| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "bigym2/stack_blocks", |
| "suite": "bigym2", |
| "base": "bigym2-stack-blocks-i00", |
| "title_zh": "将积木堆到绿垫上", |
| "summary_zh": "将近桌上的三个积木搬到远桌绿垫，堆成底层触垫、相邻层接触且中心高差至少0.03米和水平距离不超过0.05米的一摞，所有夹爪手指离开积木并共同保持50个控制步，期间无积木触地、机器人跌倒或骨盆越界。", |
| "embodiment_zh": "三个模式均为Unitree G1人形机器人，左右两条手臂各装一个Dex1-1二指夹爪，以双腿行走；全身控制器驱动腿和腰，机器人可移动、下蹲及倾身。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "bigym2-stack-blocks-i00", |
| "bench": "bigym2", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "blocks_stacked_1", |
| "zh": "第1块堆好", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "两个外部视角中，远桌的小绿色方垫上至少有一个红色积木直接接触垫面，成为同一摞的底层；仍在近桌、悬在垫上或放在垫旁都不算，底层离开垫面时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:6", |
| "task/privileged/instruction.md:8", |
| "task/privileged/instruction.md:15", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147", |
| "grader/efe_bigym2-files/sim/server.py:128" |
| ], |
| "conf": 6, |
| "note_zh": "按绿垫上同一连续堆叠链至少1块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。" |
| }, |
| { |
| "id": "blocks_stacked_2", |
| "zh": "第2块堆好", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "blocks_stacked_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "两个外部视角中，绿色方垫上至少有两个红色积木上下相接成同一摞：底层触垫，上层触下层，上层中心至少高0.03米、两中心水平距离不超过0.05米；仅并排放在桌上不算，连续堆叠链不足两块时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。", |
| "step": { |
| "cat": "关系", |
| "item": "堆叠" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:6", |
| "task/privileged/instruction.md:8", |
| "task/privileged/instruction.md:15", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147", |
| "grader/efe_bigym2-files/sim/server.py:128" |
| ], |
| "conf": 6, |
| "note_zh": "按绿垫上同一连续堆叠链至少2块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。" |
| }, |
| { |
| "id": "blocks_stacked_3", |
| "zh": "第3块堆好", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "blocks_stacked_2" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "两个外部视角中，绿色方垫上三个红色积木上下相接成三层：底层触垫，每一上层触紧邻下层，中心高差至少0.03米、水平距离不超过0.05米；第三块仍在手中悬空未接触下层不算，连续堆叠链不足三块时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。", |
| "step": { |
| "cat": "关系", |
| "item": "堆叠" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:6", |
| "task/privileged/instruction.md:8", |
| "task/privileged/instruction.md:15", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147", |
| "grader/efe_bigym2-files/sim/server.py:128" |
| ], |
| "conf": 6, |
| "note_zh": "按绿垫上同一连续堆叠链至少3块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "block_on_floor", |
| "zh": "积木触地", |
| "never": null, |
| "criterion_zh": "任意一个任务积木与地板发生接触即失败；落在桌面不属于触地。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/instruction.md:15", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14" |
| ] |
| }, |
| { |
| "id": "robot_fell", |
| "zh": "机器人跌倒", |
| "never": null, |
| "criterion_zh": "机器人骨盆偏离直立约53度以上，或骨盆高度低于0.30米，被记为跌倒；任何一次跌倒都否决成功，即使之后重新站起，且跌倒本身不立即结束回合。", |
| "consequence": "历史否决", |
| "sources": [ |
| "task/privileged/instruction.md:15", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:16", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156" |
| ] |
| }, |
| { |
| "id": "pelvis_out_of_bounds", |
| "zh": "骨盆越界", |
| "never": null, |
| "criterion_zh": "骨盆到场景原点的距离超过10米，回合按任务越界失败结束；输入未提供上游所用距离范数的完整实现。", |
| "consequence": "立即终止", |
