| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robodojo/insert_key", |
| "suite": "robodojo", |
| "base": "robodojo-insert-key-i00", |
| "title_zh": "插入并转动钥匙", |
| "summary_zh": "钥匙刃朝下插入固定孔块，深度、水平居中、直立和相对孔块的转向在同一动作边界全部达标，允许夹爪持有。", |
| "embodiment_zh": "两种模式均为桌面固定式双 ARX X5 六自由度机械臂，左右臂各配平行二指夹爪；无移动底盘，头部相机和左右腕部相机提供观察。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robodojo-insert-key-i00", |
| "bench": "robodojo", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "key_lifted", |
| "zh": "拿起钥匙", |
| "level": "semantic", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "白色小钥匙离开左侧桌面，随夹爪升至空中，其受检位置比初始位置高出严格大于 0.05 米；成功视频中左夹爪先提起钥匙并将圆环露出。仅闭合夹爪而钥匙仍平躺桌上，或只略微抬离桌面未达该高度，均未完成；达到后不要求结束时仍由原夹爪持有。", |
| "step": { |
| "cat": "位姿", |
| "item": "拿起" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "左或右二指夹爪夹住钥匙的柄或圆环；钥匙自身位姿受评，直接标夹爪与钥匙的接触。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10-12", |
| "inputs/task/privileged/instruction.md:66-67", |
| "inputs/task/privileged/instruction.md:24-28", |
| "inputs/task/privileged/environment/instance.json:269-279", |
| "inputs/oracle/replay.mp4 @ 0-6 s" |
| ], |
| "conf": 6, |
| "note_zh": "文字明确要求拿起，且说明给出独立抬升评分阈值，因此按“评分器检查的拿起状态”保留；不是为搬运虚构抓取阶段。它只提供过程分，不是成功判定的额外合取项。左右手均可完成；交接是可能随后发生的操作，不限定用手。" |
| }, |
| { |
| "id": "key_inserted", |
| "zh": "钥匙插入孔", |
| "level": "semantic", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "key_lifted" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部视角中，白色钥匙刃向下进入桌面右侧棕色圆块顶面的细孔，圆环在孔上方，钥匙长轴近竖直；块顶高度减钥匙包围盒最低点严格大于 0.025 米，钥匙圆环内受检中心与块中心的水平距离严格小于 0.007 米，钥匙局部正 z 轴与世界向上方向夹角严格小于 7 度。悬在孔口上、偏在块旁、倒插、倾斜超限或被拔出均未完成或失去；可由夹爪持续握住，最终须与下一步的目标朝向在同一动作边界成立。", |
| "step": { |
| "cat": "关系", |
| "item": "插入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "左或右二指夹爪夹住钥匙的柄或圆环；钥匙自身位姿受评，直接标夹爪与钥匙的接触。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:30-39", |
| "inputs/task/privileged/instruction.md:50-52", |
| "inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:412-447", |
| "inputs/oracle/replay.mp4 @ 12-17.75 s" |
| ], |
| "conf": 7, |
| "note_zh": "深度、居中、环朝上和直立是插入的验收，不拆成节点。环在块上方的插入结果从已核实桌面初态必然需要先抬起钥匙；after 记录该前提，state 仍按当前结果独立计分。允许持物，关闭持物冻结。" |
| }, |
| { |
| "id": "key_turned", |
| "zh": "钥匙转到位", |
| "level": "semantic", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "看白色钥匙平刃及齿侧相对棕色圆块孔缝的朝向：钥匙局部正 x 轴须与圆块局部正 x 轴绕其竖直轴顺时针转 60 度后的方向形成严格小于 30 度的三维夹角；本实例目标约为世界水平朝向负 45 度，即朝画面右侧且朝机器人一侧。仍朝初始方向或三维夹角超限均未完成或失去；夹爪遮挡钥匙时不能只凭夹爪旋转认定，任务成功还须同一动作边界满足插入节点全部条件，无须松手、回臂或额外静置。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "左或右二指夹爪夹住钥匙的柄或圆环；钥匙自身位姿受评，直接标夹爪与钥匙的接触。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:40-48", |
| "inputs/task/privileged/instruction.md:50-52", |
| "inputs/task/privileged/instruction.md:61-65", |
| "inputs/oracle/replay.mp4 @ 16-17.75 s" |
| ], |
| "conf": 6, |
| "note_zh": "名字来自文字中的转动，受评结果为自由刚体钥匙相对固定圆块的朝向；没有受检的锁芯关节，故标调整位姿，不标机构旋转或螺纹拧。此节点只验收目标朝向，插入深度、居中和直立由插入节点覆盖，联合成功要求四项同时成立；评分没有转角历史或先插后转的阶段要求，不添加两目标间的顺序边。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "key_rise_gt_0_05", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:66-67; log dyn.key_rise_m from key reference height minus its reset height; compare > 0.05" |
| }, |
| { |
| "atom": "key_depth_gt_0_025", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:33-34; log dyn.key_depth_m = slot world bbox top minus key world bbox bottom; compare > 0.025" |
