| { |
| "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": "将奶酪、四片香肠、两只切半蘑菇和洋葱丁铺到饼胚上并用烤箱烤成披萨，成品在烤盘上，披萨和烤盘均离手静止并共同保持30个控制步。", |
| "embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人，左右各七关节机械臂，各配二指夹爪并采用辅助抓取；带可调躯干和全向移动底盘，使用头部及双腕相机。", |
| "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箱体，开口足以取出装奶酪、香肠和蘑菇的食盒或原料；只碰到把手、门仍挡住取料通道不算。若开局已经打开，从开局即可记此事件。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握冰箱门把手拉开门。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作冰箱门时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "note_zh": "一侧夹爪手指勾住冰箱门把手拉开门。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作冰箱门时调整工作位置。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": "待核实：冰箱门初态；实例只提供整机位姿，没有门关节值。", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/bddl/make_pizza.bddl:26-38", |
| "inputs/bddl/make_pizza.scene_objects.json:33-37", |
| "inputs/task/privileged/environment/instance.json:167-180" |
| ], |
| "conf": 6, |
| "note_zh": "原料位于冰箱内，开放取料通道是必要前置；不要求取料后关闭冰箱。" |
| }, |
| { |
| "id": "cheese_on_dough", |
| "zh": "奶酪铺上饼胚", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "fridge_opened" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "视角可见食盒中的碎奶酪已落到饼胚上，形成奶酪配料；奶酪仍全在食盒里、只把食盒放在饼胚旁边，或奶酪落在饼胚外不算。没有配方数量证据，不另定覆盖率或克数。", |
| "step": { |
| "cat": "材料", |
| "item": "倒" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握装碎奶酪的食盒，倾倒到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作奶酪食盒时调整工作位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/bddl/make_pizza.bddl:25-27" |
| ], |
| "conf": 6, |
| "note_zh": "奶酪为散粒材料，按倒到饼胚的结果标材料·倒；取出食盒、搬运和倾斜是本步过程，不要求用碗。" |
| }, |
| { |
| "id": "pepperoni_on_dough_1", |
| "zh": "第1片香肠上饼", |
| "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片不同的香肠片已经放在饼胚上并由饼胚承托，任意香肠片都可先放；还只有0片、香肠仍在食盒内或落到饼胚外不算本计数。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握香肠片并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作香肠片时调整工作位置。", |
| "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" |
| ], |
| "conf": 6, |
| "note_zh": "四片同类香肠按已放妥个数计，不按实例身份计；取出冰箱不是另一个步骤。" |
| }, |
| { |
| "id": "pepperoni_on_dough_2", |
| "zh": "第2片香肠上饼", |
| "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片不同的香肠片已经放在饼胚上并由饼胚承托，任意香肠片都可先放；还只有1片、香肠仍在食盒内或落到饼胚外不算本计数。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握香肠片并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作香肠片时调整工作位置。", |
| "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" |
| ], |
| "conf": 6, |
| "note_zh": "四片同类香肠按已放妥个数计，不按实例身份计；取出冰箱不是另一个步骤。" |
| }, |
| { |
| "id": "pepperoni_on_dough_3", |
| "zh": "第3片香肠上饼", |
| "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片不同的香肠片已经放在饼胚上并由饼胚承托，任意香肠片都可先放；还只有2片、香肠仍在食盒内或落到饼胚外不算本计数。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握香肠片并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作香肠片时调整工作位置。", |
| "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" |
| ], |
| "conf": 6, |
| "note_zh": "四片同类香肠按已放妥个数计，不按实例身份计；取出冰箱不是另一个步骤。" |
| }, |
| { |
| "id": "pepperoni_on_dough_4", |
| "zh": "第4片香肠上饼", |
| "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片不同的香肠片已经放在饼胚上并由饼胚承托，任意香肠片都可先放；还只有3片、香肠仍在食盒内或落到饼胚外不算本计数。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握香肠片并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作香肠片时调整工作位置。", |
| "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" |
| ], |
| "conf": 6, |
| "note_zh": "四片同类香肠按已放妥个数计，不按实例身份计；取出冰箱不是另一个步骤。" |
| }, |
| { |
| "id": "mushrooms_halved_1", |
