| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexhand/boot_sole_brush", |
| "suite": "dexhand", |
| "base": "dexhand-boot-sole-brush-i00", |
| "title_zh": "刷净靴底泥块", |
| "summary_zh": "六块泥均离开朝上的靴底并留在收集盘内，刷子撤离后全体静止达到规定窗口，满足评分器刷毛接触历史且全程无禁碰、掉落或靴子移位。", |
| "embodiment_zh": "两种模式均为固定底座的天机 Marvin 双臂机器人，实际只由右侧7关节臂及右灵巧手操作；默认 Sharpa Wave（22指关节执行器），也支持 Wuji Hand 2.2（20指关节执行器），左臂及左灵巧手停放不用，底座不移动。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexhand-boot-sole-brush-i00", |
| "bench": "dexhand", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "brush_in_hand", |
| "zh": "拿起鞋刷", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": false, |
| "freeze_held": false, |
| "criterion_zh": "总览画面中，右侧灵巧手握住黄褐色木背鞋刷并使刷子离开台面，刷子由右手带动而非仍放在台上；仅手碰刷子但未拿离台面不算完成。", |
| "step": { |
| "cat": "位姿", |
| "item": "拿起" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右手拇指与其他手指夹握鞋刷木背，拿离台面；不限定具体手指组合或握持位置。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:181-209", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:96-110", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:255-258", |
| "inputs/oracle/replay.mp4 @ 0.0, 8.0 s" |
| ], |
| "conf": 7, |
| "note_zh": "按 Y17/D2 保留必需工具步骤：文本明确拿起鞋刷；评分器首阶段要求手接触刷子且刷子离开台面，刷毛接触高处鞋底，后续还要求逐块刷毛接触。该拿起状态不要求刷毛已触鞋底，累计10控制步的刷鞋底接触留在总体成功验收。" |
| }, |
| { |
| "id": "clods_in_tray_1", |
| "zh": "第1块泥入盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "brush_in_hand" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少1块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于1块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。", |
| "step": { |
| "cat": "材料", |
| "item": "清洁" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276", |
| "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。" |
| }, |
| { |
| "id": "clods_in_tray_2", |
| "zh": "第2块泥入盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "clods_in_tray_1" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少2块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于2块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。", |
| "step": { |
| "cat": "材料", |
| "item": "清洁" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276", |
| "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。" |
| }, |
| { |
| "id": "clods_in_tray_3", |
| "zh": "第3块泥入盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "clods_in_tray_2" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少3块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于3块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。", |
| "step": { |
| "cat": "材料", |
| "item": "清洁" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276", |
| "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。" |
| }, |
| { |
| "id": "clods_in_tray_4", |
| "zh": "第4块泥入盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "clods_in_tray_3" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少4块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于4块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。", |
| "step": { |
| "cat": "材料", |
| "item": "清洁" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276", |
| "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。" |
| }, |
| { |
| "id": "clods_in_tray_5", |
| "zh": "第5块泥入盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "clods_in_tray_4" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少5块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于5块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。", |
| "step": { |
| "cat": "材料", |
| "item": "清洁" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276", |
| "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。" |
| }, |
| { |
| "id": "clods_in_tray_6", |
| "zh": "第6块泥入盘", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "clods_in_tray_5" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "总览可见朝上绿色靴底的棕色泥块减少，至少6块泥已经离开鞋底落入下方绿色收集盘，中心在 x∈[0.366,0.694] m、y∈[-0.184,0.384] m、0.886<z<0.931 m，且从未被右手直接碰触；参考视频顶部“in tray”计数可辅助确认，仍在鞋底或仅在半空不算，盘中符合条件少于6块即失去此状态。最终共同验收还要求：刷毛接触靴子且右手接触离开台面的刷子累计至少10个控制步，六块泥各自在鞋底高度带内被刷毛触过并均入盘后，六块泥线速度均不超过0.05 m/s、刷子不碰靴或泥且刷毛中心比鞋底高至少0.04 m或水平离鞋底中心至少0.18 m，连续50个控制步成立（50 Hz，标称1秒；靴子和其余禁碰、禁掉落条件全程合规）。", |