| }, |
| { |
| "atom": "key_slot_xy_lt_0_007", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:35-36; log dyn.key_slot_xy_m from key and slot reference positions; compare < 0.007" |
| }, |
| { |
| "atom": "key_up_error_lt_7", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:37-39; log dyn.key_up_error_deg between key local +z and world +z; compare < 7" |
| }, |
| { |
| "atom": "key_turn_error_lt_30", |
| "level": "new_code", |
| "source": "inputs/task/privileged/instruction.md:40-48; log dyn.key_turn_error_deg between key local +x and slot local +x rotated -60 degrees about slot vertical axis; compare < 30" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "key_rise", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "key_depth_in_slot", |
| "unit": "m", |
| "threshold": 0.025, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "key_slot_xy_distance", |
| "unit": "m", |
| "threshold": 0.007, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "key_up_error", |
| "unit": "deg", |
| "threshold": 7, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "key_turn_error", |
| "unit": "deg", |
| "threshold": 30, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "输入的 states/index.json 中 logs 为空，没有任何逐帧状态日志；按 DECISIONS.md P8，所有节点 when 和 success 均为 null。atoms 仅列出将来需要补记的世界状态量，不假设这些字段已存在；状态证据检验为 0/0。", |
| "文本步骤未受评：换手。两模式 instruction.md 均明确说交接不受检查；按 DECISIONS.md D3 / CASES.md OPEN-4 当前规则不建换手节点，虽然成功视频确实进行了左手向右手交接。任务设计问题：主任务文字要求的交接可以被只检查钥匙最终位姿的判定跳过。", |
| "拿起节点的边界：文字要求拿起，并给出抬升严格超过 0.05 米的独立过程评分（15 分，完整成功 100 分，非最终二值成功条件），因此按“评分器检查的拿起状态”保留 event、goal=false；不把单纯抓握或交接再细拆。抬升受检参考点的精确定义缺少完整任务模块源码，需补日志核实。", |
| "转动判定只检查最终相对朝向，不检查实际转过 60 度的历史或先插入再转动。按 S2/S10 将可暂停的插入与目标朝向分作两步，后者仅覆盖朝向，前者覆盖深度、居中、直立；两项均为 state，二者不设顺序边，以免排除先调整朝向再插入的有效策略。", |
| "输入 grader 及 bench_src 仅提供包装器，包装器调用的任务专用 run_reward 和奖励谓词实现未完整提供；oracle/run.json 的对应读取输出也被截断。四个严格阈值、单阶段联合检查、无失败条件及无需释放均依据两模式 instruction.md 的代码释义，尚不能逐行独立核对任务模块。", |
| "模式差异：特权模式由新进程重放提交轨迹判分（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:126-154,171-178），标准模式由服务的实时成功结果判分（inputs/grader/efe_robodojo-files/standard/tests/grade.py:39-42）；世界状态检查相同。文件有效性、服务终结和重放实例匹配属于交付或基础设施，不建世界状态节点。", |
| "相机能看到钥匙进入棕色块和夹爪转动，但最终小钥匙常被夹爪遮挡，单凭头部视频无法可靠量出 7 毫米、7 度或孔内深度；视觉不确定时保留未知，不能用夹爪姿态替代钥匙姿态。", |
| "所有指标阈值均为严格比较。无保持窗口、松手或回臂要求；无任务特有的历史失败或立即终止约束。15000 动作保护上限和墙钟预算只结束轨迹，不建约束。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "语义步骤、固定初态和最终四项验收有任务文字及成功视频支持；无状态日志、完整任务检查源码缺失，拿起过程分的参考点和遮挡下的微小几何量未独立验证。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "节点（拿起、插入、转动）与文字和评分器的四项联合成功条件一致；换手按 D3/OPEN-4 的 Now 不建节点，并已列入 open_questions_zh；无状态日志，按 P8 when/success 为 null，符合规则。未发现需改内容的错误。", |
| "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：['key_lifted', 'key_inserted', 'key_turned']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T01:54:14Z", |
| "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/robodojo__insert_key/01_dag" |
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| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robodojo__insert_key/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "7ece2f36348a6616703b0bbcd09307360259751b4fd0425eee8ee2fd3d972957", |
| "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" |
| } |
| } |
|
|