| "zh": "第1个蘑菇切半", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "fridge_opened" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "视角可见至少1个原先完整的蘑菇已各变成两个可分辨的半块；刀只碰到蘑菇、蘑菇仍完整不算。按切开的蘑菇数计，每个蘑菇的一次切割同时产生两个半块。", |
| "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": "移动底盘支承机器人，在操作蘑菇和刀时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "夹爪抓住蘑菇，使蘑菇接触放在台面上的雕刻刀刀刃。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作蘑菇和刀时调整工作位置。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:8", |
| "inputs/bddl/make_pizza.bddl:34-38" |
| ], |
| "conf": 6, |
| "note_zh": "切割是结果；不把刀接触、刀刃冷却两秒或两个半块的生成分成节点。刀可留在台面上而移动食材，故不强加拿刀步骤。" |
| }, |
| { |
| "id": "mushrooms_halved_2", |
| "zh": "第2个蘑菇切半", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "mushrooms_halved_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "视角可见至少2个原先完整的蘑菇已各变成两个可分辨的半块；刀只碰到蘑菇、蘑菇仍完整不算。按切开的蘑菇数计，每个蘑菇的一次切割同时产生两个半块。", |
| "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": "移动底盘支承机器人，在操作蘑菇和刀时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "夹爪抓住蘑菇，使蘑菇接触放在台面上的雕刻刀刀刃。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作蘑菇和刀时调整工作位置。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:8", |
| "inputs/bddl/make_pizza.bddl:34-38" |
| ], |
| "conf": 6, |
| "note_zh": "切割是结果；不把刀接触、刀刃冷却两秒或两个半块的生成分成节点。刀可留在台面上而移动食材，故不强加拿刀步骤。" |
| }, |
| { |
| "id": "mushroom_halves_on_dough_1", |
| "zh": "第1半菇上饼", |
| "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放在饼胚上并由饼胚承托；任意半块都可先放，完整蘑菇不充当半块，还只有0块或半块在饼胚外不算。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握蘑菇半块并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作蘑菇半块时调整工作位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:8" |
| ], |
| "conf": 6, |
| "note_zh": "两只蘑菇各切两半得到四个可放置半块，按个数计；前两块不要求第二只蘑菇已经切开，避免强加全部切完才开始铺料的顺序。" |
| }, |
| { |
| "id": "mushroom_halves_on_dough_2", |
| "zh": "第2半菇上饼", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "mushroom_halves_on_dough_1", |
| "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2个不同的蘑菇半块已放在饼胚上并由饼胚承托；任意半块都可先放，完整蘑菇不充当半块，还只有1块或半块在饼胚外不算。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握蘑菇半块并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作蘑菇半块时调整工作位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:8" |
| ], |
| "conf": 6, |
| "note_zh": "两只蘑菇各切两半得到四个可放置半块，按个数计；前两块不要求第二只蘑菇已经切开，避免强加全部切完才开始铺料的顺序。" |
| }, |
| { |
| "id": "mushroom_halves_on_dough_3", |
| "zh": "第3半菇上饼", |
| "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放在饼胚上并由饼胚承托；任意半块都可先放，完整蘑菇不充当半块，还只有2块或半块在饼胚外不算。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握蘑菇半块并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作蘑菇半块时调整工作位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:8" |
| ], |
| "conf": 6, |
| "note_zh": "两只蘑菇各切两半得到四个可放置半块，按个数计；前两块不要求第二只蘑菇已经切开，避免强加全部切完才开始铺料的顺序。" |
| }, |
| { |
| "id": "mushroom_halves_on_dough_4", |
| "zh": "第4半菇上饼", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "mushroom_halves_on_dough_3", |
| "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4个不同的蘑菇半块已放在饼胚上并由饼胚承托；任意半块都可先放，完整蘑菇不充当半块，还只有3块或半块在饼胚外不算。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握蘑菇半块并放到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作蘑菇半块时调整工作位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:8" |
| ], |
| "conf": 6, |
| "note_zh": "两只蘑菇各切两半得到四个可放置半块，按个数计；前两块不要求第二只蘑菇已经切开，避免强加全部切完才开始铺料的顺序。" |
| }, |
| { |
| "id": "onion_diced", |
| "zh": "洋葱切丁", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "视角可见原来的整只洋葱已变成洋葱丁散粒，没有仍待切丁的整洋葱或洋葱半块；仅切成两个半块尚未完成。切半再切丁是同一个切丁步骤的内部过程。", |
