| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "behavior-1k/organizing_school_stuff", |
| "suite": "behavior-1k", |
| "base": "behavior-organizing-school-stuff-i00", |
| "title_zh": "整理学习用品", |
| "summary_zh": "文件夹、书、铅笔、钢笔和计算器均在手提包内，手提包在床上，所有目标物体脱离夹爪且静止，六项关系共同保持约一秒。", |
| "embodiment_zh": "两种模式均为R1Pro轮式移动操作机器人，双臂各7自由度、各配二指夹爪，带可调躯干和全向轮式底盘，使用辅助抓取；头部及左右腕部各有相机。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "behavior-organizing-school-stuff-i00", |
| "bench": "behavior-1k", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "folder_in_carryall", |
| "zh": "文件夹入包", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "扁平文件夹离开床面后进入红褐色敞口手提包，腕部近景可见薄片落在两条提手之间；允许上缘露出包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一手臂的二指夹爪夹住文件夹，将其送入手提包；不限定左右手。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘在搬送文件夹到手提包时支承机器人并移动；可先移动手提包改变装包位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/bddl/organizing_school_stuff.bddl:32", |
| "inputs/task/privileged/instruction.md:4-28", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434", |
| "inputs/oracle/replay.mp4:0-107.23s" |
| ], |
| "conf": 6, |
| "freeze_held": false, |
| "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。" |
| }, |
| { |
| "id": "book_in_carryall", |
| "zh": "书本入包", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "床上的书本进入红褐色敞口手提包，近景可见带封面和书页厚度的矩形物件落在包口两提手之间；允许书本部分露出包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一手臂的二指夹爪夹住书本，将其送入手提包；不限定左右手。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘在搬送书本到手提包时支承机器人并移动；可先移动手提包改变装包位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/bddl/organizing_school_stuff.bddl:33", |
| "inputs/task/privileged/instruction.md:4-28", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434", |
| "inputs/oracle/replay.mp4:0-107.23s" |
| ], |
| "conf": 6, |
| "freeze_held": false, |
| "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。" |
| }, |
| { |
| "id": "pencil_in_carryall", |
| "zh": "铅笔入包", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "床上的黄色细长铅笔进入红褐色敞口手提包，腕部近景可跟踪其从夹爪下方落入包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一手臂的二指夹爪夹住铅笔，将其送入手提包；不限定左右手。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘在搬送铅笔到手提包时支承机器人并移动；可先移动手提包改变装包位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/bddl/organizing_school_stuff.bddl:34", |
| "inputs/task/privileged/instruction.md:4-28", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434", |
| "inputs/oracle/replay.mp4:0-107.23s" |
| ], |
| "conf": 6, |
| "freeze_held": false, |
| "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。" |
| }, |
| { |
| "id": "pen_in_carryall", |
| "zh": "钢笔入包", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "地板上的细长钢笔进入红褐色敞口手提包，腕部近景可跟踪其横放进包口；不能仅因钢笔在原处消失就认定入包，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一手臂的二指夹爪夹住钢笔，将其送入手提包；不限定左右手。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘在搬送钢笔到手提包时支承机器人并移动；可先移动手提包改变装包位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/bddl/organizing_school_stuff.bddl:35", |
| "inputs/task/privileged/instruction.md:4-28", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434", |
| "inputs/oracle/replay.mp4:0-107.23s" |
| ], |
| "conf": 6, |
| "freeze_held": false, |
| "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。" |
| }, |
| { |
| "id": "calculator_in_carryall", |
| "zh": "计算器入包", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "带液晶显示屏和按键的计算器进入红褐色敞口手提包，腕部近景可见其竖向插在包口两提手之间；允许上部露出包口，以该物品轴对齐包围盒中心位于手提包包围盒和内部容积内为关系成立标准；中心仍在包外、仅悬于包口上方或后来掉出包外均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一手臂的二指夹爪夹住计算器，将其送入手提包；不限定左右手。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘在搬送计算器到手提包时支承机器人并移动；可先移动手提包改变装包位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/bddl/organizing_school_stuff.bddl:36", |
| "inputs/task/privileged/instruction.md:4-28", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434", |
| "inputs/oracle/replay.mp4:0-107.23s" |
| ], |
| "conf": 6, |
| "freeze_held": false, |
| "note_zh": "五种用品各一件，按不同物品分别建步；允许先把包放到床上再装入，不加装包顺序边。节点表示容纳关系，统一释放、静置及连续窗口属于总成功验收，故不冻结持物期间的关系。包内遮挡时须依据入包过程或服务读数确认，不能从不可见直接判为掉出。" |
| }, |
| { |
| "id": "carryall_on_bed", |
| "zh": "手提包上床", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "头部视角中红褐色敞口手提包由地板移到白色床垫上，包底与床接触且床在包正下方，床不在包上方；只悬在床上空、落在床边地板或后来滑落均不成立。全任务最终还须六项目标关系同时成立，五件用品、手提包和床均未被夹爪附着且线速度不超过0.05米/秒，连续30个控制步（30赫兹，约1秒）；此共同窗口归入总成功验收，不逐节点重复等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一手臂的二指夹爪抓住手提包的提手或包沿，搬到床面；不限定左右手。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘在搬送手提包到床面期间支承机器人并移动。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/bddl/organizing_school_stuff.bddl:23-37", |
| "inputs/task/privileged/instruction.md:4-28", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-104", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434", |