| "step": { |
| "cat": "材料", |
| "item": "清洁" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "note_zh": "右手持鞋刷，用刷毛沿靴底扫推泥块，使其离开鞋底落入收集盘；同一工具链只标刷毛对泥块的作用，泥块间传递推力也可产生节点结果。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:78-85", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:239-267", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:34-45", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:255-276", |
| "inputs/oracle/replay.mp4 @ 14.0, 18.0, 24.0, 26.0, 29.2 s" |
| ], |
| "conf": 6, |
| "note_zh": "六块同类泥按已清除入盘的数量计，不固定身份，也不指定先刷鞋尖或鞋跟；计数边只表达数量递增，state 不受 after 门控。清除鞋底泥污归材料·清洁，入盘是此清洁步骤的结果验收；接触取推/扫（D16(a)），没有把接近、刷松、下落、换握或撤刷另拆节点。共同终态与逐块刷毛历史限制只属总体成功，当前 success 因无日志为 null；节点结果不要求该泥块被刷毛直接触过（D9）。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "boot_displaced", |
| "zh": "靴子移位倾斜", |
| "never": null, |
| "criterion_zh": "任一2 ms物理子步，靴子原点相对静置后初态位移>0.03 m，或自身轴相对初始轴倾角>0.35 rad，立即永久判负；画面中靴子明显偏离支架或倾倒是可见线索，精确边界需物理状态。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:123-128", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:152-154", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:256-257", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:96-108" |
| ] |
| }, |
| { |
| "id": "debris_outside_tray", |
| "zh": "泥块落出台面", |
| "never": null, |
| "criterion_zh": "任一泥块接触台面或地面、中心低于z=0.886 m，或中心离开工作空间 x∈[0.25,1.2] m、y∈[-0.45,0.45] m、z∈[0.886,1.8] m，任一2 ms子步立即永久判负；仅尚未入盘且仍在工作空间中飞行不自动判负。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:155-159", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:171-177", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:13", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:264-275" |
| ] |
| }, |
| { |
| "id": "hand_touched_debris", |
| "zh": "右手碰泥", |
| "never": null, |
| "criterion_zh": "右手任一有效碰撞几何与任一泥块直接接触，在首个2 ms子步永久判负；不得用手指直接拨、夹、接住泥块。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:55-66", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:178-183" |
| ] |
| }, |
| { |
| "id": "brush_dropped", |
| "zh": "刷子掉落禁碰", |
| "never": null, |
| "criterion_zh": "刷子接触地面、收集盘或支架，中心低于z=0.886 m或离开工作空间 x∈[0.25,1.2] m、y∈[-0.45,0.45] m、z∈[0.886,1.8] m，或刷子除泥块外无任何外部接触且质心竖直速度<-0.2 m/s，任一2 ms子步立即永久判负；在空中滑脱后接回不能撤销失败，刷子放回台面或暂靠鞋底本身并非此项违规。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:160-162", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:184-199", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:264-276" |
| ] |
| }, |
| { |
| "id": "robot_collision", |
| "zh": "非右手部件碰撞", |
| "never": null, |
| "criterion_zh": "除工作右手外，底座、躯干、两臂连杆或法兰、停放左手的任一有效碰撞接触均在首个2 ms子步永久判负，包括自碰撞；右手与鞋刷的正常接触允许。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:55-59", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:130-137", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:164-170" |
| ] |
| }, |
| { |
| "id": "unstable_physics", |
| "zh": "物理状态不稳定", |
| "never": null, |
| "criterion_zh": "MuJoCo出现BADQPOS、BADQVEL或BADQACC警告，首个检查到的2 ms子步永久判负；仅从画面无法可靠判定此项，需原生警告记录。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:32", |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:149-151" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "brush_in_hand", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/e6e22842e5/runtime.py:156-174; log features.hand_on_brush, features.brush_on_counter and brush/hand poses" |
| }, |
| { |
| "atom": "clods_in_tray_count", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:139-142,243-247; log features.in_tray, features.clods_in_tray and latched hand_touched_debris" |
| }, |
| { |
| "atom": "task_success", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:249-267; log checker.success, stage, brush_contact_controls, brushed, hold and failure" |
| }, |
| { |
| "atom": "boot_displaced", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep" |
| }, |
| { |
| "atom": "debris_outside_tray", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep" |
| }, |
| { |
| "atom": "hand_touched_debris", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep" |
