抓取、松手或静置节点；通常承载关系随配方生成，不要求生成后再搬一次。两目标的共同30步窗口属于 success；无日志时仅在判据中保留，不另重复设置hold_s。此关系在允许持物的中间帧也可观测，故显式关闭持物冻结。"
}
],
"constraints": [
{
"id": "robot_fallen",
"zh": "机器人跌倒",
"never": null,
"criterion_zh": "机器人基座上轴的世界竖直分量小于0.75，或基座低于地面超过0.03米，上述析取连续成立300个30赫兹控制步（名义10秒）即失败；短时倾斜后恢复不触发。同一步先检查模拟器崩溃，再检查成功，最后检查跌倒，故成功已成立则不再触发跌倒终止。",
"consequence": "立即终止",
"sources": [
"inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
"inputs/grader/efe_behavior-files/rcb_behavior.py:125-146",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1394-1399",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
]
},
{
"id": "simulator_breakdown",
"zh": "模拟器状态崩溃",
"never": null,
"criterion_zh": "机器人位置、朝向、线速度或关节位置出现非有限数；机器人任一位置坐标绝对值超过10000米，或基座线速度模超过100米/秒；每30控制步还检查披萨和烤盘的位置是否非有限或任一坐标绝对值超过10000米。检测成立即终止，不能仅凭视频晃动断言。",
"consequence": "立即终止",
"sources": [
"inputs/grader/efe_behavior-files/rcb_behavior.py:107-113",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
]
}
],
"success": null,
"atoms": [
{
"atom": "dyn.fridge_opened",
"level": "new_code",
"source": "Log the world-state outcome for fridge_opened; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:26-38; inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1285"
},
{
"atom": "dyn.oven_opened",
"level": "new_code",
"source": "Log the world-state outcome for oven_opened; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:40-42; inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1285"
},
{
"atom": "dyn.oven_on",
"level": "new_code",
"source": "Log the world-state outcome for oven_on; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23"
},
{
"atom": "dyn.cheese_on_dough",
"level": "new_code",
"source": "Log the world-state outcome for cheese_on_dough; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:25-27; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.pepperoni_on_dough_1",
"level": "new_code",
"source": "Log the world-state outcome for pepperoni_on_dough_1; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:7; inputs/bddl/make_pizza.bddl:28-32; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.pepperoni_on_dough_2",
"level": "new_code",
"source": "Log the world-state outcome for pepperoni_on_dough_2; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:7; inputs/bddl/make_pizza.bddl:28-32; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.pepperoni_on_dough_3",
"level": "new_code",
"source": "Log the world-state outcome for pepperoni_on_dough_3; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:7; inputs/bddl/make_pizza.bddl:28-32; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.pepperoni_on_dough_4",
"level": "new_code",
"source": "Log the world-state outcome for pepperoni_on_dough_4; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:7; inputs/bddl/make_pizza.bddl:28-32; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.mushrooms_halved_1",
"level": "new_code",
"source": "Log the world-state outcome for mushrooms_halved_1; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:8; inputs/bddl/make_pizza.bddl:34-38"
},
{
"atom": "dyn.mushrooms_halved_2",
"level": "new_code",
"source": "Log the world-state outcome for mushrooms_halved_2; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:8; inputs/bddl/make_pizza.bddl:34-38"
},
{
"atom": "dyn.mushroom_halves_on_dough_1",
"level": "new_code",
"source": "Log the world-state outcome for mushroom_halves_on_dough_1; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:8; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.mushroom_halves_on_dough_2",
"level": "new_code",
