| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "bigym2/move_two_plates", |
| "suite": "bigym2", |
| "base": "bigym2-move-two-plates-i00", |
| "title_zh": "两盘移入右架", |
| "summary_zh": "两只盘子从左架移到右架槽内，按规定方向竖立并接触右架、不碰桌面且脱离两夹爪，同时达标50个连续控制步，期间盘子不触地且机器人不跌倒。", |
| "embodiment_zh": "三种模式均为Unitree G1双臂人形机器人，左右臂各有二指夹爪，双足和躯干由全身控制器维持平衡，可行走、转身、蹲身和前倾；无轮式底盘。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "bigym2-move-two-plates-i00", |
| "bench": "bigym2", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "plates_in_right_rack_1", |
| "zh": "第1盘入右架", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "原先为空的机器人右侧木色目标架中，至少一只白盘的底边已进入竖条间、盘面竖立且朝向与开局一致；每只合格盘的中心距该架任一槽点不超过0.05 m，盘轴与开局机器人右方向夹角不超过20°，接触目标架而不碰桌面，左右夹爪的手指均不接触该盘。近景中该目标架在画面左侧；盘子仍悬在夹爪中或架上方不算完成，合格盘数变成零即失去本步，最终还须与另一盘共同达标50个连续控制步。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "左手或右手的二指夹爪夹住盘子上沿，搬到右侧目标架后离开盘面。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "双腿与躯干支撑人形机器人，在搬放盘子时保持站立，可按需要移动站位。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "左右二指夹爪分别夹住同一盘子的两处边缘，共同搬放；不要求采用此方案。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 2, |
| "note_zh": "双腿与躯干支撑机器人，在双臂搬放盘子时保持站立。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:6-9", |
| "inputs/task/privileged/instruction.md:15", |
| "inputs/task/standard/instruction.md:19-24", |
| "inputs/task/standard-realtime/instruction.md:21-26", |
| "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157", |
| "inputs/grader/efe_bigym2-files/sim/server.py:125-128", |
| "inputs/task/privileged/environment/instance.json:4-18", |
| "inputs/oracle/replay.mp4 @ 0 s, 18-24 s" |
| ], |
| "conf": 6, |
| "note_zh": "按当前合格盘数至少1只计数，不绑定盘子实例、手或槽位；取出左架、抬高、搬运与对准合为这一步。显式关闭持物冻结，避免另一只盘被持有时冻结整个计数，或遮蔽已放盘的真实丢失。" |
| }, |
| { |
| "id": "plates_in_right_rack_2", |
| "zh": "第2盘入右架", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "plates_in_right_rack_1" |
| ], |
| "hold_s": 0.98, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "原先为空的机器人右侧目标架内同时有两只白盘，盘底边均在木色竖条间、盘面竖立；每盘中心距该架任一六槽点不超过0.05 m，盘轴与开局机器人右方向夹角不超过20°，接触目标架、不碰桌面，左右夹爪的手指均不接触两盘，全部条件共同保持50个连续控制步（标称1 s）。末段近景可见两盘并排留在架上、夹爪撤开；第二盘仍被夹持或只在架上方即未完成，任一盘离架、失准、碰桌或重新被手指接触即不再满足联合条件。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "左手或右手的二指夹爪夹住盘子上沿，搬到右侧目标架后离开盘面。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "双腿与躯干支撑人形机器人，在搬放盘子时保持站立，可按需要移动站位。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "左右二指夹爪分别夹住同一盘子的两处边缘，共同搬放；不要求采用此方案。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 2, |
| "note_zh": "双腿与躯干支撑机器人，在双臂搬放盘子时保持站立。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:6-9", |
| "inputs/task/privileged/instruction.md:15", |
| "inputs/task/standard/instruction.md:19-24", |
| "inputs/task/standard-realtime/instruction.md:21-26", |
| "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157", |
| "inputs/grader/efe_bigym2-files/sim/server.py:125-128", |
| "inputs/task/privileged/environment/instance.json:4-18", |
| "inputs/task/standard-realtime/instruction.md:15-16", |
| "inputs/oracle/replay.mp4 @ 27-36.52 s" |
| ], |
| "conf": 6, |
| "note_zh": "按同时合格盘数至少2只计数，after仅为计数递增，允许两盘同时放好。联合保持窗口在本节点验收，不另建松手或静置节点；50步、每步0.02 s，按DECISIONS.md D31写hold_s=(50-1)*0.02=0.98，未来若记录原生保持计数则应直接检查计数且不重复加时窗。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "plate_touched_floor", |
| "zh": "盘子触地", |
| "never": null, |
| "criterion_zh": "任一盘子接触地板，即使之后拾回仍已触发失败。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:15", |
| "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16" |
| ] |
| }, |
| { |
| "id": "robot_fell", |
| "zh": "机器人跌倒", |
| "never": null, |
| "criterion_zh": "机器人骨盆倾离直立超过约53°或高度低于0.30 m即记跌倒；之后重新站起也不能消除该失败，跌倒本身不立即结束回合。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:15", |
