| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "myosuite/baoding", |
| "suite": "myosuite", |
| "base": "myosuite-baoding-i00", |
| "title_zh": "掌中双球循迹", |
| "summary_zh": "两球在掌内分别跟随各自移动目标，连续200个控制步内各自目标距离均严格小于0.015米且均未低于世界高度1.25米。", |
| "embodiment_zh": "两模式均为MyoHand肌肉骨骼前臂及单只灵巧手，由39条肌肉驱动，直接用手指与掌面操控两球，无移动底盘；特权模式可读物体与目标状态，标准模式通过相机和本体感觉控制同一冻结实例。", |
| "task_class": "atomic", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "myosuite-baoding-i00", |
| "bench": "myosuite", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "ball1_tracking", |
| "zh": "两球循迹", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "掌上视角（hand_top）中，两球在掌内互绕并分别跟随各自小目标标记，按初始球身份对应的球心与当前目标三维距离均严格小于0.015米，且两球世界高度均不低于1.25米，在同一连续200个控制步（每步0.025秒，合计5秒）内保持达标；被手持住也可达标，无须松手。任一球距离达到或超过0.015米，或世界高度低于1.25米，则联合循迹条件失去、连续计数清零；单帧二维画面重合不足以证明三维误差及持续窗口达标，临界判定需数值状态确认。", |
| "step": { |
| "cat": "位姿", |
| "item": "沿轨迹移动" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "手内调整", |
| "plan": 1, |
| "note_zh": "MyoHand灵巧手的手指与掌面共同操控两球，在掌内滚动换位，使两球分别跟随各自移动目标。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:5-7", |
| "task/privileged/instruction.md:13-14", |
| "task/privileged/instruction.md:49-53", |
| "grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:58-68", |
| "grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:273-274", |
| "grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-467" |
| ], |
| "conf": 6, |
| "note_zh": "按docs/01_task_dag.md Step 3第5条，同一联合循迹检查点对两球只设一个步骤；保留原ball1_tracking作为合并后的节点id，避免无关改名。按初始球身份分别跟踪对应目标，不把屏幕左右位置或即时颜色当实例身份；不能仅凭球的变色判定对应误差，须观察球心与目标并结合可用的数值证据。连续200步是本步骤的联合验收条件，不另建节点；无状态日志时when及success均为null，补日志后可比较原生solved_run>=200。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "ball_dropped", |
| "zh": "球掉出掌心", |
| "never": null, |
| "criterion_zh": "任一球的球心世界坐标z严格小于1.25米时立即判负终止；侧视画面可见球跌离掌心，但掌上相机随前臂运动，不能仅凭屏幕高度推断世界高度，临界值须数值状态确认。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/instruction.md:5", |
| "task/privileged/instruction.md:20-33", |
| "task/privileged/instruction.md:49-53", |
| "grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:446-467" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "ball1_target_distance", |
| "level": "new_code", |
| "source": "dyn.baoding_target1_dist <- norm(obs_dict.target1_err); task/privileged/instruction.md:13,49; not present in any supplied state log" |
| }, |
| { |
| "atom": "ball2_target_distance", |
| "level": "new_code", |
| "source": "dyn.baoding_target2_dist <- norm(obs_dict.target2_err); task/privileged/instruction.md:14,50; not present in any supplied state log" |
| }, |
| { |
| "atom": "ball1_world_height", |
| "level": "new_code", |
| "source": "dyn.baoding_object1_z <- obs_dict.object1_pos[2]; task/privileged/instruction.md:21-25,31; not present in any supplied state log" |
| }, |
| { |
| "atom": "ball2_world_height", |
| "level": "new_code", |
| "source": "dyn.baoding_object2_z <- obs_dict.object2_pos[2]; task/privileged/instruction.md:26-32; not present in any supplied state log" |
| }, |
| { |
| "atom": "joint_tracking_run", |
| "level": "new_code", |
