| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "behavior-1k/setting_the_table", |
| "suite": "behavior-1k", |
| "base": "behavior-setting-the-table-i00", |
| "title_zh": "摆好双人早餐桌", |
| "summary_zh": "两只盘子放在餐厅早餐桌上，两个纸杯蛋糕分别上不同盘，两把叉子和两把餐刀分别配在不同盘旁，全部目标物体离手且静止并与目标关系共同保持30个控制步。", |
| "embodiment_zh": "两模式均为R1Pro轮式移动操作机器人，带可调躯干、左右各一条七自由度机械臂，每臂末端为二指夹爪，采用辅助抓握；全向轮式底盘承担跨位置搬运，头部及双腕相机提供视角。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "behavior-setting-the-table-i00", |
| "bench": "behavior-1k", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "cabinet_opened", |
| "zh": "打开橱柜", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "头部或腕部视角可见厨房藏盘橱柜的门板离开关闭位置，露出目标物所在内腔并形成足以取物的通口；只有夹爪靠近把手、门缝仍不足以取物即未完成，若初帧已充分打开则初帧满足。取物后可重新关门，不取消本步已达到的记录。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪抓住厨房藏盘橱柜把手或门沿并拉开门板。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "任一侧夹爪手指勾住厨房藏盘橱柜把手或门沿并带开门板。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重，并可在夹爪拉开厨房藏盘橱柜门板时同步后移以让出空间；初始机器人位置未提供，按需移动或无法确定是否需移动的规则纳入本方案。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 2, |
| "note_zh": "轮式底盘在地面承重，并可在夹爪拉开厨房藏盘橱柜门板时同步后移以让出空间；初始机器人位置未提供，按需移动或无法确定是否需移动的规则纳入本方案。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": "待核实：厨房藏盘橱柜门初态及取物所需开度；输入仅有容纳关系和物体位姿，没有门关节值或初帧影像。", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/bddl/setting_the_table.bddl:24-25", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1284", |
| "inputs/task/privileged/environment/instance.json:1-201" |
| ], |
| "conf": 5, |
| "note_zh": "作为从所述容器取物的前置状态保留，门初态未核实，未编造角度阈值；只需打开目标物所在格口，不要求所有门板均打开，结束时无需保持开启。两种方案分别为夹爪抓握或手指勾住门把手，底盘可在拉门时同步后移（DECISIONS.md S17）。" |
| }, |
| { |
| "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厨房冰箱的门板离开关闭位置，露出目标物所在内腔并形成足以取物的通口；只有夹爪靠近把手、门缝仍不足以取物即未完成，若初帧已充分打开则初帧满足。取物后可重新关门，不取消本步已达到的记录。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪抓住厨房冰箱把手或门沿并拉开门板。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "勾", |
| "plan": 2, |
| "note_zh": "任一侧夹爪手指勾住厨房冰箱把手或门沿并带开门板。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重，并可在夹爪拉开厨房冰箱门板时同步后移以让出空间；初始机器人位置未提供，按需移动或无法确定是否需移动的规则纳入本方案。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 2, |
| "note_zh": "轮式底盘在地面承重，并可在夹爪拉开厨房冰箱门板时同步后移以让出空间；初始机器人位置未提供，按需移动或无法确定是否需移动的规则纳入本方案。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": "待核实：厨房冰箱门初态及取物所需开度；输入仅有容纳关系和物体位姿，没有门关节值或初帧影像。", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/bddl/setting_the_table.bddl:18-19", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1279-1284", |
| "inputs/task/privileged/environment/instance.json:1-201" |
| ], |
| "conf": 5, |
| "note_zh": "作为从所述容器取物的前置状态保留，门初态未核实，未编造角度阈值；只需打开目标物所在格口，不要求所有门板均打开，结束时无需保持开启。两种方案分别为夹爪抓握或手指勾住门把手，底盘可在拉门时同步后移（DECISIONS.md S17）。" |
| }, |
| { |
| "id": "plates_on_table_1", |
| "zh": "第1个盘子上桌", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "cabinet_opened" |
| ], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，至少一只盘子与指定早餐桌桌面接触，桌面直接在盘子下方且不在其上方；悬在桌面上方、落在其他台面或没有任何盘子再由早餐桌承托即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪夹持一只盘子的边缘，将盘子放到早餐桌。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带盘子，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:36-39", |
| "inputs/bddl/setting_the_table.literals.json:3-4", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "同类盘子按当前在早餐桌上的数量计，不识别固定实例；第2步表示至少两只，不限定哪只先放。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "plates_on_table_2", |