| }, |
| { |
| "atom": "brush_dropped", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep" |
| }, |
| { |
| "atom": "robot_collision", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep" |
| }, |
| { |
| "atom": "unstable_physics", |
| "level": "new_code", |
| "source": "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:145-220; log latched checker.failure and failure_detail, including physics substep" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "clods_in_tray", |
| "unit": "count", |
| "threshold": 6, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:245-260" |
| ] |
| }, |
| { |
| "name": "clods_brushed", |
| "unit": "count", |
| "threshold": 6, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:202-211,245-260" |
| ] |
| }, |
| { |
| "name": "brush_contact_controls", |
| "unit": "control", |
| "threshold": 10, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:255-258" |
| ] |
| }, |
| { |
| "name": "hold", |
| "unit": "control", |
| "threshold": 50, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/27a4a8477d/checker.py:262-267" |
| ] |
| }, |
| { |
| "name": "max_clod_speed", |
| "unit": "m/s", |
| "threshold": 0.05, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:262" |
| ] |
| }, |
| { |
| "name": "boot_shift_m", |
| "unit": "m", |
| "threshold": 0.03, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:256" |
| ] |
| }, |
| { |
| "name": "boot_tilt_rad", |
| "unit": "rad", |
| "threshold": 0.35, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/grader/efe_dexhand-files/privileged/environment/variants/b4ababbd9e/task.json:257" |
| ] |
| } |
| ], |
| "open_questions_zh": [ |
| "状态日志为空（inputs/states/index.json）；按 P8 所有节点 when、全部约束 never 与 success 均为 null，不能把源码中的 features 当作已记录字段。spec.atoms 的 new_code 是未来应记录的量；现有成功视频及其顶部计数可判断结果，但没有逐帧日志来核实毫米级边界、子步接触和精确累计窗口。", |
| "工具拿起的 D2/Y17 应用：保留非可选“拿起鞋刷”。instruction.md:3明确要求右手拿刷；checker.py:255-258要求刷毛接触高处鞋底、手接触刷子且刷子不接触台面，checker.py:202-211、259-267要求每块泥在鞋底上被刷毛碰过。刷子初始在台面且未安装在机器人上，因此每条合法成功路线都需要拿起这把刷子；不要求采用成功视频的夹持位置或后续换握。", |
| "任务设计问题：D9规定清洁节点按泥块离开鞋底并入盘的结果计，允许刷动一块泥间接挤落另一块；但checker.py:202-211、259-263会拒绝未获逐块刷毛直接接触历史的结果。当前instruction.md:3也明写该限制，因此并非当前文本漏写；按D9仍将它仅保留在总体成功验收说明，绝不作为六个清洁节点的额外判据，success待有日志时绑定原生成功状态。", |
| "D16(a)接触边界仍开放：本任务泥块为无粘连刚体，刷毛沿鞋底推扫使其落盘，故暂取手持工具×推/扫；材料·清洁表示去除鞋底泥污，盘内收集是接受条件。未据分类表中的旧例机械采用压/擦，也未把工具握持重复标在清洁节点。", |
| "总体成功的精确验收（当前success=null）：刷毛触靴、右手触刷且刷子离台面累计至少10控制步；每块泥中心不低于当时鞋底平面0.01 m时曾被刷毛代理触碰且六块都在盘内，进入阶段2；之后六块持续在盘内、最大线速度≤0.05 m/s，刷子不碰靴或泥且刷毛中心高于当时鞋底平面至少0.04 m或水平距鞋底中心至少0.18 m，连续50控制步（hold原生计数达到50），无任何历史失败。刷子撤离与联合静置归success，不各建节点或推迟每一块泥已入盘的进度；累计刷靴10步也不是拿起工具的完成条件。", |
| "评分器要求，文本未提：in_tray还严格要求泥块中心z>0.886 m（checker.py:139-142）；文本给出z<0.931 m并仅对z<0.886 m即时判负。节点标准采用源码上下界；在盘底的正常落稳状态高于此下界。", |
| "privileged与standard的checker.py、task.json、runtime.py逐字相同，物理成功条件共用；privileged外层另要求两次新进程回放成功且终态哈希相同，standard按最后一次现场episode判定（各自tests/grade.py）。交付格式、复现有效性、时间上限不是世界状态节点或约束。", |
| "唯一成功参考为inputs/oracle/oracle.json指定的Sharpa privileged运行；视频已查看初态、拿刷、扫落计数和终态（顶部stage 3/3、in tray 6/6、hold 50/50），不据它先鞋尖后鞋跟、重复刷扫及换握的策略增加步骤或顺序。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "七个步骤来自文本中的必需鞋刷及六个计数对象，初态和所有阈值可由源码核实，成功视频显示全部完成；无状态日志，精确接触历史与子步失败不能自动核验，工具步骤应用及推扫接触边界仍按临时规则处理。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "七个节点（拿起鞋刷+六个入盘计数节点）与文本一致；无状态日志故所有 when/never/success 为 null 符合 P8；约束与评分器失败条件一致且均为立即终止；刷毛累计10步、刷子撤离与50步静置并入总体说明，未另建节点；标签（材料·清洁、手持工具×推/扫）按临时规则可接受，D9/D16 开放点已写入 open_questions_zh。未发现需要修改的内容。", |
| "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：['brush_in_hand', 'clods_in_tray_1', 'clods_in_tray_2', 'clods_in_tray_3', 'clods_in_tray_4', 'clods_in_tray_5', 'clods_in_tray_6']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:27:31Z", |
| "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/dexhand__boot_sole_brush/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/dexhand__boot_sole_brush/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "35f04b53e023b4a4828bfa8cd2728a7a70f73712a77d21e54e75e9fa2995c4ae", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
