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{
"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "behavior-1k/setting_the_fire",
"suite": "behavior-1k",
"base": "behavior-setting-the-fire-i00",
"title_zh": "点燃壁炉柴火",
"summary_zh": "两块柴均在壁炉内、直接位于已燃报纸上并着火,打火机关闭,所有目标物体松手且静止并共同保持30个控制步。",
"embodiment_zh": "两种模式均使用R1Pro轮式移动双臂机器人,左右臂各7个自由度、各配二指平行夹爪并采用辅助抓取,躯干4个自由度,底盘可平移及转向,配头部和双腕相机;标准模式仅能从相机与本体信息控制,特权模式可读场景状态。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "behavior-setting-the-fire-i00",
"bench": "behavior-1k",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "newspaper_in_fireplace",
"zh": "报纸放入壁炉",
"mode": "event",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": false,
"criterion_zh": "头部或腕部相机可见报纸已从桌上移至壁炉炉膛内,而非仍在桌上、炉前地面或仅贴在炉口外;以报纸包围盒中心进入壁炉包围盒及内部容积为完成判据。此步骤完成后记为已发生,不能仅凭柴在炉内就推断报纸也在炉内。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左夹爪或右夹爪夹住报纸并搬放",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,将夹爪持有的报纸送到壁炉",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:33",
"inputs/bddl/setting_the_fire.bddl:17-22",
"inputs/task/privileged/environment/instance.json:83-109"
],
"conf": 6,
"note_zh": "文本明确要求报纸入炉,但目标没有 inside(newspaper, fireplace) 字面量,按 N1 保留为未直接受评的文本步骤;不强制先放报纸再放柴,允许整体搬入。"
},
{
"id": "firewood_on_newspaper_1",
"zh": "第1块柴放纸上",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部或腕部相机可见至少1块柴同时位于壁炉炉膛内并直接接触报纸,报纸在柴下方且不在其上方;每块计数柴的包围盒中心须同时在壁炉包围盒和内部容积中,柴只在炉口外、悬空或仅压在另一块柴上不算,满足关系的柴少于1块即失去。最终还须全部目标同时成立,两块柴、报纸、打火机和壁炉均未被夹爪附着且线速度不大于0.05米/秒,连续30个控制步(30赫兹,约1秒);这是全局成功验收,不单独计步。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左夹爪或右夹爪夹住一块柴并搬放",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,将夹爪持有的一块柴送到壁炉",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:7",
"inputs/task/privileged/instruction.md:33-34",
"inputs/bddl/setting_the_fire.bddl:27-33",
"inputs/bddl/setting_the_fire.literals.json:3-8",
"inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
],
"conf": 6,
"note_zh": "两块柴按满足 ontop 和 inside 两项的数量累计,不按实例身份;燃烧另计,松手静置及共同保持窗口归全局成功,关系本身持物时也可成立。"
},
{
"id": "firewood_on_newspaper_2",
"zh": "第2块柴放纸上",
"mode": "state",
"when": null,
"after": [
"firewood_on_newspaper_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部或腕部相机可见至少2块柴同时位于壁炉炉膛内并直接接触报纸,报纸在柴下方且不在其上方;每块计数柴的包围盒中心须同时在壁炉包围盒和内部容积中,柴只在炉口外、悬空或仅压在另一块柴上不算,满足关系的柴少于2块即失去。最终还须全部目标同时成立,两块柴、报纸、打火机和壁炉均未被夹爪附着且线速度不大于0.05米/秒,连续30个控制步(30赫兹,约1秒);这是全局成功验收,不单独计步。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "左夹爪或右夹爪夹住一块柴并搬放",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,将夹爪持有的一块柴送到壁炉",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:7",
"inputs/task/privileged/instruction.md:33-34",
"inputs/bddl/setting_the_fire.bddl:27-33",
"inputs/bddl/setting_the_fire.literals.json:3-8",
"inputs/grader/efe_behavior-files/rcb_behavior.py:100-105",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
],
"conf": 6,
"note_zh": "两块柴按满足 ontop 和 inside 两项的数量累计,不按实例身份;燃烧另计,松手静置及共同保持窗口归全局成功,关系本身持物时也可成立。"
},
{
"id": "newspaper_on_fire",