| "zh": "第2个盘子上桌", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "plates_on_table_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，两只不同盘子都与指定早餐桌桌面接触，桌面直接在各盘下方且不在其上方；只放好一只、第二只叠在第一只上而未接触桌面，或任一盘脱离早餐桌即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪夹持一只盘子的边缘，将盘子放到早餐桌。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带盘子，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:36-39", |
| "inputs/bddl/setting_the_table.literals.json:3-4", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "同类盘子按当前在早餐桌上的数量计，不识别固定实例；第2步表示至少两只，不限定哪只先放。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "cupcakes_on_plates_1", |
| "zh": "第1个蛋糕上盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "fridge_opened" |
| ], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，至少一个纸杯蛋糕与任一目标盘子接触，该盘直接在蛋糕下方且不在其上方；蛋糕悬空、仍在冰箱内而未上盘，或没有蛋糕再由目标盘子承托即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪轻夹一个纸杯蛋糕的杯体，将纸杯蛋糕放在一只目标盘子上。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带纸杯蛋糕，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:40-44", |
| "inputs/bddl/setting_the_table.literals.json:5-6,15-16", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "两个纸杯蛋糕和两只盘均可交换；第2步要求存在两组互不复用蛋糕或盘子的ontop配对。可先在厨房装盘再搬盘，不把盘子先上桌设为依赖。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "cupcakes_on_plates_2", |
| "zh": "第2个蛋糕上盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "cupcakes_on_plates_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，两个纸杯蛋糕能一一配到两只不同目标盘子，各蛋糕均接触并由其配对盘直接承托；两个蛋糕只在同一只盘上、仅放好一个，或不能再为两只不同盘分别配到蛋糕即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪轻夹一个纸杯蛋糕的杯体，将纸杯蛋糕放在一只目标盘子上。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带纸杯蛋糕，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:40-44", |
| "inputs/bddl/setting_the_table.literals.json:5-6,15-16", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "两个纸杯蛋糕和两只盘均可交换；第2步要求存在两组互不复用蛋糕或盘子的ontop配对。可先在厨房装盘再搬盘，不把盘子先上桌设为依赖。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "forks_by_plates_1", |
| "zh": "第1把叉放盘旁", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，至少一把叉子紧邻任一目标盘子：两者轴对齐包围盒间隙不超过各轴尺寸之和的均值的六分之一，且沿水平轴两者之间无遮挡；只有从上方投影看似接近、实际间隙过大或已无合格叉盘配对即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪夹住一把叉子的柄，将叉子放到目标盘子旁。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带叉子，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:45-49", |
| "inputs/bddl/setting_the_table.literals.json:7-8,13-14", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "第2步要求存在两组不复用叉子或盘子的nextto配对；不固定左右、朝向或实例，不额外禁止某把叉同时邻近另一只盘。不要求先放盘再放叉，搬动盘子也能建立相邻关系。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "forks_by_plates_2", |
| "zh": "第2把叉放盘旁", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "forks_by_plates_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，两把叉子能分别与两只不同目标盘子一一配对，每对的轴对齐包围盒间隙不超过各轴尺寸之和的均值的六分之一且沿水平轴两者间无遮挡；仅有一把合格或两把都只能配同一盘即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪夹住一把叉子的柄，将叉子放到目标盘子旁。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带叉子，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:45-49", |
| "inputs/bddl/setting_the_table.literals.json:7-8,13-14", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "第2步要求存在两组不复用叉子或盘子的nextto配对；不固定左右、朝向或实例，不额外禁止某把叉同时邻近另一只盘。不要求先放盘再放叉，搬动盘子也能建立相邻关系。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "knives_by_plates_1", |