| "step": { |
| "cat": "材料", |
| "item": "切" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "压/擦", |
| "note_zh": "夹爪持雕刻刀，以刀刃压切洋葱及洋葱半块直至切丁。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作洋葱和刀时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "夹爪抓住洋葱或洋葱半块，使其接触台面上雕刻刀的刀刃。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作洋葱和刀时调整工作位置。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:34-39" |
| ], |
| "conf": 6, |
| "note_zh": "洋葱初始在砧板上，可与冰箱取料并行；不要求把刀拿到手里，刀刃接触与两秒冷却只是切割机制。" |
| }, |
| { |
| "id": "diced_onion_on_dough", |
| "zh": "葱丁铺上饼胚", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "onion_diced" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "视角可见切好的洋葱丁已从承接物落到饼胚上，形成洋葱丁配料；只把装葱丁的碗靠近饼胚、葱丁仍留在碗或砧板上，或落在饼胚外不算。不另定文本未给的覆盖率。", |
| "step": { |
| "cat": "材料", |
| "item": "倒" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握盛洋葱丁的碗或砧板，把葱丁倒到饼胚上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作洋葱丁承接物时调整工作位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/bddl/make_pizza.bddl:35", |
| "inputs/bddl/make_pizza.bddl:39" |
| ], |
| "conf": 6, |
| "note_zh": "碗、砧板只是盛接或倾倒方案，不要求先把洋葱丁装碗；可在饼胚上方切丁，使切丁与铺料同时达成。" |
| }, |
| { |
| "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炉门离开炉腔入口，露出能送入饼胚或烤盘的开口；仅碰到把手、炉门仍挡住入口不算。开局已经打开则从开局即可记此事件。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握烤箱门把手拉开炉门。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作烤箱门时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "note_zh": "一侧夹爪手指勾住烤箱把手拉开炉门。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作烤箱门时调整工作位置。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": "待核实：烤箱门初态；实例没有炉门关节值。", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/bddl/make_pizza.bddl:42", |
| "inputs/bddl/make_pizza.scene_objects.json:47-51" |
| ], |
| "conf": 6, |
| "note_zh": "作为送入饼胚的开放通道前置；不假定一定要关炉门才能加热。" |
| }, |
| { |
| "id": "dough_in_oven", |
| "zh": "饼胚送入烤箱", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "oven_opened" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "视角可见饼胚位于烤箱炉腔内，可连同烤盘送入，也可直接送入；只靠近炉口或停在门外不算。是否已经在饼胚上配齐所有配料不作为本步前置，允许在炉腔中继续配料。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪握住烤盘边缘，把承载饼胚的烤盘送入炉腔。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作饼胚及烤盘时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "note_zh": "左右夹爪各抓住烤盘一侧，协同把承载饼胚的烤盘送入炉腔。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作饼胚及烤盘时调整工作位置。", |
| "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": "只要求文本中的烤箱内烘烤位置，不要求烤盘必须随饼胚一起进入；取盘、搬运和释放不分节点。" |
| }, |
| { |
| "id": "oven_on", |
| "zh": "开启烤箱", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "烤箱控制件已进入加热开启位置，能从可见控制件、指示变化或可靠设备状态确认烤箱正在工作；只开炉门或碰旋钮、加热仍未开启不算。旋钮具体角度与温度档位没有输入证据，不另定阈值。", |
| "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至加热开启位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作烤箱控制件时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "note_zh": "一侧夹爪拨动烤箱控制件至加热开启位置。", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作烤箱控制件时调整工作位置。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": "待核实：烤箱初始启停状态及模型的加热控制件。", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:42" |
| ], |
| "conf": 6, |
| "note_zh": "可先预热也可装入后开启，不与铺料、开炉门或装炉规定先后。文本要求用烤箱，不替换成灶头；配方是否也允许其他热源未提供。" |
| }, |
| { |
| "id": "pizza_created", |
| "zh": "烤成披萨", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "dough_in_oven", |
