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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "robocasa365/assemble_cooking_array",
"suite": "robocasa365",
"base": "robocasa365-assemble-cooking-array-i00",
"title_zh": "备齐烹饪食材",
"summary_zh": "虾接触灶上的平底锅且水平中心距小于 0.07 米，糖浆瓶和西兰花均接触盘子所在的灶旁台面，末端夹持点与三件物体原点的距离各大于 0.25 米。",
"embodiment_zh": "两模式均为 Omron 轮式移动底盘、升降躯干和一条 Franka Panda 七自由度机械臂，末端为二指夹爪；特权模式可读取完整仿真状态，标准模式通过相机和本体状态控制同一机器人。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "robocasa365-assemble-cooking-array-i00",
"bench": "robocasa365",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "shrimp_in_pan",
"zh": "虾放入锅",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "机器人外部视角中，橙色虾由白盘移到灶上黑色平底锅内，虾须接触锅，二者中心的水平距离小于 0.07 米；仅悬在锅上、落在灶面或移出该范围均不成立。整体终态还要求夹爪末端夹持点与虾、糖浆瓶、西兰花各相距大于 0.25 米，该联合退离条件不决定此节点单独的得失。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "单臂末端二指夹爪夹住虾并移到目标位置。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "Omron 轮式底盘支承搬运虾的机械臂；是否必须移动底盘无法核实，依 S17 计入。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:19-26",
"inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success",
"inputs/oracle/replay.mp4:0-6 s"
],
"conf": 6,
"note_zh": "meat 对应虾，pan 对应黑色平底锅；接触和中心距是同一步的验收，不拆抓取和搬运。此节点只判位置关系，持物时也可能接触锅，因此关闭持物冻结；三物体联合退离仅属于 success。"
},
{
"id": "syrup_on_counter",
"zh": "糖浆瓶上台面",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "外部视角中，浅色标签的深色糖浆瓶由上方深蓝色橱柜移至下方白色灶旁台面，并实际接触盘子所在的同一台面；仍在柜内、悬空或掉落地面均不成立，成立后离开目标台面即失去。整体终态还要求夹爪末端夹持点与三件目标物体各相距大于 0.25 米，夹爪暂时靠近糖浆瓶不单独取消这一步。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "单臂末端二指夹爪夹住糖浆瓶并移到目标位置。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "Omron 轮式底盘支承机械臂，在橱柜与台面之间移动以搬放糖浆瓶；是否所有可达姿态都需移动无法核实，依 S17 计入。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:19-26",
"inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success",
"inputs/oracle/replay.mp4:8-20 s"
],
"conf": 6,
"note_zh": "condiment 对应糖浆瓶，目标为 self.counter，不要求放到白盘内，不要求瓶身直立或额外静置时长。出柜是放置的过程；接触台面可在仍被夹住时成立，因此 freeze_held 为 false。"
},
{
"id": "broccoli_on_counter",
"zh": "西兰花上台面",
"level": "semantic",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "外部视角中，绿色西兰花由深蓝色橱柜底层移到下方白色灶旁台面并实际接触盘子所在的同一台面；仍在柜内、悬在夹爪中而未接触台面或落到地面均不成立，离开目标台面即失去。整体终态还要求夹爪末端夹持点与三件目标物体各相距大于 0.25 米，夹爪暂时靠近其他已放物体不取消它们的放置节点。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "单臂末端二指夹爪夹住西兰花并移到目标位置。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "Omron 轮式底盘支承机械臂，在橱柜与台面之间移动以搬放西兰花；是否所有可达姿态都需移动无法核实，依 S17 计入。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:19-26",
"inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success",
"inputs/oracle/replay.mp4:20-32.5 s"
],
"conf": 6,
"note_zh": "vegetable 对应西兰花，目标为 self.counter；不要求西兰花与糖浆瓶或白盘之间的额外距离关系。接触台面可在仍被夹住时成立，因此 freeze_held 为 false。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "shrimp_in_pan",
"level": "new_code",
"source": "inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success; 需逐帧记录 meat_in_pan（锅接触且水平中心距 < 0.07 m）"
},
{