| "inputs/oracle/replay.mp4:90-107.23s" |
| ], |
| "conf": 6, |
| "freeze_held": false, |
| "note_zh": "包上床与五件用品入包没有物理上必要的先后关系。抓取、抬起、转身和松手不单列节点；统一释放、静置窗口属于总成功验收。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "robot_fallen", |
| "zh": "机器人跌倒", |
| "never": null, |
| "criterion_zh": "机器人底座的上轴竖直分量小于0.75（倾斜超过约41.4度），或底座高度低于场景地板超过0.03米，连续300个控制步（10秒）触发跌倒失败；短暂倾倒未满窗口不触发，且同一步成功先于跌倒判定。", |
| "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": "simulator_breakdown", |
| "zh": "仿真状态崩溃", |
| "never": null, |
| "criterion_zh": "机器人位姿、线速度或关节位置出现非有限数，底座任一位置分量绝对值超过10000米或线速度模长超过100米/秒；或者每30控制步检测到目标物体位置非有限或任一位置分量绝对值超过10000米。异常触发后立即失败，录像异常飞散只能提示，确证需要服务状态。", |
| "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": "flags.lit:(inside folder.n.02_1 carryall.n.01_1)", |
| "level": "new_code", |
| "source": "Log per-frame native BDDL literal (inside folder.n.02_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)." |
| }, |
| { |
| "atom": "flags.lit:(inside book.n.02_1 carryall.n.01_1)", |
| "level": "new_code", |
| "source": "Log per-frame native BDDL literal (inside book.n.02_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)." |
| }, |
| { |
| "atom": "flags.lit:(inside pencil.n.01_1 carryall.n.01_1)", |
| "level": "new_code", |
| "source": "Log per-frame native BDDL literal (inside pencil.n.01_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)." |
| }, |
| { |
| "atom": "flags.lit:(inside pen.n.01_1 carryall.n.01_1)", |
| "level": "new_code", |
| "source": "Log per-frame native BDDL literal (inside pen.n.01_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)." |
| }, |
| { |
| "atom": "flags.lit:(inside calculator.n.02_1 carryall.n.01_1)", |
| "level": "new_code", |
| "source": "Log per-frame native BDDL literal (inside calculator.n.02_1 carryall.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)." |
| }, |
| { |
| "atom": "flags.lit:(ontop carryall.n.01_1 bed.n.01_1)", |
| "level": "new_code", |
| "source": "Log per-frame native BDDL literal (ontop carryall.n.01_1 bed.n.01_1); inputs/bddl/organizing_school_stuff.literals.json (no state logs supplied)." |
| }, |
| { |
| "atom": "flags.success_rule", |
| "level": "new_code", |
| "source": "Log Session.succeeded and RestWatch.run; inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1434. Includes all six literals, no assisted grasp of any goal object, speed <= 0.05 m/s for all seven named goal objects, 30 consecutive control steps." |
| }, |
| { |
| "atom": "flags.fallen", |
| "level": "new_code", |
| "source": "Log Session._fall.fallen; inputs/grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489." |
| }, |
| { |
| "atom": "flags.breakdown", |
| "level": "new_code", |
| "source": "Log Session.breakdown is not None; inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471." |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "q_score", |
| "unit": "1", |
| "threshold": 1, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json为空，没有可核实的逐帧字段；依据暂行P8，六个节点的when、两项约束的never及success均为null。atoms中的字段仅说明后续需记录的原生量，未用未验证字段绑定；共同释放、静置和30步窗口由各节点的criterion_zh及总成功说明承载。", |
| "两模式的场景实例和物理成功规则相同；特权模式评分器要求两次新进程回放都成功且末态哈希一致，标准模式评判单次实时场景并在必要时追加静置。交付有效性、回放一致性和基础设施检查不建世界状态步骤（inputs/grader/efe_behavior-files/privileged/grade.py:151-174；inputs/grader/efe_behavior-files/standard/grade.py:25-35；inputs/grader/efe_behavior-files/sim/server.py:344-345）。", |
| "成功录像的腕部视角可见用品送入包口，但包壁、提手和其他用品会遮住内部；无法只靠最终一帧核实每件物品的包围盒中心与内部容积关系或0.05米/秒速度。按评分器保留精确标准，不把物体完全没入包口或特定竖放姿态作为要求（暂行N8）。", |
| "初态BDDL和literals.json的initial=000000确认六项关系均不成立。录像首帧机器人已在卧室、手提包已敞口，无跨房间的必经门或开包步骤；其余卧室相邻滑门不属于任务必经路线。", |
| "共同释放、静置及连续30步是跨六步的总成功验收，节点只表示目标关系并设置freeze_held=false，hold_s=0；不将搬动已装物品的包本身误判为独立释放步骤（S1、S17及暂行D17）。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "六步均直接来自指令，六项目标与评分器逐项对应，初态与无序依赖已核实，并参考完整成功录像；但无状态日志，包内遮挡使容纳、速度和共同保持窗口不能独立数值验证。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "六步（五件用品入包＋手提包上床）与指令和BDDL目标逐项对应，无多余/缺失节点，无习惯边；无状态日志，按暂行P8各节点when与success为null，约束为评分器的跌倒/崩溃失败条件，标签与conf合理。无需改动。", |
| "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：['folder_in_carryall', 'book_in_carryall', 'pencil_in_carryall', 'pen_in_carryall', 'calculator_in_carryall', 'carryall_on_bed']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:15:57Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/behavior-1k__organizing_school_stuff/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/behavior-1k__organizing_school_stuff/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "9073adef197ae61a1bddc663dc77190dc31fdff588ddf25089325e27d968d3ee", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