| "oven_on" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "场景中出现配方生成的成品披萨，原来的生饼胚和分散配料转化为披萨；只把生饼胚放进热烤箱或仅等待不算，存在性以模拟器的披萨对象为准。此节点只判成品存在；整体成功还需披萨在烤盘上，且披萨和烤盘均离手、线速度不大于0.05米/秒，联合连续保持30个控制步。", |
| "step": { |
| "cat": "材料", |
| "item": "温度变化" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "note_zh": "设备完成：烤箱加热饼胚及配料，模拟器配方生成披萨。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-9", |
| "inputs/task/privileged/instruction.md:27", |
| "inputs/bddl/make_pizza.bddl:41", |
| "inputs/bddl/make_pizza.bddl:52", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1415-1435" |
| ], |
| "conf": 6, |
| "note_zh": "设备完成：烤箱。配方源码未随输入提供，存在性节点不强制依赖未经验证的逐项配方条件；那些文本过程各自保留。披萨仍被夹持时也能判为存在，故关闭持物冻结。" |
| }, |
| { |
| "id": "pizza_on_sheet", |
| "zh": "披萨留在烤盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "pizza_created" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角可见成品披萨与烤盘接触，烤盘直接位于披萨下方并承托它；生饼胚在盘上、成品悬在盘上方未接触或已滑出烤盘均不成立。整体成功时披萨与烤盘都不在夹爪中、线速度均不大于0.05米/秒，并与披萨存在条件联合连续保持30个控制步；滑离烤盘即失去本关系。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一侧夹爪抓握成品披萨并放到烤盘上。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘支承机器人，在操作披萨和烤盘时调整工作位置。", |
| "plan": 1 |
| }, |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "note_zh": "设备完成：烤箱内配方在承载饼胚的烤盘上直接生成披萨，无需另搬成品。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-9", |
| "inputs/task/privileged/instruction.md:24-27", |
| "inputs/bddl/make_pizza.bddl:53", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1415-1435" |
| ], |
| "conf": 6, |
| "note_zh": "可在原烤盘上生成，也可生成后再放上烤盘。全局离手与静止窗口放在整体成功契约，不拆节点；关系自身可在夹持时成立，关闭持物冻结。初始在盘上的是饼胚而非尚不存在的披萨，因此本目标不从初始计分。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "robot_fallen", |
| "zh": "机器人跌倒", |
| "never": null, |
| "criterion_zh": "机器人底座上轴的竖直分量小于0.75，或底座比地面低超过0.03米，连续300个控制步（30赫兹下10秒）触发跌倒失败；短暂倾斜而在窗口内恢复不算。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1490" |
| ] |
| }, |
| { |
| "id": "sim_breakdown", |
| "zh": "仿真状态崩溃", |
| "never": null, |
| "criterion_zh": "机器人位置、姿态、速度或关节出现非有限值，任一位置坐标绝对值大于10000米，或底座线速度范数大于100米/秒；每30个控制步检查的目标物体位置为非有限值或任一坐标绝对值大于10000米也触发失败。普通碰撞或物品掉落本身不是此约束。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "fridge_opened", |
| "level": "new_code", |
| "source": "proc.electric_refrigerator.n.01_1.open" |
| }, |
| { |
| "atom": "cheese_on_dough", |
| "level": "new_code", |
| "source": "dyn.grated_cheese_on_pizza_dough" |
| }, |
| { |
| "atom": "pepperoni_on_dough_1", |
| "level": "new_code", |
| "source": "dyn.pepperoni_on_dough_count_ge_1" |
| }, |
| { |
| "atom": "pepperoni_on_dough_2", |
| "level": "new_code", |
| "source": "dyn.pepperoni_on_dough_count_ge_2" |
| }, |
| { |
| "atom": "pepperoni_on_dough_3", |
| "level": "new_code", |
| "source": "dyn.pepperoni_on_dough_count_ge_3" |
| }, |
| { |
| "atom": "pepperoni_on_dough_4", |
| "level": "new_code", |
| "source": "dyn.pepperoni_on_dough_count_ge_4" |
| }, |
| { |
| "atom": "mushrooms_halved_1", |
| "level": "new_code", |
| "source": "dyn.mushrooms_halved_count_ge_1" |
| }, |
| { |
| "atom": "mushrooms_halved_2", |
| "level": "new_code", |
| "source": "dyn.mushrooms_halved_count_ge_2" |
| }, |
| { |
| "atom": "mushroom_halves_on_dough_1", |
| "level": "new_code", |
| "source": "dyn.mushroom_halves_on_dough_count_ge_1" |
| }, |
| { |
| "atom": "mushroom_halves_on_dough_2", |
| "level": "new_code", |
| "source": "dyn.mushroom_halves_on_dough_count_ge_2" |
| }, |
| { |
| "atom": "mushroom_halves_on_dough_3", |
| "level": "new_code", |