"zh": "点燃报纸",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部或腕部相机可见火焰附着于报纸本体并持续燃烧,而非只有邻近打火机或柴上的火焰;准确状态为报纸 on_fire 成立,文本给出默认着火温度250摄氏度,未着火或该状态失去时不计。最终还须全部目标同时成立,两块柴、报纸、打火机和壁炉均未被夹爪附着且线速度不大于0.05米/秒,连续30个控制步(30赫兹,约1秒);这是全局成功验收,不单独计步。",
"step": {
"cat": "材料",
"item": "点燃"
},
"contact": [
{
"who": "手持工具",
"how": "其他",
"note_zh": "候选接触方式“火焰加热”:夹爪持打火机,使其火焰或热源作用于报纸;现有抓握、压擦等条目不能表达工具对目标的热作用",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,使夹爪持有的打火机靠近报纸",
"plan": 1
},
{
"who": "无接触",
"how": "不适用",
"note_zh": "设备完成:打火机或已启动的热源;热量使报纸着火,夹爪不必接触报纸,也可由已燃材料传火",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:8",
"inputs/task/privileged/instruction.md:36",
"inputs/bddl/setting_the_fire.bddl:35",
"inputs/bddl/setting_the_fire.literals.json:9",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
],
"conf": 6,
"note_zh": "不限定点燃位置、先点报纸还是先点柴、是否由其他已燃材料传火;没有实例着火温度配置或成功视频,250摄氏度仅为文本默认值。"
},
{
"id": "firewood_on_fire_1",
"zh": "点燃第1块柴",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部或腕部相机可见至少1块不同的柴本体着火,不能把报纸火焰、打火机火焰或同一块柴的两处火焰算作两块柴;准确判据为两块柴中至少1块的 on_fire 成立,文本默认着火温度250摄氏度,着火柴少于1块即失去。最终还须全部目标同时成立,两块柴、报纸、打火机和壁炉均未被夹爪附着且线速度不大于0.05米/秒,连续30个控制步(30赫兹,约1秒);这是全局成功验收,不单独计步。",
"step": {
"cat": "材料",
"item": "点燃"
},
"contact": [
{
"who": "手持工具",
"how": "其他",
"note_zh": "候选接触方式“火焰加热”:夹爪持打火机,使其火焰或热源作用于一块柴;现有抓握、压擦等条目不能表达工具对目标的热作用",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,使夹爪持有的打火机靠近一块柴",
"plan": 1
},
{
"who": "无接触",
"how": "不适用",
"note_zh": "设备完成:打火机或已启动的热源;热量使一块柴着火,夹爪不必接触一块柴,也可由已燃材料传火",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:7",
"inputs/task/privileged/instruction.md:36",
"inputs/bddl/setting_the_fire.bddl:27-30",
"inputs/bddl/setting_the_fire.literals.json:3-6",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
],
"conf": 6,
"note_zh": "按着火柴数量计数,与放置步骤的先后实例无关;允许两块柴同时被点燃或相互传火,计数边不要求两次独立操作。"
},
{
"id": "firewood_on_fire_2",
"zh": "点燃第2块柴",
"mode": "state",
"when": null,
"after": [
"firewood_on_fire_1"
],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "头部或腕部相机可见至少2块不同的柴本体着火,不能把报纸火焰、打火机火焰或同一块柴的两处火焰算作两块柴;准确判据为两块柴中至少2块的 on_fire 成立,文本默认着火温度250摄氏度,着火柴少于2块即失去。最终还须全部目标同时成立,两块柴、报纸、打火机和壁炉均未被夹爪附着且线速度不大于0.05米/秒,连续30个控制步(30赫兹,约1秒);这是全局成功验收,不单独计步。",
"step": {
"cat": "材料",
"item": "点燃"
},
"contact": [
{
"who": "手持工具",
"how": "其他",
"note_zh": "候选接触方式“火焰加热”:夹爪持打火机,使其火焰或热源作用于一块柴;现有抓握、压擦等条目不能表达工具对目标的热作用",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,使夹爪持有的打火机靠近一块柴",
"plan": 1
},
{
"who": "无接触",
"how": "不适用",
"note_zh": "设备完成:打火机或已启动的热源;热量使一块柴着火,夹爪不必接触一块柴,也可由已燃材料传火",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:4",
"inputs/task/privileged/instruction.md:7",
"inputs/task/privileged/instruction.md:36",
"inputs/bddl/setting_the_fire.bddl:27-30",
"inputs/bddl/setting_the_fire.literals.json:3-6",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
],
"conf": 6,
"note_zh": "按着火柴数量计数,与放置步骤的先后实例无关;允许两块柴同时被点燃或相互传火,计数边不要求两次独立操作。"
},
{
"id": "lighter_off",
"zh": "关闭打火机",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"freeze_held": false,
