| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "behavior-1k/outfit_a_basic_toolbox", |
| "suite": "behavior-1k", |
| "base": "behavior-outfit-a-basic-toolbox-i00", |
| "title_zh": "装好基本工具箱", |
| "summary_zh": "五件工具均在工具箱内，工具箱留在桌上且已关闭，所有目标对象松手静置并共同保持连续30个控制步。", |
| "embodiment_zh": "两模式均为R1Pro轮式双臂移动操作机器人，带可动躯干、左右各七自由度机械臂及各一副二指夹爪，使用辅助抓取；配有头部和左右腕部相机。privileged模式可读取场景并重置，standard模式由服务提供相机和本体感知、单局不可重置；物理机构和目标验收相同。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "behavior-outfit-a-basic-toolbox-i00", |
| "bench": "behavior-1k", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "toolbox_opened", |
| "zh": "打开工具箱", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": false, |
| "freeze_held": false, |
| "criterion_zh": "头部或腕部相机可见工具箱盖相对箱体掀开、露出可装入工具的箱口，至少一个可开合关节越过从全闭至全开行程的5%；盖仍贴合箱体且未越过该开阈值不算完成。此步骤达到后保留记录，后来关盖不撤销。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪夹住工具箱盖边缘并掀开", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "note_zh": "任一臂的手指或张开的夹爪从工具箱盖边缘下方拨开箱盖", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:33-36", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:22", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:30-38" |
| ], |
| "conf": 7, |
| "note_zh": "初始字串0000011确认工具箱关闭且五件工具在箱外。装入工具必须先开箱；该event抵消关闭state被打开时的进度减少（S4(b)）。不指定某只手或工具的装箱顺序。" |
| }, |
| { |
| "id": "drill_in_toolbox", |
| "zh": "电钻入工具箱", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "toolbox_opened" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": true, |
| "criterion_zh": "头部或腕部视角可见带握柄和钻头的电钻由箱外进入工具箱内腔，已松手并停稳（线速度不超过0.05米/秒）；严格inside判据为该工具轴对齐包围盒中心同时落在工具箱包围盒和内部容纳体积中，仍在桌面、只搭在箱沿或落出箱外即未达成或失去。最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓握电钻，送入工具箱后张开释放", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘支承双臂，并在搬移电钻至工具箱需要调整工作位置时移动；无轨迹无法核实能否全程定点完成", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-17", |
| "inputs/task/privileged/instruction.md:34", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:30", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:3", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "五件工具种类不同且各只有一件，分别建节点；拿起、搬运、重新抓取和放手均不另建步骤。个体松手停稳属于放入验收，共同连续30步窗口由success承担；默认持物冻结适用于这类放入步骤。" |
| }, |
| { |
| "id": "pliers_in_toolbox", |
| "zh": "钳子入工具箱", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "toolbox_opened" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": true, |
| "criterion_zh": "头部或腕部视角可见带两根柄和钳口的钳子由箱外进入工具箱内腔，已松手并停稳（线速度不超过0.05米/秒）；严格inside判据为该工具轴对齐包围盒中心同时落在工具箱包围盒和内部容纳体积中，仍在桌面、只搭在箱沿或落出箱外即未达成或失去。最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓握钳子，送入工具箱后张开释放", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘支承双臂，并在搬移钳子至工具箱需要调整工作位置时移动；无轨迹无法核实能否全程定点完成", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-17", |
| "inputs/task/privileged/instruction.md:34", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:31", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:4", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "五件工具种类不同且各只有一件，分别建节点；拿起、搬运、重新抓取和放手均不另建步骤。个体松手停稳属于放入验收，共同连续30步窗口由success承担；默认持物冻结适用于这类放入步骤。" |
| }, |
| { |
| "id": "flashlight_in_toolbox", |