| "zh": "第1把刀放盘旁", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，至少一把餐刀紧邻任一目标盘子：两者轴对齐包围盒间隙不超过各轴尺寸之和的均值的六分之一，且沿水平轴两者之间无遮挡；只有从上方投影看似接近、实际间隙过大或已无合格刀盘配对即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪夹住一把餐刀的刀柄，将餐刀放到目标盘子旁。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带餐刀，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:50-54", |
| "inputs/bddl/setting_the_table.literals.json:9-12", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "第2步要求存在两组不复用餐刀或盘子的nextto配对；不固定左右、朝向或实例，不额外禁止某把刀同时邻近另一只盘。不要求先放盘再放刀，搬动盘子也能建立相邻关系。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| }, |
| { |
| "id": "knives_by_plates_2", |
| "zh": "第2把刀放盘旁", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "knives_by_plates_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角中，两把餐刀能分别与两只不同目标盘子一一配对，每对的轴对齐包围盒间隙不超过各轴尺寸之和的均值的六分之一且沿水平轴两者间无遮挡；仅有一把合格或两把都只能配同一盘即未完成或失去。最终联合验收还要求八项摆放关系同时成立，全部目标物体（含早餐桌）均未被辅助抓握夹爪持有且线速度不超过0.05米/秒，连续30个控制步（30赫兹，官方称1秒）；该窗口属于全局成功验收，不单独计步。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪夹住一把餐刀的刀柄，将餐刀放到目标盘子旁。" |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "轮式底盘在地面承重并移动，支承夹爪携带餐刀，从厨房取物位置前往摆放位置；实际是否装盘后一起运输由策略决定。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-10", |
| "inputs/task/privileged/instruction.md:40-42", |
| "inputs/bddl/setting_the_table.bddl:50-54", |
| "inputs/bddl/setting_the_table.literals.json:9-12", |
| "inputs/bddl/setting_the_table.literals.json:100", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "第2步要求存在两组不复用餐刀或盘子的nextto配对；不固定左右、朝向或实例，不额外禁止某把刀同时邻近另一只盘。不要求先放盘再放刀，搬动盘子也能建立相邻关系。松手、全体静止与30步保持属于联合成功验收，hold_s不重复施加全局窗口；放置沿用持物冻结默认值（暂行：DECISIONS.md D17）。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "robot_fallen", |
| "zh": "机器人跌倒", |
| "never": null, |
| "criterion_zh": "底座上轴的世界竖直分量小于0.75（约偏离竖直41.4度以上），或底座低于地面超过0.03米，任一条件连续成立300个控制步（10秒）触发跌倒失败；短暂倾斜后恢复不算，且同一步已满足成功窗口时成功优先。", |
| "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:1393-1396", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489" |
| ] |
| }, |
| { |
| "id": "sim_breakdown", |
| "zh": "仿真状态崩溃", |
| "never": null, |
| "criterion_zh": "评分器检测到机器人位置、姿态、线速度或关节位置非有限，机器人任一位置坐标绝对值超过10000米，或底座线速度超过100米/秒即失败；目标物体的位置每30个控制步检查一次，非有限或任一坐标绝对值超过10000米也触发失败，检查读取异常本身不触发此项。", |
| "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": "cabinet_open", |
| "level": "new_code", |
| "source": "proc.cabinet.n.01_1.open; target-compartment door joints and extraction clearance; inputs/bddl/setting_the_table.bddl:24-25" |
| }, |
| { |
| "atom": "fridge_open", |
| "level": "new_code", |
| "source": "proc.electric_refrigerator.n.01_1.open; target-compartment door joints and extraction clearance; inputs/bddl/setting_the_table.bddl:18-19" |
| }, |
| { |
| "atom": "plates_on_table_count", |
| "level": "new_code", |
| "source": "flags.lit:(ontop plate.n.04_1 breakfast_table.n.01_1), flags.lit:(ontop plate.n.04_2 breakfast_table.n.01_1); inputs/bddl/setting_the_table.literals.json:3-4" |
| }, |
| { |
| "atom": "cupcake_plate_matching_count", |
| "level": "new_code", |
| "source": "all four cupcake-to-plate ontop literals; maximum bipartite matching; inputs/bddl/setting_the_table.literals.json:5-6,15-16" |
| }, |
| { |
| "atom": "fork_plate_matching_count", |
| "level": "new_code", |
| "source": "all four fork-to-plate nextto literals; maximum bipartite matching; inputs/bddl/setting_the_table.literals.json:7-8,13-14" |
| }, |
| { |
| "atom": "knife_plate_matching_count", |
| "level": "new_code", |