"goal": true,
"criterion_zh": "打火机处于关闭状态(not toggled_on),通常可见打火机自身火焰熄灭;炉内仍有火不影响此步,打火机仍开启则不成立,遮挡时不能仅凭未见火焰判断关闭。初始目标位串确认本步开局成立,开启后失去、重新关闭后恢复;文本说明手指连续接触开关5个控制步会翻转开关状态。最终还须全部目标同时成立,两块柴、报纸、打火机和壁炉均未被夹爪附着且线速度不大于0.05米/秒,连续30个控制步(30赫兹,约1秒);这是全局成功验收,不单独计步。",
"step": {
"cat": "机构",
"item": "启停设备"
},
"contact": [
{
"who": "手指/夹爪",
"how": "压/擦",
"note_zh": "一只夹爪的手指压触打火机开关,打火机由桌面或其他支承物承托",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,使夹爪到达打火机开关",
"plan": 1
},
{
"who": "双臂协作",
"how": "压/擦",
"note_zh": "左夹爪握稳打火机、右夹爪手指压触其开关(左右可互换),由按开关的手指直接使打火机关闭",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘支承机器人移动,使持打火机和按开关的双臂到达操作位置",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"inputs/task/privileged/instruction.md:9",
"inputs/task/privileged/instruction.md:35",
"inputs/bddl/setting_the_fire.bddl:36-38",
"inputs/bddl/setting_the_fire.literals.json:24",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434"
],
"conf": 6,
"note_zh": "按 S4 作为初始已成立的目标状态,从1/7计数;不加最终门控或燃烧步骤的依赖边,允许关闭后由余热继续点燃。开关状态在手持打火机时也成立,禁用持物冻结。"
}
],
"constraints": [
{
"id": "robot_fallen",
"zh": "机器人跌倒",
"never": null,
"criterion_zh": "成功窗口尚未完成时,机器人基座的竖直轴在世界竖直方向的分量小于0.75,或基座低于地板超过0.03米,连续300个控制步(30赫兹,10秒)即失败;短于该窗口且恢复的倾倒不构成本约束。同一控制步成功与跌倒同时满足时,评分先接受成功。",
"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:1393-1398",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
]
},
{
"id": "simulator_breakdown",
"zh": "仿真状态崩溃",
"never": null,
"criterion_zh": "机器人位置、四元数、线速度或关节位置出现非有限数,机器人任一位置分量绝对值超过10000米,或基座线速度模长超过100米/秒;目标物体每30个控制步检查一次,位置非有限或任一分量绝对值超过10000米同样失败。该检查优先于成功。",
"consequence": "立即终止",
"sources": [
"inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1398",
"inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
]
}
],
"success": null,
"atoms": [
{
"atom": "newspaper_inside_fireplace",
"level": "new_code",
"source": "dyn.newspaper_inside_fireplace: log native Inside(newspaper.n.03_1, wood_fireplace.n.01_1); not a goal literal"
},
{
"atom": "firewood_1_ontop_newspaper",
"level": "new_code",
"source": "flags.lit:(ontop firewood.n.01_1 newspaper.n.03_1)"
},
{
"atom": "firewood_2_ontop_newspaper",
"level": "new_code",
"source": "flags.lit:(ontop firewood.n.01_2 newspaper.n.03_1)"
},
{
"atom": "firewood_1_inside_fireplace",
"level": "new_code",
"source": "flags.lit:(inside firewood.n.01_1 wood_fireplace.n.01_1)"
},
{
"atom": "firewood_2_inside_fireplace",
"level": "new_code",
"source": "flags.lit:(inside firewood.n.01_2 wood_fireplace.n.01_1)"
},
{
"atom": "newspaper_on_fire",
"level": "new_code",
"source": "flags.lit:(on_fire newspaper.n.03_1)"
},
{
"atom": "firewood_1_on_fire",
"level": "new_code",
"source": "flags.lit:(on_fire firewood.n.01_1)"
},
{
"atom": "firewood_2_on_fire",
"level": "new_code",
"source": "flags.lit:(on_fire firewood.n.01_2)"
},
{
"atom": "lighter_off",
"level": "new_code",
"source": "flags.lit:(not (toggled_on cigar_lighter.n.01_1))"
},
{
"atom": "settled_goal_success",
"level": "new_code",