| "sources": [ |
| "task/privileged/instruction.md:17", |
| "task/privileged/instruction.md:18", |
| "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:15" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "stack_prefix_count", |
| "level": "new_code", |
| "source": "拟新增 task.stack_prefix_count：记录从触绿垫的底层起，满足相邻接触、中心高差至少0.03米、水平距离不超过0.05米的最长连续积木链长度；供三个计数节点使用。依据 task/privileged/instruction.md:15。" |
| }, |
| { |
| "atom": "all_blocks_released", |
| "level": "new_code", |
| "source": "拟新增 task.all_blocks_released：对三个积木和左右夹爪记录上游 is_gripper_holding_object 的否定合取，不能以夹爪张开代替。依据 task/privileged/instruction.md:15。" |
| }, |
| { |
| "atom": "stack_success_hold_steps", |
| "level": "new_code", |
| "source": "拟新增 task.stack_success_hold_steps：记录完整三层几何关系与全体离手共同连续成立的上游计数，成功需50步。依据 task/privileged/instruction.md:15。" |
| }, |
| { |
| "atom": "block_floor_contact", |
| "level": "new_code", |
| "source": "拟新增 task.block_floor_contact：任意任务积木与地板的接触。依据 task/privileged/instruction.md:15。" |
| }, |
| { |
| "atom": "episode_fell", |
| "level": "new_code", |
| "source": "拟新增 task.episode_fell：记录上游 env.episode_fell() 的历史跌倒状态。依据 grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156。" |
| }, |
| { |
| "atom": "pelvis_out_of_bounds", |
| "level": "new_code", |
| "source": "拟新增 task.pelvis_out_of_bounds：直接记录上游骨盆距场景原点超过10米的失败判据，避免猜测范数。依据 task/privileged/instruction.md:17。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "adjacent_center_height_difference", |
| "unit": "m", |
| "threshold": 0.03, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "adjacent_center_horizontal_distance", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空；按DECISIONS.md P8，所有节点when、约束never与success均为null，不能用状态日志验证达成或评分一致性。atoms列出的字段是建议新增的日志，不是已有字段。", |
| "上游bigym任务模块和跌倒检查实现未作为完整源码随输入提供；适配器委托bigym.loco.eval.is_success（grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147），oracle/run.json中步骤9的模块输出也已截断。几何阈值、50步共同窗口、手指接触定义及约53度跌倒阈值依据三个模式一致的instruction.md；水平距离的严格或非严格边界、跌倒精确角阈值和10米越界的距离范数待上游完整实现核实，未自行增加数值容差。", |
| "按DECISIONS.md N4将三个可互换积木按绿垫上同一连续堆叠链的数量计数；第一块是底层放置，第二、三块是堆叠，不指定哪块作底或要求逐块搬运。", |
| "共同离手和连续50步窗口属于全局success；每个节点只记录对应层数的几何关系，hold_s为0且freeze_held为false。无状态日志时，联合验收完整写在各节点视频判据和任务摘要中；不把共同离手条件重复作用于每个节点。", |
| "模式差异：物理成功规则共用上游检查器；特权模式评分还要求两次新进程回放成功且最终状态哈希一致（grader/efe_bigym2-files/privileged/tests/grade.py:112），标准和实时模式评分以现场回合结果为准（grader/efe_bigym2-files/sim/server.py:13；grader/efe_standard-files/v2_1/grade.py:99）。回放有效性、文件合法性与基础设施条件不作为世界状态节点；success因无日志而保持null。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三步来自任务文字和可互换物品计数规则，初态与成功视频吻合，三个模式物理目标一致；但没有任何状态日志，且未提供上游完整任务及跌倒检查源码，无法独立核实阈值边界和逐帧联合窗口。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "三个可互换积木按绿垫上连续堆叠链计数（N4），节点、边、约束（积木触地、跌倒历史否决、骨盆越界）与指令和成功条件一致；无状态日志，按P8所有when/never/success为null，符合规则；共同离手与50步窗口留在全局成功并写入open_questions_zh。未发现需修改的内容。", |
| "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：['blocks_stacked_1', 'blocks_stacked_2', 'blocks_stacked_3']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:37:51Z", |
| "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__stack_blocks/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/bigym2__stack_blocks/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "b057e32b52e06ae6e3ed5fad1790605d6ac9629a717ef1f7a5e058c58046ea0f", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
