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"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "robowits/stack_bowls",
"suite": "robowits",
"base": "robowits-stack-bowls-i00",
"title_zh": "小碗同心叠入大碗",
"summary_zh": "两碗的俯视投影中心相距不超过1.1厘米、投影留在容差桌面内，并在规定检查窗口中无机器人接触且各自位移不超过2毫米。",
"embodiment_zh": "两种模式均为固定基座的Marvin双臂机器人，每臂7自由度，各装Pika二指平行夹爪；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": "small_bowl_nested",
"zh": "小碗同心叠入",
"mode": "state",
"when": null,
"after": [],
"hold_s": 2.0,
"goal": true,
"criterion_zh": "主视角开局可见两只黑碗前后分离；完成时小碗落在大碗处，结合主视角和腕部视角可见两个碗口投影近乎同心：碰撞网格二维凸包顶点的均值中心相距不超过0.011米（无凸包时依次用包围盒中心、物体位置），两碗投影均在x为[0.20,1.01]米、y为[-0.70,0.70]米的范围内；上下顺序和高度不参与验收。机器人任何部位均不得接触两碗，保持末条命令等待1秒后，在随后2秒窗口的起点、每6个控制步及终点均须满足几何与无接触条件，且每个控制步两碗位置相对窗口起点的位移均不超过0.002米（30赫兹）；分离、明显偏心、投影越界、被机器人接触或超限移动即未完成或失去，画面遮挡或毫米精度无法分辨时须借助接触及几何记录核实。",
"step": {
"cat": "关系",
"item": "堆叠"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "单侧二指夹爪夹住小碗碗沿，将小碗移到大碗处后放开；左右夹爪均可承担这一作用。",
"plan": 1
},
{
"who": "双臂协作",
"how": "抓握",
"note_zh": "一侧二指夹爪夹住小碗碗沿，另一侧夹爪握住大碗碗沿协助对齐，最后两侧夹爪均放开两碗。",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:13-17",
"inputs/task/privileged/instruction.md:25-77",
"inputs/task/privileged/instruction.md:83-107",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:313",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:329-355",
"inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-798",
"inputs/task/privileged/environment/instance.json:55-137",
"inputs/task/standard/instruction.md:7-29",
"inputs/grader/efe_robowits-files/sim/server.py:165-176",
"inputs/oracle/replay.mp4:0.0-19.2s"
],
"conf": 6,
"note_zh": "从任务句得到一个堆叠步骤；抓取、抬升、搬运、松手及静置均不另建节点，也不限定移动哪只碗。按D1/N3，保留文本名称，以指令明确优先的俯视同心检查验收；桌面范围是该步骤的验收，不另建保持节点。初态两碗独立且分离，投影在桌面范围内。放置验收要求释放，适用默认持物冻结。检查循环i=0至60共61个时刻覆盖完整2秒，故hold_s=2；前置1秒不计入保持时长。"
}
],
"constraints": [],
"success": null,
"atoms": [
{
"atom": "dyn.bowls_footprints_on_table",
"level": "new_code",
"source": "待记录两碗碰撞网格二维凸包（无凸包时为bounds或pos）及is_on_table结果；inputs/task/privileged/instruction.md:13-60。"
},
{
"atom": "dyn.bowls_radial_offset_m",
"level": "new_code",
"source": "待记录_check_success所用两碗投影中心及其平面距离；inputs/task/privileged/instruction.md:25-77。"
},
{
"atom": "dyn.bowls_robot_contact_free",
"level": "new_code",
"source": "待记录Session.touching_robot对large bowl与medium bowl的真实机器人接触结果；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761。"
},
{
"atom": "dyn.bowls_settle_window_ok",
"level": "new_code",
"source": "待记录Session.settle_check的窗口起点、逐步最大位置位移及几何/释放采样结果，形成可观察世界状态的窗口验收值；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:763-798；不得以未记录的离线最终评分替代。"
}
]
},
"native_metrics": [
{
"name": "radial_offset",
"unit": "m",
"threshold": 0.011,
"direction": "lower_better"
},
{
"name": "settle_max_move",
"unit": "m",
"threshold": 0.002,
"direction": "lower_better"
}
],
"open_questions_zh": [
"任务设计问题：任务句要求小碗嵌入大碗，实际评分不检查高度、上下顺序或容纳关系，大碗同心置于小碗上也能通过（inputs/task/privileged/instruction.md:98-102及其中_check_success:25-77）。依DECISIONS.md D1/N3保留一个文本命名的堆叠步骤，以指令明确优先的同心验收判定，不增加未受评的高度或嵌套节点。",
"输入状态日志为空（inputs/states/index.json）；依DECISIONS.md P8，所有when及success置null，atoms列出需要记录的几何、真实接触和检查窗口数据，无法进行逐帧状态证据核对。成功视频的最后画面有机械臂遮挡，精确凸包中心差、2毫米位移及真实接触不能仅凭该画面确定。",
"指令术语把“未持有”定义为夹爪尖端不在扩张3厘米的包围盒内，但实际goal/settle_check使用Genesis真实机器人接触（inputs/task/privileged/instruction.md:104-107；评分工具rcb_robowits.py:744-761）。本DAG按评分器的任何部位无接触验收，不增加3厘米退让要求。",
"两模式物理验收相同，但特权模式要求同一轨迹两次回放均通过且CPU终态哈希一致、初态匹配（privileged/tests/grade.py:111-118）；标准模式直接使用服务的实时窗口结论且不重放（standard/tests/grade.py:28-39；sim/server.py:165-176）。这些交付与回放有效性检查不属于语义世界状态，也不拆成两次场景步骤。"
],
"conf": 6,
"conf_reason_zh": "语义粒度、初态、阈值和两模式的共同验收均有明确文本或代码依据，成功视频支持单步堆叠；没有状态日志，且最后画面遮挡，不能核验毫米级几何和真实接触，只能保留视频判据与待记录原子。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 7,
"summary_zh": "单步“小碗同心叠入”与指令及评分器一致：阈值0.011米、桌面容差、2毫米位移、无接触均取自评分器；无状态日志，按P8 when与success为null，原子已列出；文本与评分不符（不检查嵌套/高度）已写入open_questions_zh。成功视频显示一只夹爪移碗，plan 1成立。",
"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：['small_bowl_nested']"
]
},
"provenance": {
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"prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T10:23:12Z",
"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/robowits__stack_bowls/01_dag"
},
{
"stage": "dag_review",
"round": 1,
"ok": true,
"space": "work/tasks/robowits__stack_bowls/02_review_r1"
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"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "1c70089199fe794a3d8e2cc95b08313c98a860e62bbc85a34712e899a835d436",
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