"source": "Log the world-state outcome for mushroom_halves_on_dough_2; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:8; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.mushroom_halves_on_dough_3",
"level": "new_code",
"source": "Log the world-state outcome for mushroom_halves_on_dough_3; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:8; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.mushroom_halves_on_dough_4",
"level": "new_code",
"source": "Log the world-state outcome for mushroom_halves_on_dough_4; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:8; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.onion_diced",
"level": "new_code",
"source": "Log the world-state outcome for onion_diced; inputs/task/privileged/instruction.md:4; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:9; inputs/bddl/make_pizza.bddl:39"
},
{
"atom": "dyn.diced_onion_on_dough",
"level": "new_code",
"source": "Log the world-state outcome for diced_onion_on_dough; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:33-39; inputs/bddl/make_pizza.bddl:50-54"
},
{
"atom": "dyn.dough_in_oven",
"level": "new_code",
"source": "Log the world-state outcome for dough_in_oven; inputs/task/privileged/instruction.md:4; inputs/bddl/make_pizza.bddl:25; inputs/bddl/make_pizza.bddl:40-42"
},
{
"atom": "dyn.pizza_baked",
"level": "new_code",
"source": "Log the world-state outcome for pizza_baked; inputs/task/privileged/instruction.md:4-8; inputs/task/privileged/instruction.md:23; inputs/bddl/make_pizza.bddl:41; inputs/bddl/make_pizza.bddl:50-54; inputs/grader/efe_behavior-files/rcb_behavior.py:1417-1434"
},
{
"atom": "dyn.pizza_on_sheet",
"level": "new_code",
"source": "Log the world-state outcome for pizza_on_sheet; inputs/task/privileged/instruction.md:4-8; inputs/task/privileged/instruction.md:21-23; inputs/bddl/make_pizza.bddl:50-54; inputs/grader/efe_behavior-files/rcb_behavior.py:103-105; inputs/grader/efe_behavior-files/rcb_behavior.py:1417-1434"
},
{
"atom": "dyn.robot_fallen",
"level": "new_code",
"source": "Log FallWatch.fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:125-165,1417-1471"
},
{
"atom": "dyn.simulator_breakdown",
"level": "new_code",
"source": "Log Session.breakdown; inputs/grader/efe_behavior-files/rcb_behavior.py:125-165,1417-1471"
},
{
"atom": "dyn.success_rule",
"level": "new_code",
"source": "Log RestWatch.done plus goal, held and moving fields; inputs/grader/efe_behavior-files/rcb_behavior.py:125-165,1417-1471"
}
]
},
"native_metrics": [
{
"name": "q_score",
"unit": "比例",
"threshold": 1,
"direction": "higher_better",
"sources": [
"inputs/grader/efe_behavior-files/privileged/grade.py:188-190",
"inputs/grader/efe_behavior-files/standard/grade.py:50"
],
"note_zh": "基准报告的连续目标进度；不是独立成功判据，不能替代离手与静置规则。"
}
],
"open_questions_zh": [
"没有成功参考轨迹：inputs/oracle_none.txt记载15次目录运行均失败；没有solution参考解，故仅依据文字、BDDL初态、冻结实例与评分代码规划，视觉判据没有成功视频校准（暂行：DECISIONS.md N2、N8）。",
"inputs/states/index.json的logs为空；全部节点when、约束never及success均为null，不把未见于日志的字段伪装成可绑定条件。atoms列出需补录的世界状态，不是已有字段（暂行：DECISIONS.md P8）。",
"文本步骤未受评：奶酪铺料、四片香肠逐片铺料、两只蘑菇逐只切半、四个蘑菇半块逐块铺料、洋葱切丁、洋葱丁铺料及饼坯入指定烤箱，均未在BDDL终点逐项检查；保留为goal=false事件，when=null。烤箱开启和开门同为文本烘烤路线的准备；实际配方也许隐式需要其中一些条件，但输入未包含配方实现，不据此猜测（暂行：DECISIONS.md N1）。",
"评分器只要求real(pizza)和ontop(pizza,cookie_sheet)，并未直接验证热源身份；场景还列有灶头、微波炉及室外热源。按inputs/task/privileged/instruction.md:4、23的指定烤箱烘烤路线，饼坯入炉、烤箱开启及四类配料铺好均先于烘烤成披萨。配方成分按文本“铺料后烘烤”读取；输入缺配方源码，尚未核实具体成分表及其他设备能否生成披萨。配方要求配料共同受热，支持四个铺料末节点到pizza_baked的边，但不要求铺料必须在炉外完成；依docs/01_task_dag.md:298-305只记必要顺序，保留dough_in_oven.after=[oven_opened]及入炉前后均可铺料的判据。",
"冰箱门、烤箱门及烤箱启停初态未核实：冻结实例给出物体位姿和哈希，不给门关节或启停状态；保留非可选前提并写verify_zh。机器人和目标均在厨房（BDDL:42-47），未发现每条路线必经的跨房间门，不增加房间导航或房门步骤（DECISIONS.md S2）。",