| "source": "dyn.mushroom_halves_on_dough_count_ge_3" |
| }, |
| { |
| "atom": "mushroom_halves_on_dough_4", |
| "level": "new_code", |
| "source": "dyn.mushroom_halves_on_dough_count_ge_4" |
| }, |
| { |
| "atom": "onion_diced", |
| "level": "new_code", |
| "source": "dyn.vidalia_onion_fully_diced" |
| }, |
| { |
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| "source": "dyn.pizza_dough_inside_oven" |
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| "source": "flags.lit:(real pizza.n.01_1)" |
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| "source": "flags.lit:(ontop pizza.n.01_1 cookie_sheet.n.01_1)" |
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| "notes_zh": "整体成功为披萨存在且在烤盘上，披萨及烤盘均未被辅助抓取，线速度均不大于0.05米/秒，连续30个30赫兹控制步满足；最后动作后最多再静置150步。没有任何状态日志，所有节点及约束保持空条件，整体成功也为空，不能把未知当作失败。共同静止窗口属于整体成功而非单独步骤。" |
| }, |
| "native_metrics": [ |
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| "unit": "1", |
| "threshold": null, |
| "direction": "higher_better" |
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| { |
| "name": "goal_held_steps", |
| "unit": "control_step", |
| "threshold": 30, |
| "direction": "higher_better" |
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| "open_questions_zh": [ |
| "无成功轨迹：inputs/oracle_none.txt说明14次目录运行均失败，没有参考视频或参考解；本图仅依据文本、BDDL初态、实例和评分代码规划（暂行：DECISIONS.md N2）。", |
| "没有状态日志：inputs/states/index.json的logs为空，所有when、约束never及success均为null，atoms只列需要补记的字段，未经日志验证不能直接绑定（暂行：DECISIONS.md P8）。", |
| "待核实：冰箱门、炉门及烤箱启停初态未记录；实例仅有任务物体位姿，场景对象表没有关节值。开冰箱、开烤箱保留为访问通道前置并标verify_zh；若起始已开则从初始成立，不要求重复操作。没有证据证明食盒有必须打开的盖，未虚构食盒开盖节点。", |
| "房间路线：BDDL将机器人初始支撑地面及全部操作目标置于厨房（make_pizza.bddl:42-47），场景中的房门连接厨房与花园等其他房间；没有跨房间操作目标，不强加房间门节点。精确机器人出生位姿未随实例提供，无法进一步验证所有可达路线。", |
| "文本步骤未受评：BDDL目标只直接检查披萨存在和披萨在烤盘上，不单独检查奶酪铺料、四片香肠铺料、两次蘑菇切半、四块半菇铺料、洋葱切丁及铺料、饼胚入烤箱和烤箱开启；这些文本步骤保留为goal=false的事件节点。配方可能间接要求其中部分或全部条件，但输入没有配方或切割转换源码，不能确认份量、容器、热源、温度和炉门要求，也不据此增加强制配方边（暂行：DECISIONS.md N1）。", |
| "刀具必要性：文本说明活动刀刃接触切割，但没有检查刀必须在夹爪中的规则；可把食材移到留在台面的刀刃，无法证明每条合法路线都要拿刀，故不加拿刀节点；碗也不设必经装料节点（暂行：DECISIONS.md D2）。", |
| "计数与顺序：四片香肠、两只蘑菇切半和四块蘑菇半块分别按个数建节点；同类物品不固定身份。第三、第四块半菇铺料才依赖两只蘑菇已切半，允许切料与铺料交错。洋葱切丁是一项整体加工，不把两半和粒子数当作额外次数（暂行：DECISIONS.md N4）。", |
| "模式差异：两模式共用rcb_behavior.py的世界状态成功、跌倒和崩溃规则；特权模式评分另要求两次新进程回放成功、末态哈希相同和实例匹配（privileged/grade.py:168-174），标准模式采用服务端直播成功及结束后的静置窗口（standard/grade.py:29-35；sim/server.py:571-593）。这些复现与交付有效性条件不作为语义节点。", |
| "视觉证据边界：没有输入视频，判据仅描述语义上的可见完成状态，不声称已观察具体物体颜色或控制件指示。设备开关状态被遮挡时需设备状态记录，不能只凭等待推断开启。", |
| "评分器要求，文本未提：通用仿真状态崩溃阈值见rcb_behavior.py:106-113及1437-1471，作为立即终止约束记录；时间和步数预算不是约束。动作成本、会话次数与仿真步数只记录不判定任务成功，不设约束；q_score虽被输出，当前输入没有其聚合定义，不推定独立成功阈值。" |
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| "conf": 6, |
| "conf_reason_zh": "文本要求、物体数量和两项目标明确，公共成功与失败规则有源码；无成功视频及状态日志，配方源码和门、开关初态缺失，必要前置及视觉判据未获轨迹验证。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
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| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "节点覆盖文本步骤（开冰箱、奶酪、4片香肠、2次切蘑菇、4块半菇、洋葱切丁及铺料、开炉门、入炉、开烤箱、披萨生成、披萨在烤盘），计数节点按1..N建立，目标集与BDDL目标一致；无状态日志，when/success为null并已在open_questions_zh说明，约束为评分器失败条件。未发现需改内容的错误。", |
| "n_issues": 0, |
| "n_major": 0 |
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| "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', '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', 'oven_opened', 'dough_in_oven', 'oven_on', 'pizza_created', 'pizza_on_sheet']" |
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