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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "bigym2/stack_blocks",
"suite": "bigym2",
"base": "bigym2-stack-blocks-i00",
"title_zh": "将积木堆到绿垫上",
"summary_zh": "将近桌上的三个积木搬到远桌绿垫，堆成底层触垫、相邻层接触且中心高差至少0.03米和水平距离不超过0.05米的一摞，所有夹爪手指离开积木并共同保持50个控制步，期间无积木触地、机器人跌倒或骨盆越界。",
"embodiment_zh": "三个模式均为Unitree G1人形机器人，左右两条手臂各装一个Dex1-1二指夹爪，以双腿行走；全身控制器驱动腿和腰，机器人可移动、下蹲及倾身。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "bigym2-stack-blocks-i00",
"bench": "bigym2",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "blocks_stacked_1",
"zh": "第1块堆好",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "两个外部视角中，远桌的小绿色方垫上至少有一个红色积木直接接触垫面，成为同一摞的底层；仍在近桌、悬在垫上或放在垫旁都不算，底层离开垫面时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。"
},
{
"who": "腿/躯干",
"how": "支撑",
"plan": 1,
"note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:6",
"task/privileged/instruction.md:8",
"task/privileged/instruction.md:15",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147",
"grader/efe_bigym2-files/sim/server.py:128"
],
"conf": 6,
"note_zh": "按绿垫上同一连续堆叠链至少1块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。"
},
{
"id": "blocks_stacked_2",
"zh": "第2块堆好",
"mode": "state",
"when": null,
"after": [
"blocks_stacked_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "两个外部视角中，绿色方垫上至少有两个红色积木上下相接成同一摞：底层触垫，上层触下层，上层中心至少高0.03米、两中心水平距离不超过0.05米；仅并排放在桌上不算，连续堆叠链不足两块时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。",
"step": {
"cat": "关系",
"item": "堆叠"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。"
},
{
"who": "腿/躯干",
"how": "支撑",
"plan": 1,
"note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:6",
"task/privileged/instruction.md:8",
"task/privileged/instruction.md:15",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147",
"grader/efe_bigym2-files/sim/server.py:128"
],
"conf": 6,
"note_zh": "按绿垫上同一连续堆叠链至少2块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。"
},
{
"id": "blocks_stacked_3",
"zh": "第3块堆好",
"mode": "state",
"when": null,
"after": [
"blocks_stacked_2"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "两个外部视角中，绿色方垫上三个红色积木上下相接成三层：底层触垫，每一上层触紧邻下层，中心高差至少0.03米、水平距离不超过0.05米；第三块仍在手中悬空未接触下层不算，连续堆叠链不足三块时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。",
"step": {
"cat": "关系",
"item": "堆叠"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"plan": 1,
"note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。"
},
{
"who": "腿/躯干",
"how": "支撑",
"plan": 1,
"note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。"
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:6",
"task/privileged/instruction.md:8",
"task/privileged/instruction.md:15",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147",
"grader/efe_bigym2-files/sim/server.py:128"
],
"conf": 6,
"note_zh": "按绿垫上同一连续堆叠链至少3块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。"
}
],
"constraints": [
{
"id": "block_on_floor",
"zh": "积木触地",
"never": null,
"criterion_zh": "任意一个任务积木与地板发生接触即失败；落在桌面不属于触地。",
"consequence": "立即终止",
"sources": [
"task/privileged/instruction.md:15",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14"
]
},
{
"id": "robot_fell",
"zh": "机器人跌倒",
"never": null,
"criterion_zh": "机器人骨盆偏离直立约53度以上，或骨盆高度低于0.30米，被记为跌倒；任何一次跌倒都否决成功，即使之后重新站起，且跌倒本身不立即结束回合。",
"consequence": "历史否决",
"sources": [
"task/privileged/instruction.md:15",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:16",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156"
]
},
{
"id": "pelvis_out_of_bounds",
"zh": "骨盆越界",
"never": null,
"criterion_zh": "骨盆到场景原点的距离超过10米，回合按任务越界失败结束；输入未提供上游所用距离范数的完整实现。",