| "source": "dyn.baoding_solved_run <- Session.solved_run (both errors < 0.015 and both heights >= 1.25); grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:442-465; compare >= 200; not present in any supplied state log" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "target1_dist", |
| "unit": "m", |
| "threshold": 0.015, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "target2_dist", |
| "unit": "m", |
| "threshold": 0.015, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "solved_run", |
| "unit": "control_steps", |
| "threshold": 200, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "无成功示范：inputs/oracle_none.txt说明本目录所供14次目录运行均失败；未提供成功视频或solution，按文本、冻结初态说明和评分代码规划（N2）。README提到的历史成功轨迹未随本任务提供，不能据此声称已核对示范。", |
| "状态日志为空（inputs/states/index.json），按P8将所有when及success设为null，掉球约束never也为null；atoms仅列需要补记的世界状态与计数器，不把特权观测或未来字段冒充现有日志。视频可判断明显偏离，0.015米三维误差及连续200步临界判定仍需数值日志。", |
| "初态只由文本核实为两球位于朝上掌心，重置代码恢复同一冻结快照；inputs/MANIFEST.json列出instance.npz被省略，缺少首帧与球、目标的初始数值，无法核实联合循迹节点在零时刻是否成立，也不能预设零时刻进度。", |
| "粒度按docs/01_task_dag.md Step 3第5条及TAXONOMY_v2.md规则2第5条处理：两球共同循迹是一个联合检查点，合并为一个状态步骤，按初始球身份分别绑定对应目标；不拆成逐球节点、轨道相位、每圈或持球步骤。连续200步属于该步骤的验收，补日志时应直接比较原生solved_run>=200，避免把两个不同时间段的单球达标误当共同成功。", |
| "模式差异：特权评分还要求两次新进程回放均成功、终态哈希一致且冻结初态匹配（grader/efe_myosuite-files/privileged/tests/grade.py:168-171）；标准模式读取最后一次现场回合判决与有效终结记录，不重放评分（grader/efe_myosuite-files/standard/tests/grade.py:51-57）。这些交付及有效性条件不建世界状态节点；本DAG刻画共同物理目标，现无日志可表达完整评分判决。标准README:10,22另记载浮点精度改变后既有特权轨迹失败，标准模式可解性未获正例验证，不能推断不可解。", |
| "视觉判据局限：task/privileged/instruction.md:60-69所附代码的两个球变色都读取target1_dist，二号球颜色不能独立证明二号球循迹达标；应按初始球身份跟踪其对应目标，不把屏幕左右位置或即时颜色当实例身份。缺少视频，尚未核实目标标记遮挡及球身份的可辨性（N8）。", |
| "1000个控制步（25秒）目标轨迹结束上限由Session.step实施（grader/efe_myosuite-files/privileged/environment/rcb_myosuite.py:468-473）；按P21属于回合时限，不列约束。文本另有“步数不限”的通用表述，实际仍受该目标轨迹长度限制。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "文本和评分包装代码支持两球共同循迹、连续200步联合验收及掉球终止，数值阈值有明确出处；但无状态日志、实例数值或成功视频，不能验证零时刻进度、数值绑定、球身份视觉判定及标准模式可解性。", |
| "review": { |
| "status": "agreed", |
| "rounds": 2, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "fix", |
| "conf": 6, |
| "summary_zh": "文本只描述一个步骤：把两球在掌内互绕，使各自跟随目标；评分是两球同一200步窗口内同时达标，两个节点是同一检查点对两个实体，应合并为一个节点。其余（掉球约束、success=null、open_questions）符合P8/无日志规则。", |
| "n_issues": 1, |
| "n_major": 1 |
| }, |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 2, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "单一联合循迹状态步骤与文本一致（两球分别跟随目标，连续200步<0.015 m，z≥1.25 m）；无状态日志，when/success/never为null并已在open_questions_zh说明；掉球约束为立即终止；阈值与评分代码一致；标签位姿·沿轨迹移动与手内调整可接受。未发现需改动处。", |
| "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：['ball1_tracking']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T02:06:00Z", |
| "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/myosuite__baoding/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/myosuite__baoding/02_review_r1" |
| }, |
| { |
| "stage": "reconcile", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/myosuite__baoding/05_reconcile_r1" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 2, |
| "ok": true, |
| "space": "work/tasks/myosuite__baoding/02_review_r2" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "b21ef3653df75d806c5e1f56a24909cbf1fc665d3f13a20fa94ead29e8278a7f", |
| "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" |
| } |
| } |
|
|