| "zh": "手电筒入工具箱", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "toolbox_opened" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": true, |
| "criterion_zh": "头部或腕部视角可见筒状手电筒由箱外进入工具箱内腔，已松手并停稳（线速度不超过0.05米/秒）；严格inside判据为该工具轴对齐包围盒中心同时落在工具箱包围盒和内部容纳体积中，仍在桌面、只搭在箱沿或落出箱外即未达成或失去。最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓握手电筒，送入工具箱后张开释放", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘支承双臂，并在搬移手电筒至工具箱需要调整工作位置时移动；无轨迹无法核实能否全程定点完成", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-17", |
| "inputs/task/privileged/instruction.md:34", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:32", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:5", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "五件工具种类不同且各只有一件，分别建节点；拿起、搬运、重新抓取和放手均不另建步骤。个体松手停稳属于放入验收，共同连续30步窗口由success承担；默认持物冻结适用于这类放入步骤。" |
| }, |
| { |
| "id": "allen_wrench_in_toolbox", |
| "zh": "内六角入工具箱", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "toolbox_opened" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": true, |
| "criterion_zh": "头部或腕部视角可见折弯的内六角扳手由箱外进入工具箱内腔，已松手并停稳（线速度不超过0.05米/秒）；严格inside判据为该工具轴对齐包围盒中心同时落在工具箱包围盒和内部容纳体积中，仍在桌面、只搭在箱沿或落出箱外即未达成或失去。最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓握内六角扳手，送入工具箱后张开释放", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘支承双臂，并在搬移内六角至工具箱需要调整工作位置时移动；无轨迹无法核实能否全程定点完成", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-17", |
| "inputs/task/privileged/instruction.md:34", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:33", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:6", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "五件工具种类不同且各只有一件，分别建节点；拿起、搬运、重新抓取和放手均不另建步骤。个体松手停稳属于放入验收，共同连续30步窗口由success承担；默认持物冻结适用于这类放入步骤。" |
| }, |
| { |
| "id": "screwdriver_in_toolbox", |
| "zh": "螺丝刀入工具箱", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "toolbox_opened" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": true, |
| "criterion_zh": "头部或腕部视角可见带手柄和细长杆的螺丝刀由箱外进入工具箱内腔，已松手并停稳（线速度不超过0.05米/秒）；严格inside判据为该工具轴对齐包围盒中心同时落在工具箱包围盒和内部容纳体积中，仍在桌面、只搭在箱沿或落出箱外即未达成或失去。最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓握螺丝刀，送入工具箱后张开释放", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘支承双臂，并在搬移螺丝刀至工具箱需要调整工作位置时移动；无轨迹无法核实能否全程定点完成", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-17", |
| "inputs/task/privileged/instruction.md:34", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:34", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:7", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "五件工具种类不同且各只有一件，分别建节点；拿起、搬运、重新抓取和放手均不另建步骤。个体松手停稳属于放入验收，共同连续30步窗口由success承担；默认持物冻结适用于这类放入步骤。" |
| }, |
| { |
| "id": "toolbox_on_table", |
| "zh": "工具箱留桌上", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "工具箱在杂物间桌面上与桌面接触，桌面直接位于箱体下方，ontop关系成立；初始即成立，箱体被抬离或扫落桌面时失去，放回桌面后恢复。最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓握工具箱，在需要恢复桌面关系时将箱体放回桌上；初始原位保持无需主动触碰", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "轮式底盘支承搬回工具箱的机械臂，需要调位时移动；是否可全程定点操作未能核实", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4-13", |