| "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157" |
| ] |
| }, |
| { |
| "id": "pelvis_out_of_bounds", |
| "zh": "骨盆越界", |
| "never": null, |
| "criterion_zh": "骨盆距场景原点超过10 m，原生环境结束回合而不能完成；所用距离的维度在当前输入中未展开。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:17-19", |
| "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "dyn.plate_0_target_valid", |
| "level": "new_code", |
| "source": "需新增逐帧记录：BiGym move_two_plates 第1个盘子的原生目标合取（槽点距离、盘轴方向、目标架接触、无桌面接触、两夹爪均未持有）；验收定义见 inputs/task/privileged/instruction.md:15，当前无任何状态日志。" |
| }, |
| { |
| "atom": "dyn.plate_1_target_valid", |
| "level": "new_code", |
| "source": "需新增逐帧记录：BiGym move_two_plates 第2个盘子的原生目标合取（槽点距离、盘轴方向、目标架接触、无桌面接触、两夹爪均未持有）；验收定义见 inputs/task/privileged/instruction.md:15，当前无任何状态日志。" |
| }, |
| { |
| "atom": "dyn.plate_floor_contact", |
| "level": "new_code", |
| "source": "需逐帧记录两盘任一触地的原生检查；inputs/task/privileged/instruction.md:15。" |
| }, |
| { |
| "atom": "dyn.episode_fell", |
| "level": "new_code", |
| "source": "需逐帧记录 Episode.fell()/env.episode_fell() 的历史标志；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157。" |
| }, |
| { |
| "atom": "dyn.pelvis_origin_distance", |
| "level": "new_code", |
| "source": "需逐帧记录原生越界检查所用骨盆到场景原点的距离；inputs/task/privileged/instruction.md:17-19；距离维度待核实。" |
| }, |
| { |
| "atom": "flags.success", |
| "level": "new_code", |
| "source": "需逐帧记录 Episode.success() 调用的 BiGym bigym.loco.eval.is_success，含联合保持和无跌倒；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-150；不得用交付验证结果替代。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "plate_center_to_nearest_target_slot_distance", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "plate_axis_to_initial_robot_right_angle", |
| "unit": "deg", |
| "threshold": 20, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "both_plates_valid_continuous_duration", |
| "unit": "s", |
| "threshold": 1, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空；按DECISIONS.md P8，两个节点when、success和各约束never均为null，只能凭视频及运行记录判断。atoms列的是需要补记的量，不声称这些字段已经存在。", |
| "按DECISIONS.md D5暂行口径，“取出左架并立入右架”以最终关系为每盘一个搬放步骤；已提供的成功说明和评分包装器没有独立取出阶段，不额外建立出左架节点。两只同类盘与目标槽无固定配对，按DECISIONS.md N4计数。", |
| "完整BiGym上游move_plates、成功保持与跌倒检查实现未随工作目录提供；包装器仅委托bigym.loco.eval.is_success。0.05 m、20°、50步、手指接触定义及跌倒阈值均来自三模式一致的instruction.md成功段；oracle/run.json中上游源码输出的中部已截断，无法逐行复核比较符边界、跌倒精确角阈值及10 m越界距离维度，未用录像估算替代。", |
| "三模式物理任务和冻结初态相同；privileged评分额外要求两次新进程成功回放的最终哈希一致，standard及standard-realtime评分为服务的有效现场成功（inputs/grader/efe_bigym2-files/privileged/tests/grade.py:105-123；inputs/grader/efe_standard-files/v2_1/grade.py:93-110）。这些交付与基础设施条件不作为世界状态节点，当前success=null也不能验证其一致性。", |
| "录像可识别盘子是否在目标架内竖立及夹爪撤离，但不能精确测出5 cm、20°或所有指尖接触；成功oracle提供最终通过的旁证，无状态日志可核实逐帧保持窗口。按DECISIONS.md D31，第二计数节点承担50控制步联合保持，hold_s写0.98 s，而不是给第1盘另加共同等待。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "两个计数搬放步骤来自三个模式一致的任务文本，初态、接触方式和最终几何有成功录像支持，未加入固定手或实例顺序；但没有状态日志，完整上游检查源码也未提供，严格阈值及联合时窗只能依任务明确说明记录，不能执行条件核验。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "两个计数节点（第1/2盘入右架）与说明中的成功条件、D5(a)、N4、D31 的处理一致；无状态日志故when/success为null符合P8，约束为跌倒、盘子触地、骨盆越界，处理方式合理，开放问题已列入open_questions_zh。未发现需要修改内容的错误。", |
| "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：['plates_in_right_rack_1', 'plates_in_right_rack_2']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:24:19Z", |
| "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/bigym2__move_two_plates/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/bigym2__move_two_plates/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "a19bf4bfc3ce6cbbbe45adaa3d0bf03814333a471c391806bf265055f4f051d2", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