| "source": "all four knife-to-plate nextto literals; maximum bipartite matching; inputs/bddl/setting_the_table.literals.json:9-12" |
| }, |
| { |
| "atom": "success_rule", |
| "level": "new_code", |
| "source": "flags.success_rule from Session.succeeded / RestWatch.done; inputs/grader/efe_behavior-files/rcb_behavior.py:1401-1434" |
| }, |
| { |
| "atom": "robot_fallen", |
| "level": "new_code", |
| "source": "Session._fall.fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489" |
| }, |
| { |
| "atom": "sim_breakdown", |
| "level": "new_code", |
| "source": "Session.breakdown; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "q_score", |
| "unit": "ratio", |
| "threshold": null, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "没有成功示范：inputs/oracle_none.txt说明14条目录运行均失败，任务目录也没有solution；本文件依据文本、BDDL、冻结物体位姿和评分器规划，视觉判据为目标几何线索，未经成功视频验证（暂行：DECISIONS.md N2、N8）。", |
| "inputs/states/index.json的logs为空，按DECISIONS.md P8全部节点when、约束never及success均为null；atoms的new_code列出将来需要记录的世界状态，不能视为本次已有日志绑定。", |
| "橱柜与冰箱内的目标物已由BDDL初态证实，但冻结instance.json仅保存物体位姿，未包含门关节；加载流程调用外部Evaluator恢复冻结状态而未显式开门，外部场景和Evaluator实现不在输入中。保留打开目标格口的两个前置节点并标待核实，不声称已证实开局关闭；若开局已充分打开，开门前置状态从初帧满足，若柜体本就无门且无需开合则须据证据修订。", |
| "通路核查：机器人初始在厨房，早餐桌在餐厅（inputs/bddl/setting_the_table.bddl:26-31）；scene_objects只列门所属房间，door_tonlzz_0属于餐厅与客厅（:350-355），没有完整开放通路拓扑或门初态，不能证明该门是厨房到餐厅的必经门，未增加必经房间门节点。", |
| "同类物品按第1、2个计，第二个的验收要求不同物体与不同盘子之间存在一一配对，而不是仅统计两个物体各邻近任意盘；不固定实例身份、不固定左右，且未添加先放盘再装蛋糕或再配餐具的策略顺序（暂行：DECISIONS.md N4）。", |
| "取盘和取蛋糕只作为最终摆放过程，不另计取出、抓取、抬升或搬运节点；文本没有独立取出目标，BDDL只检查摆放终态（暂行：DECISIONS.md D5）。", |
| "success的文字定义为BDDL八项目标同真、九个目标物体（两盘、两蛋糕、两叉、两刀、早餐桌）均未被辅助抓握持有且线速度不超过0.05米/秒，连续30控制步；30步联合窗口由RestWatch统一计算，未重复分配到每个节点的hold_s（inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,181-190,1414-1434）。", |
| "模式差异：物理目标、跌倒及崩溃规则相同；privileged对同一提交轨迹做两次新进程重放并要求都成功、终态哈希一致、冻结实例匹配且无崩溃（privileged/grade.py:168-174），standard读取同一现场episode的success、finalized及故障状态（standard/grade.py:29-35），两者末尾均可静置最多5秒。这些交付与基础设施检查不创建世界状态节点，也不虚构日志字段表达；本次无日志，success=null。", |
| "q_score是评分器输出的连续进度指标（inputs/grader/efe_behavior-files/rcb_behavior.py:1538-1554），不是单独的成功门槛；其聚合公式在未提供的外部指标实现中，threshold保留null，不能用它代替八项关系和松手静置验收。", |
| "nextto尺寸阈值采用instruction.md:42给出的包围盒间隙规则；输入未提供OmniGibson谓词源码，不能将其擅自换算为固定厘米距离，视频无法可靠量化时须保留判定缺口。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "八个摆放目标、同类计数和配对直接来自一致的两模式文本与BDDL，联合验收及失败阈值有评分器源码；没有成功示范和状态日志，容器门初态及通路拓扑不完整，两项开门前置仍待核实，因此整体置信度为6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "节点集合与任务文本一致：开橱柜、开冰箱（取物前置，初态待核实已标 verify_zh）、盘子/蛋糕/叉/刀各按两个计数步；目标集与BDDL八项一致，未重复计算，边均为物理必需（橱柜→盘、冰箱→蛋糕），无习惯边。无状态日志与成功示范，故when/success为null符合P8，约束为跌倒与仿真崩溃（立即终止）。小提示：开门节点contact中底盘×支撑plan 1与plan 2内容重复，可合并，但不影响分析。", |
| "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：['cabinet_opened', 'fridge_opened', 'plates_on_table_1', 'plates_on_table_2', 'cupcakes_on_plates_1', 'cupcakes_on_plates_2', 'forks_by_plates_1', 'forks_by_plates_2', 'knives_by_plates_1', 'knives_by_plates_2']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T01:47:38Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/behavior-1k__setting_the_table/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/behavior-1k__setting_the_table/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "996284dbd7b251863725bdbcaa03cfa928e753d4fdc5199e8ba5d18218fbf484", |
| "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" |
| } |
| } |
|
|