| "inputs/task/privileged/instruction.md:35", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:19", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:35", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:22", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "S4(a)：文本明确要求工具箱留在桌上，且评分器只要求最终ontop，没有途中离桌即判负的规则，因此是从初始计入的关系state而非约束。freeze_held=false避免抓住箱盖操作时遮蔽箱体离桌造成的真实丢失。" |
| }, |
| { |
| "id": "toolbox_closed", |
| "zh": "关上工具箱", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "drill_in_toolbox", |
| "pliers_in_toolbox", |
| "flashlight_in_toolbox", |
| "allen_wrench_in_toolbox", |
| "screwdriver_in_toolbox" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "头部或腕部相机可见箱盖落回箱口并与箱体闭合，所有可开合关节均在全闭端起算的5%行程以内；任一关节超过5%即失去。初始已经关闭并计入，装箱时开盖使其失去，装好五件工具后恢复；最终联合验收还要求七个目标关系同时成立，五件工具、工具箱和桌面均未被辅助抓取且线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该共同窗口属于success，不分别计时。", |
| "step": { |
| "cat": "机构", |
| "item": "关上" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "note_zh": "任一臂的手指或张开夹爪推工具箱盖使其合回箱口", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一臂的二指夹爪抓住工具箱盖边缘并带回闭合位置，随后松开", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:13", |
| "inputs/task/privileged/instruction.md:36", |
| "inputs/bddl/outfit_a_basic_toolbox.bddl:36-38", |
| "inputs/bddl/outfit_a_basic_toolbox.literals.json:22", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 6, |
| "note_zh": "恢复型state（S4(b)），不是final；after仅记录最终关闭在五件工具入箱之后，不门控初始关闭状态。不冻结握住箱盖时的开合变化。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "robot_fallen", |
| "zh": "机器人摔倒", |
| "never": null, |
| "criterion_zh": "机器人基座上轴的世界z分量低于0.75（约倾斜超过41.4度），或基座低于场景地板超过0.03米，这一析取条件连续成立300个30赫兹控制步（标称10秒）时判倒地并立即结束失败；短暂倾倒后在窗口内恢复不触发。成功窗口与摔倒窗口在同一步完成时，程序优先判成功。", |
| "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:1393-1399", |
| "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489" |
| ] |
| }, |
| { |
| "id": "simulator_breakdown", |
| "zh": "仿真崩溃", |
| "never": null, |
| "criterion_zh": "每控制步检测机器人位置、四元数、线速度及关节位置的非有限数；任一基座位置分量绝对值超过10000米或基座线速度模长超过100米/秒也立即失败。每30控制步检测各目标物体位置，非有限或任一分量绝对值超过10000米同样触发；画面异常只能提示，精确判据须由仿真状态或服务记录确认。", |
| "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": "inside_drill_toolbox", |
| "level": "new_code", |
| "source": "需记录原生谓词 flags.lit:(inside drill.n.01_1 toolbox.n.01_1)；来源 inputs/bddl/outfit_a_basic_toolbox.literals.json:3；当前无状态日志" |
| }, |
| { |
| "atom": "inside_pliers_toolbox", |
| "level": "new_code", |
| "source": "需记录原生谓词 flags.lit:(inside pliers.n.01_1 toolbox.n.01_1)；来源 inputs/bddl/outfit_a_basic_toolbox.literals.json:4；当前无状态日志" |
| }, |
| { |
| "atom": "inside_flashlight_toolbox", |
| "level": "new_code", |
| "source": "需记录原生谓词 flags.lit:(inside flashlight.n.01_1 toolbox.n.01_1)；来源 inputs/bddl/outfit_a_basic_toolbox.literals.json:5；当前无状态日志" |
| }, |
| { |
| "atom": "inside_allen_wrench_toolbox", |
| "level": "new_code", |
| "source": "需记录原生谓词 flags.lit:(inside allen_wrench.n.01_1 toolbox.n.01_1)；来源 inputs/bddl/outfit_a_basic_toolbox.literals.json:6；当前无状态日志" |
| }, |
| { |
| "atom": "inside_screwdriver_toolbox", |
| "level": "new_code", |
| "source": "需记录原生谓词 flags.lit:(inside screwdriver.n.01_1 toolbox.n.01_1)；来源 inputs/bddl/outfit_a_basic_toolbox.literals.json:7；当前无状态日志" |
| }, |