"刀具必需性核查：文字说明有效切割器刀刃接触可切半或切丁，但未要求刀具必须在手中，也未排除把食材移向静置刀刃；不能证明所有路线都要拿起雕刻刀，因此不建拿刀节点。切料接触列持刀和持食材的替代方案，后者能否在该模型上稳定实施尚待验证（暂行：DECISIONS.md D2）。",
"评分器的联合终态验收覆盖披萨和烤盘两个目标对象：两者无辅助抓取附着，速度模均<=0.05米/秒，目标连续成立30步；该窗口放入整体success的语义及目标判据，未另拆松手静置节点。没有日志采样间隔可据以舍入29/30秒的hold_s，故不编造可执行时间绑定（DECISIONS.md D31、P8）。",
"两模式世界状态规则一致，但特权评分要求两次新进程重放均成功、终态哈希一致且实例匹配（privileged/grade.py:169-176）；标准评分依据服务的实际回合成功及finalized/infra等交付有效性（standard/grade.py:29-35）。这些不是语义世界状态，不建步骤，也不写成假日志谓词；success=null暂不能验证目录判定的一致性。",
"步骤粒度：烘烤成披萨对应real目标，披萨留在烤盘对应独立ontop目标；后者是需保持的终点关系，不要求成品生成后再搬一次。四片香肠、两只切半蘑菇和四个半块均按种类计数；洋葱切丁未按未被文本计数的刀路或粒子拆分（DECISIONS.md S1、S5、N4）。",
"底盘接触按S17加入需要搬料或位置关系尚不足以证明可原地完成的操作；烤箱完成烘烤用无接触×不适用。无成功轨迹，不推断唯一操作手、双手要求或具体控制件形状。"
],
"conf": 6,
"conf_reason_zh": "文字、初始物料和两项BDDL终点清楚，成功/跌倒/崩溃阈值可直接溯源；按说明书补齐入炉、开启烤箱及铺料到烘烤成披萨的顺序，但无成功视频、无状态日志、无配方源码，具体配方成分表、门与设备初态及其他热源的配方适用性尚不能验证，置信度维持6。",
"review": {
"status": "agreed",
"rounds": 3,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "fix",
"conf": 6,
"summary_zh": "节点集合与文本基本一致，评分器目标（real(pizza)、ontop(pizza,cookie_sheet)）覆盖完整，约束正确，无状态日志故when=null可接受。主要问题：烘烤路线缺少文本/说明书给出的物理必要边（放入烤箱→烘烤成披萨）。",
"n_issues": 1,
"n_major": 1
},
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 2,
"verdict": "fix",
"conf": 6,
"summary_zh": "节点集与文本基本一致，约束、success=null与无日志的when=null均可接受。唯一问题：配方消耗铺好的配料，pizza_baked缺少对铺料末节点的物理必需边（上轮提议的是dough_in_oven←铺料，被正确否决；此处是另一条边：pizza_baked←铺料）。",
"n_issues": 1,
"n_major": 1
},
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 3,
"kind": "confirm",
"verdict": "agree",
"summary_zh": "I1已按提议完整落实：pizza_baked.after含四个铺料末节点，dough_in_oven.after保持[oven_opened]，说明与open_questions同步，无环、未破坏其他节点。",
"n_issues": 0,
"n_checks": 1
}
],
"open_zh": [],
"confirm": {
"verdict": "confirmed",
"summary_zh": "I1已按提议完整落实：pizza_baked.after含四个铺料末节点，dough_in_oven.after保持[oven_opened]，说明与open_questions同步，无环、未破坏其他节点。",
"checks_ok": "1/1",
"n_factual_errors": 0
}
},
"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：['fridge_opened', 'oven_opened', 'oven_on', 'cheese_on_dough', 'pepperoni_on_dough_1', 'pepperoni_on_dough_2', 'pepperoni_on_dough_3', 'pepperoni_on_dough_4', 'mushrooms_halved_1', 'mushrooms_halved_2', 'mushroom_halves_on_dough_1', 'mushroom_halves_on_dough_2', 'mushroom_halves_on_dough_3', 'mushroom_halves_on_dough_4', 'onion_diced', 'diced_onion_on_dough', 'dough_in_oven', 'pizza_baked', 'pizza_on_sheet']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T11:00:45Z",
"review_prompt": "prompts/02_task_dag_review.md",
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"calls": [
{
"stage": "dag",
"round": 0,
"ok": true,
"space": "work/tasks/behavior-1k__make_pizza/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/behavior-1k__make_pizza/02_review_r1"
},
{
"stage": "reconcile",
"round": 1,
"ok": true,
"space": "work/tasks/behavior-1k__make_pizza/05_reconcile_r1"
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{
"stage": "dag_review",
"round": 2,
"ok": true,
"space": "work/tasks/behavior-1k__make_pizza/02_review_r2"
},
{
"stage": "reconcile",
"round": 2,
"ok": true,
"space": "work/tasks/behavior-1k__make_pizza/05_reconcile_r2"
},
{
"stage": "confirm",
"round": 3,
"ok": true,
"space": "work/tasks/behavior-1k__make_pizza/06_confirm_r3"
}
],
"confirm_prompt": "prompts/06_confirm.md",
"confirm_prompt_sha256": "b9f56c095f7ea5e609e58bb21e076f565766c370333d71c7a3512cffb4d78267",
"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "409f5e47f62db128cab9e08da59f7b5b0eec1faca7a1c33502200d3061b1b46d",
"repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
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