"consequence": "立即终止",
"sources": [
"task/privileged/instruction.md:17",
"task/privileged/instruction.md:18",
"grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:15"
]
}
],
"success": null,
"atoms": [
{
"atom": "stack_prefix_count",
"level": "new_code",
"source": "拟新增 task.stack_prefix_count：记录从触绿垫的底层起，满足相邻接触、中心高差至少0.03米、水平距离不超过0.05米的最长连续积木链长度；供三个计数节点使用。依据 task/privileged/instruction.md:15。"
},
{
"atom": "all_blocks_released",
"level": "new_code",
"source": "拟新增 task.all_blocks_released：对三个积木和左右夹爪记录上游 is_gripper_holding_object 的否定合取，不能以夹爪张开代替。依据 task/privileged/instruction.md:15。"
},
{
"atom": "stack_success_hold_steps",
"level": "new_code",
"source": "拟新增 task.stack_success_hold_steps：记录完整三层几何关系与全体离手共同连续成立的上游计数，成功需50步。依据 task/privileged/instruction.md:15。"
},
{
"atom": "block_floor_contact",
"level": "new_code",
"source": "拟新增 task.block_floor_contact：任意任务积木与地板的接触。依据 task/privileged/instruction.md:15。"
},
{
"atom": "episode_fell",
"level": "new_code",
"source": "拟新增 task.episode_fell：记录上游 env.episode_fell() 的历史跌倒状态。依据 grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156。"
},
{
"atom": "pelvis_out_of_bounds",
"level": "new_code",
"source": "拟新增 task.pelvis_out_of_bounds：直接记录上游骨盆距场景原点超过10米的失败判据，避免猜测范数。依据 task/privileged/instruction.md:17。"
}
]
},
"native_metrics": [
{
"name": "adjacent_center_height_difference",
"unit": "m",
"threshold": 0.03,
"direction": "higher_better"
},
{
"name": "adjacent_center_horizontal_distance",
"unit": "m",
"threshold": 0.05,
"direction": "lower_better"
}
],
"open_questions_zh": [
"inputs/states/index.json的logs为空；按DECISIONS.md P8，所有节点when、约束never与success均为null，不能用状态日志验证达成或评分一致性。atoms列出的字段是建议新增的日志，不是已有字段。",
"上游bigym任务模块和跌倒检查实现未作为完整源码随输入提供；适配器委托bigym.loco.eval.is_success（grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147），oracle/run.json中步骤9的模块输出也已截断。几何阈值、50步共同窗口、手指接触定义及约53度跌倒阈值依据三个模式一致的instruction.md；水平距离的严格或非严格边界、跌倒精确角阈值和10米越界的距离范数待上游完整实现核实，未自行增加数值容差。",
"按DECISIONS.md N4将三个可互换积木按绿垫上同一连续堆叠链的数量计数；第一块是底层放置，第二、三块是堆叠，不指定哪块作底或要求逐块搬运。",
"共同离手和连续50步窗口属于全局success；每个节点只记录对应层数的几何关系，hold_s为0且freeze_held为false。无状态日志时，联合验收完整写在各节点视频判据和任务摘要中；不把共同离手条件重复作用于每个节点。",
"模式差异：物理成功规则共用上游检查器；特权模式评分还要求两次新进程回放成功且最终状态哈希一致（grader/efe_bigym2-files/privileged/tests/grade.py:112），标准和实时模式评分以现场回合结果为准（grader/efe_bigym2-files/sim/server.py:13；grader/efe_standard-files/v2_1/grade.py:99）。回放有效性、文件合法性与基础设施条件不作为世界状态节点；success因无日志而保持null。"
],
"conf": 6,
"conf_reason_zh": "三步来自任务文字和可互换物品计数规则，初态与成功视频吻合，三个模式物理目标一致；但没有任何状态日志，且未提供上游完整任务及跌倒检查源码，无法独立核实阈值边界和逐帧联合窗口。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "三个可互换积木按绿垫上连续堆叠链计数（N4），节点、边、约束（积木触地、跌倒历史否决、骨盆越界）与指令和成功条件一致；无状态日志，按P8所有when/never/success为null，符合规则；共同离手与50步窗口留在全局成功并写入open_questions_zh。未发现需修改的内容。",
"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：['blocks_stacked_1', 'blocks_stacked_2', 'blocks_stacked_3']"
]
},
"provenance": {
"prompt": "prompts/01_task_dag.md",
"prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T09:37:51Z",
"review_prompt": "prompts/02_task_dag_review.md",
"review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550",
"reconcile_prompt": "prompts/05_reconcile.md",
"reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
"calls": [
{
"stage": "dag",
"round": 0,
"ok": true,
"space": "work/tasks/bigym2__stack_blocks/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/bigym2__stack_blocks/02_review_r1"
}
],
"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "b057e32b52e06ae6e3ed5fad1790605d6ac9629a717ef1f7a5e058c58046ea0f",
"repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53"
}
}
|