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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "myosuite/baoding",
"suite": "myosuite",
"base": "myosuite-baoding-i00",
"title_zh": "掌中双球跟踪",
"summary_zh": "两颗保定球在掌中绕转，各自到对应移动目标的距离均严格小于0.015米并共同连续保持200个控制步，期间没有球跌到世界高度1.25米以下。",
"embodiment_zh": "两种模式均为MyoHand肌骨前臂与单只五指灵巧手，39个肌肉执行器，控制周期0.025秒；通过手指和掌面操作双球，无移动底盘。特权模式直接访问模拟器，标准模式通过服务获得相机及本体感知并下发肌肉命令。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "myosuite-baoding-i00",
"bench": "myosuite",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "ball1_target_tracked",
"zh": "球1持续跟踪",
"mode": "state",
"when": null,
"after": [],
"hold_s": 4.975,
"drop_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "跟踪object1及其固定配对的target1：并排录像右侧近景可见球随指掌内的小目标标记绕行，须连续200个控制步保持球心到该移动目标的三维距离严格小于0.015米，且球的世界高度不低于1.25米；两颗球须在同一段200步窗口内均合格才算整项成功。仅在一个瞬间靠近、球持续落后或偏离标记均未完成，已合格后任一步越界即失去并重新累计；画面遮挡或透视不能确定精确距离时，须参考可用的模拟器数值，不能仅凭变色认定。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "手内调整",
"note_zh": "MyoHand的拇指及其余手指配合掌面，滚动和换位掌中的第1颗球，使球跟随其对应移动目标。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:5 两球各跟随固定对应的移动目标，误差严格小于0.015 m，保持200步，掉球高度阈值1.25 m",
"inputs/task/privileged/instruction.md:13-14 target1_err与target2_err的欧氏范数分开计算",
"inputs/task/privileged/instruction.md:48-53 solved为两球距离合格且未掉球；done为掉球",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:61 保定球保持时长5.0 s",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:273-274 hold_steps按保持时长除控制周期计算",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-467 solved_run不合格即清零，达到hold_steps即成功",
"inputs/oracle/replay.mp4:0.00-8.28 两个并排视角可见两球在指掌间绕转；近景用于比较球与目标标记"
],
"conf": 6,
"note_zh": "第1颗指object1的固定目标配对，不是完成顺序；两节点并行，无先后要求。按物体分别验收各自最后200步，两个state同时成立即共同窗口成立，不另建保持或绕圈节点。hold_s=(200-1)×0.025=4.975秒（模拟时间，暂行DECISIONS.md D31）；逐步严格验收，drop_s=0；允许持续手内接触，freeze_held=false。"
},
{
"id": "ball2_target_tracked",
"zh": "球2持续跟踪",
"mode": "state",
"when": null,
"after": [],
"hold_s": 4.975,
"drop_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "跟踪object2及其固定配对的target2：并排录像右侧近景可见球随指掌内的小目标标记绕行，须连续200个控制步保持球心到该移动目标的三维距离严格小于0.015米，且球的世界高度不低于1.25米；两颗球须在同一段200步窗口内均合格才算整项成功。仅在一个瞬间靠近、球持续落后或偏离标记均未完成，已合格后任一步越界即失去并重新累计；画面遮挡或透视不能确定精确距离时，须参考可用的模拟器数值，不能仅凭变色认定。",
"step": {
"cat": "位姿",
"item": "沿轨迹移动"
},
"contact": [
{
"who": "手指/夹爪",
"how": "手内调整",
"note_zh": "MyoHand的拇指及其余手指配合掌面，滚动和换位掌中的第2颗球，使球跟随其对应移动目标。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:5 两球各跟随固定对应的移动目标，误差严格小于0.015 m，保持200步，掉球高度阈值1.25 m",
"inputs/task/privileged/instruction.md:13-14 target1_err与target2_err的欧氏范数分开计算",
"inputs/task/privileged/instruction.md:48-53 solved为两球距离合格且未掉球；done为掉球",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:61 保定球保持时长5.0 s",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:273-274 hold_steps按保持时长除控制周期计算",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-467 solved_run不合格即清零，达到hold_steps即成功",
"inputs/oracle/replay.mp4:0.00-8.28 两个并排视角可见两球在指掌间绕转；近景用于比较球与目标标记"
],
"conf": 6,
"note_zh": "第2颗指object2的固定目标配对，不是完成顺序；两节点并行，无先后要求。按物体分别验收各自最后200步，两个state同时成立即共同窗口成立，不另建保持或绕圈节点。hold_s=(200-1)×0.025=4.975秒（模拟时间，暂行DECISIONS.md D31）；逐步严格验收，drop_s=0；允许持续手内接触，freeze_held=false。"