"atom": "syrup_on_counter",
"level": "new_code",
"source": "inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success; 需逐帧记录 condiment_on_counter（condiment 与 self.counter 接触）"
},
{
"atom": "broccoli_on_counter",
"level": "new_code",
"source": "inputs/oracle/run.json:1 steps[id=45].out.text, AssembleCookingArray._check_success; 需逐帧记录 vegetable_on_counter（vegetable 与 self.counter 接触）"
},
{
"atom": "gripper_far_from_all_targets",
"level": "new_code",
"source": "inputs/task/privileged/instruction.md:19-26; 需逐帧记录 gripper_meat_far、gripper_condiment_far、gripper_vegetable_far，各为末端夹持点至物体原点距离 > 0.25 m，仅用于整体 success"
}
]
},
"native_metrics": [
{
"name": "shrimp_pan_horizontal_center_distance",
"unit": "m",
"threshold": 0.07,
"direction": "lower_better"
},
{
"name": "gripper_shrimp_distance",
"unit": "m",
"threshold": 0.25,
"direction": "higher_better"
},
{
"name": "gripper_syrup_distance",
"unit": "m",
"threshold": 0.25,
"direction": "higher_better"
},
{
"name": "gripper_broccoli_distance",
"unit": "m",
"threshold": 0.25,
"direction": "higher_better"
}
],
"open_questions_zh": [
"inputs/states/index.json 的 logs 为空，没有可核实的逐帧字段；依暂行 P8，每个 when 与 success 均为 null，atoms 只说明将来需要记录的量，不声称已有绑定，数值阈值取自两模式 instruction.md:19-26。",
"评分器任务模块和 object_utils.py 的完整源码未随输入提供；已读评分入口及其调用的 casa_tool.py、server_casa.py，并从 inputs/oracle/run.json:1 的 steps[id=45].out.text 核对完整 _check_success，初态设置部分在该输出中被截断，故初态以录像和记录的几何事实交叉核实。",
"文本写 Then，但 _check_success 只是三个物体关系与三个退离条件的同时合取，没有阶段计数、顺序或保持窗口；依规则 4 不给三个放置目标添加先后边，糖浆瓶和西兰花也可交换顺序。",
"橱柜初态并非封闭：oracle 视频 8 秒首次看清柜内时两扇蓝色柜门已外开，此前机器人仅操作灶旁的虾，记录 steps[id=29,33] 的初态门体几何也显示门已转开；oracle 无须操作柜门即可取出两物。故不把开门列为必经前置；进一步拨门只属于部分策略的准备，本文件不另加可选节点。",
"从橱柜取出糖浆瓶和西兰花只作为各自放上台面的过程；评分器不另检查出柜事件，不拆取出节点（暂行：DECISIONS.md D5）。",
"特权模式用两次新进程重放确认确定性，标准模式读取单次在线终态且要求无仿真错误；两模式共同的世界状态验收相同。确定性、交付有效性、初态未解和基础设施状态不作为语义节点或世界状态约束。",
"三个单独放置节点只接受空间关系，夹爪至三物体各 > 0.25 米为联合终态验收，记于 summary_zh 及每个 criterion_zh；未来可绑定时 success 应为三个关系与三个退离条件的合取，不能把退离分别塞进放置节点（CASES.md STEP-5）。"
],
"conf": 6,
"conf_reason_zh": "三个语义步骤直接来自两模式一致的文本，评分合取和阈值由说明及记录中的任务检查函数核对，成功录像展示了三步且无必经开门操作；但没有状态日志，完整初态与上游几何工具源码缺失，不能逐帧验证条件或自动核对成功判定。",
"review": {
"status": "agreed",
"rounds": 2,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "fix",
"conf": 6,
"summary_zh": "结构整体正确：三个described步骤、无边、success=null（无状态日志，P8）、阈值与评分一致。仅虾放入锅节点缺底盘接触：oracle 机器人视角在 0–6 s 内画面明显位移，底盘在此步已移动，依 S17 应加 底盘×支撑，与另两步一致。",
"n_issues": 1,
"n_major": 0
},
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 2,
"verdict": "agree",
"conf": 7,
"summary_zh": "三个described步骤（虾入锅、糖浆瓶上台面、西兰花上台面）与说明一致；无状态日志，依P8 when/success为null；阈值0.07/0.25与说明一致，退离条件留在success；无习惯边，Then与评分器不排序的差异已列入open_questions；freeze_held均为false。未发现需要修改之处。",
"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：['shrimp_in_pan', 'syrup_on_counter', 'broccoli_on_counter']"
]
},
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"created": "2026-10-29T12:07:56Z",
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|