"source": "flags.success_rule: native RestWatch.done, goal + no assisted-held goal objects + speed <= 0.05 m/s for 30 control steps"
},
{
"atom": "robot_fallen",
"level": "new_code",
"source": "dyn.robot_fallen: native FallWatch.fallen"
},
{
"atom": "simulator_breakdown",
"level": "new_code",
"source": "dyn.simulator_breakdown: native Session.breakdown is not None"
}
]
},
"native_metrics": [
{
"name": "q_score",
"unit": "比例",
"threshold": 1,
"direction": "higher_better"
}
],
"open_questions_zh": [
"无成功示例:inputs/oracle_none.txt 说明14条目录运行均失败;无参考脚本和成功视频,本图依据文本、BDDL、冻结实例与评分代码规划(暂行:DECISIONS.md N2)。",
"inputs/states/index.json 的 logs 为空,因此全部 when、约束 never 和 success 均为 null;atoms 的 new_code 仅列以后需要记录的状态,不声称本次存在这些字段,也无法检查目标覆盖率或成功与评分的一致性(暂行:DECISIONS.md P8)。",
"文本步骤未受评:报纸放入壁炉。文本 inputs/task/privileged/instruction.md:4 明确要求,但 inputs/bddl/setting_the_fire.bddl:25-40 未检查报纸 inside 壁炉;保留 goal:false 的 event 节点,视觉确认其曾完成,不把该几何要求补进评分成功(暂行:DECISIONS.md N1)。",
"工具与预条件核查:评分仅检查燃烧、柴的关系及打火机关闭,不检查拿起或开启打火机;场景还列有炉灶、烤箱等潜在热源,且可以把报纸靠近留在桌上的打火机,现有证据不能证明所有合法路线都须拿起或开启此打火机,故不新增这些必经节点(DECISIONS.md D2)。",
"路径核查:BDDL 初态把机器人、柴、桌与壁炉放在同一客厅,scene_objects.json 的相关房门连接客厅与花园;本任务在客厅可完成,没有跨房必经门,故无开门节点。",
"点燃接触的具体方式无视频核实:主动持打火机引火采用手持工具×其他,候选“火焰加热”;被动热传播采用无接触×不适用,并按设备完成规则注明热源。火焰不要求工具固体表面触碰目标,现有接触词表无热作用条目(DECISIONS.md S16、S17)。",
"点燃的250摄氏度来自指令对默认 ignition temperature 的说明,输入未含本实例材料热学配置,不能确认每种材料确用该阈值;完成以原生 on_fire 为准,不另造数值条件。",
"两模式共享 Session 的世界状态成功规则(BDDL全目标、目标物体无辅助抓取且速度不大于0.05米/秒、连续30控制步,含打火机和壁炉);该联合验收归 success,各节点 criterion_zh 同时说明。特权模式还要求两次重放均通过、终态哈希一致及冻结实例匹配,标准模式按已终结的现场记录评分;这些交付与基础设施条件不构成世界状态节点,success 因无日志保持 null。",
"不添加摆放到点燃、报纸到柴或点燃到关打火机的策略顺序边:可先点燃后搬放、整体搬入或关机后传火。只保留同类数量第1到第2的计数边;打火机关闭初始位为真,按 S4 从1/7计数,开启时下降、关闭时恢复。"
],
"conf": 6,
"conf_reason_zh": "文本、8个目标字面量、初始目标位和两模式共用评分逻辑可核实;保留未直接受评的报纸入炉步骤并只设计数边。没有任何状态日志或成功视频,全部条件无法实测,着火视觉线索及热作用接触方案尚未由轨迹核验。",
"review": {
"status": "agreed",
"rounds": 1,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "agree",
"conf": 6,
"summary_zh": "无状态日志、无成功示例,全部 when 为 null。节点与文本步骤对应(报纸入炉、两块柴放纸上、点燃三者、关打火机),与 BDDL 目标一致。报纸入炉按 N1 作为 goal:false 的 event 保留并已写入 open_questions_zh。第1到第2块的计数边属计数步骤排序,可接受。未见需改内容的错误。",
"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:['newspaper_in_fireplace', 'firewood_on_newspaper_1', 'firewood_on_newspaper_2', 'newspaper_on_fire', 'firewood_on_fire_1', 'firewood_on_fire_2', 'lighter_off']"
]
},
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"engine": "codex",
"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T01:38:05Z",
"review_prompt": "prompts/02_task_dag_review.md",
"review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
"reconcile_prompt": "prompts/05_reconcile.md",
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"calls": [
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"round": 0,
"ok": true,
"space": "work/tasks/behavior-1k__setting_the_fire/01_dag"
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"review_engine": "claude",
"review_model": "claude-sonnet-5-5",
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