}
],
"constraints": [
{
"id": "ball_dropped",
"zh": "球跌出掌心",
"never": null,
"criterion_zh": "任一球的世界坐标z严格低于1.25米，评分器立即终止本次回合并判失败；录像通常表现为球离开指掌支承并向下坠落，精确高度须由模拟器坐标确认。",
"consequence": "立即终止",
"sources": [
"inputs/task/privileged/instruction.md:5 掉球高度阈值",
"inputs/task/privileged/instruction.md:20-33 两球高度任一低于drop_th即is_fall",
"inputs/task/privileged/instruction.md:53 done=is_fall",
"inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:446-467 failed导致回合终止"
]
}
],
"success": null,
"atoms": [
{
"atom": "ball1_target_distance_m",
"level": "new_code",
"source": "待记录dyn.ball1_target_distance_m = norm(Session.base.obs_dict[\"target1_err\"])；inputs/task/privileged/instruction.md:13-14，当前无状态日志。"
},
{
"atom": "ball2_target_distance_m",
"level": "new_code",
"source": "待记录dyn.ball2_target_distance_m = norm(Session.base.obs_dict[\"target2_err\"])；inputs/task/privileged/instruction.md:13-14，当前无状态日志。"
},
{
"atom": "ball1_world_z_m",
"level": "new_code",
"source": "待记录dyn.ball1_world_z_m = Session.base.obs_dict[\"object1_pos\"][2]；inputs/task/privileged/instruction.md:20-33，当前无状态日志。"
},
{
"atom": "ball2_world_z_m",
"level": "new_code",
"source": "待记录dyn.ball2_world_z_m = Session.base.obs_dict[\"object2_pos\"][2]；inputs/task/privileged/instruction.md:20-33，当前无状态日志。"
},
{
"atom": "joint_solved_run",
"level": "new_code",
"source": "待逐控制步记录Session.solved_run至dyn.joint_solved_run，及info.solved与info.done；inputs/grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-446。共同计数至少200时结束成功，当前没有可绑定的日志字段。"
}
]
},
"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": [
"inputs/states/index.json中logs为空：所有when、never和success均置null，尚不能进行状态轨迹的到达率或成功一致性验证；需补充逐控制步球与目标位置、两球高度及共同连续合格计数（暂行：DECISIONS.md P8）。",
"录像中的目标标记很小且被手指和球遮挡，三维0.015米误差无法仅凭二维投影精确确认。instruction.md第61-69行显示两颗球的变色判断都引用target1_dist，因此第2颗球变色不能证明其自身跟踪合格；视频判据须结合实际位置，精确阈值待日志补齐。",
"按文本中两颗球各有固定对应目标保留两个并行跟踪步骤，采用位姿·沿轨迹移动，未把绕一圈或200步保持拆成重复节点；固定目标配对不适用同类物体任意匹配计数（暂行：DECISIONS.md N4、P17）。",
"两种模式使用相同的Session.step物理成功规则，但特权评分还要求两次独立回放均成功、初始实例匹配且终态哈希一致（privileged/tests/grade.py第168-171行）；标准模式按最后一个实时回合的成功结果评分（standard/tests/grade.py第52-57行）。这些交付和回放有效性条件不属于世界状态，不建节点；当前success无法表达，保留null。",
"标准模式README.md第10、22行记载早期特权参考轨迹经float32转换后掉球，尚无本输入提供的标准模式成功示例；这是执行精度与可达性证据的限制，不改变共同DAG或阈值。",
"成功录像208帧、25帧每秒，共8.32秒；oracle/run.json的reward记录207个控制步。render_video默认每控制步渲染一帧（rcb_myosuite.py第612-624行），因此本录像1个模拟秒对应1.6个视频秒，200个控制步约占8个视频秒，不可按5个视频秒验收；hold_s仍使用模拟时间。",
"1000控制步的目标轨迹耗尽会终止未成功的回合（rcb_myosuite.py第468-473行）；它属于回合时限，不列为约束（暂行：DECISIONS.md P21）。"
],
"conf": 6,
"conf_reason_zh": "两个固定目标跟踪步骤直接来自文本，距离、掉球阈值和连续保持规则有明确来源，成功录像支持双球绕转且无需先后边；但没有状态日志，精确距离和保持窗口无法独立复核，标准模式缺少成功证据。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "两个并行的固定配对跟踪步骤符合文本与评分器（0.015 m、200步、1.25 m掉球），无习惯边，掉球约束为立即终止，hold_s=4.975与D31一致；无状态日志故when/never/success为null是允许的，文本与评分器的不一致已列入open_questions_zh。未发现需要修改的内容。",
"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：['ball1_target_tracked', 'ball2_target_tracked']"
]
},
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"created": "2026-10-29T10:31:56Z",
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