| { |
| "atom": "toolbox_on_table", |
| "level": "new_code", |
| "source": "需记录 flags.lit:(ontop toolbox.n.01_1 tabletop.n.01_1)；inputs/bddl/outfit_a_basic_toolbox.literals.json:8" |
| }, |
| { |
| "atom": "toolbox_open", |
| "level": "new_code", |
| "source": "需记录工具箱原生Open状态，例如 proc.toolbox.n.01_1.open，以及 flags.lit:(not (open toolbox.n.01_1))；inputs/task/privileged/instruction.md:36" |
| }, |
| { |
| "atom": "goal_release_rest", |
| "level": "new_code", |
| "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434；需记录每个goal_objects成员的辅助抓取状态和原生线速度、RestWatch.run及 flags.success_rule；目标成员包括五件工具、工具箱、桌面" |
| }, |
| { |
| "atom": "robot_fallen", |
| "level": "new_code", |
| "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144；需记录FallWatch.fallen及连续计数，不用通用45度fallen近似" |
| }, |
| { |
| "atom": "simulator_breakdown", |
| "level": "new_code", |
| "source": "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471；需记录原生breakdown状态及触发原因" |
| } |
| ] |
| }, |
| "native_metrics": [], |
| "open_questions_zh": [ |
| "没有成功oracle：inputs/oracle_none.txt说明14次目录运行均失败；无可用solution或成功视频，只能依据文本、初始记录和评分源码规划，不能核实相机中的颜色、遮挡及实际接触路线（暂行：DECISIONS.md N2、N8）。", |
| "inputs/states/index.json的logs为空，所有when、never和success均为null；atoms列出需要补记的字段，不能把未实际出现的谓词字段当作已绑定（暂行：DECISIONS.md P8）。", |
| "联合成功验收：七个BDDL目标同时成立，所有目标对象（含桌面）未被辅助抓取且原生线速度不超过0.05米/秒，连续30步；共同窗口放入success的语义，由所有goal节点criterion重复提示而不额外建节点。success因无日志为null；不将29/30秒或1秒分配给每个节点。", |
| "两模式物理成功规则相同，但privileged评分还要求两次新进程重放均成功、终态哈希一致且实例匹配（inputs/grader/efe_behavior-files/privileged/grade.py:154-174）；standard按服务现场单局及收尾静置评分，并要求finalized且无error/gave_up/infra（inputs/grader/efe_behavior-files/standard/grade.py:29-35）。这些交付、复现和基础设施条件不是世界状态，不作为节点；未来只有现场状态的日志不能单独表达完整跨进程评分。", |
| "初始字串0000011（inputs/bddl/outfit_a_basic_toolbox.literals.json:22）确认工具箱在桌上且关闭，初始进度应为2/8；机器人与目标桌在同一杂物间（inputs/bddl/outfit_a_basic_toolbox.bddl:23-25），未添加仅出门路线才需开启的走廊滑门。", |
| "是否必须在同一桌面的搬放过程中移动底盘缺少轨迹证据，按DECISIONS.md S17在搬放方案中保留底盘支撑接触；不据此新增导航节点或装箱顺序。", |
| "q_score由外部Evaluator.metrics提供并仅作为进度报告（inputs/grader/efe_behavior-files/rcb_behavior.py:1538-1555），本地源码没有其计算式或通过阈值；因此不臆设连续指标阈值，native_metrics留空。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "文本七个步骤与七条BDDL目标对应清晰，开箱必要性、两个初始目标和验收阈值有本地证据；但没有成功视频、状态日志或可读的完整物理场景，无法做条件绑定和轨迹复核，接触与相机判据按机构语义拟定。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "节点集合（开箱前置、五件工具各一步、工具箱留桌、关箱）与文本及BDDL目标一致；success为null因无日志，约束为评分器的摔倒/崩溃，freeze_held设置正确，无习惯边。无成功oracle，相机判据无法核实，已在open_questions_zh说明。", |
| "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：['toolbox_opened', 'drill_in_toolbox', 'pliers_in_toolbox', 'flashlight_in_toolbox', 'allen_wrench_in_toolbox', 'screwdriver_in_toolbox', 'toolbox_on_table', 'toolbox_closed']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T10:17:59Z", |
| "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__outfit_a_basic_toolbox/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/behavior-1k__outfit_a_basic_toolbox/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "c1a1f7983c89543bbc419b9664083b7dd9275f1d0726119039c0f8ce2ec5de4d", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
