| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "dexjoco/fold_glasses", |
| "suite": "dexjoco", |
| "base": "dexjoco-fold-glasses-i00", |
| "title_zh": "折合眼镜并入盒", |
| "summary_zh": "两条镜腿的铰链角均严格大于 1.1 rad，眼镜中心处于敞口盒中心的指定世界轴范围内，以上条件同时连续维持 50 个控制步。", |
| "embodiment_zh": "两种模式均为固定基座的单臂 Franka Panda，右臂末端安装一只16自由度 Allegro 灵巧手；没有移动底盘。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "dexjoco-fold-glasses-i00", |
| "bench": "dexjoco", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "id": "temples_closed_1", |
| "zh": "第1条镜腿折合", |
| "after": [], |
| "criterion_zh": "至少一条黑色镜腿从向后展开的位置绕铰链向镜框内侧收拢，角度严格大于 1.1 rad；右侧腕部近景可见该镜腿横向靠近或跨过镜片背面，另一条仍可展开，若两条都重新展开至不大于阈值则失去。最终两条镜腿折合与眼镜中心入盒须同时连续成立 50 个控制步（50 Hz）。", |
| "step": { |
| "cat": "机构", |
| "item": "关上" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "note_zh": "右侧 Allegro 灵巧手的手指抵住镜腿侧面，绕镜腿铰链向镜框内侧拨合。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右侧 Allegro 灵巧手的拇指与其余手指夹住镜腿，转动镜腿使其向镜框内侧折合。", |
| "plan": 2 |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-5 任务文字、展开初态与两条镜腿", |
| "inputs/task/privileged/instruction.md:35-49 两个铰链角均须严格大于 1.1 rad", |
| "inputs/grader/efe_dexjoco-files/privileged/environment/rcb_dexjoco.py:189-190 对象及铰链映射", |
| "inputs/oracle/replay.mp4 @ 0, 3, 6, 9, 12, 15, 18, 21 s 镜腿折合的可见过程", |
| "inputs/oracle/run.json:1 steps[id=2].out.text 两个初始铰链角均为 0" |
| ], |
| "note_zh": "两条镜腿受同一阈值检查且允许任一先合，采用当前折合数量而不固定左右身份；第2条的边仅表示数量由至少一条到两条，不指定动作顺序。镜腿为刚性铰接部件，折合标为机构·关上；持物时也可达标。连续50步为跨三节点的联合成功验收，不分别延迟镜腿进度。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "id": "temples_closed_2", |
| "zh": "第2条镜腿折合", |
| "after": [ |
| "temples_closed_1" |
| ], |
| "criterion_zh": "两条黑色镜腿都绕各自铰链向镜框内侧收拢，各自角度严格大于 1.1 rad；腕部近景可见两条镜腿靠向镜框背面、可以相互交叉，只收拢一条不算，任一条重新展开至不大于阈值即失去。最终两条镜腿折合与眼镜中心入盒须同时连续成立 50 个控制步（50 Hz）。", |
| "step": { |
| "cat": "机构", |
| "item": "关上" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "note_zh": "右侧 Allegro 灵巧手的手指抵住镜腿侧面，绕镜腿铰链向镜框内侧拨合。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右侧 Allegro 灵巧手的拇指与其余手指夹住镜腿，转动镜腿使其向镜框内侧折合。", |
| "plan": 2 |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-5 任务文字、展开初态与两条镜腿", |
| "inputs/task/privileged/instruction.md:35-49 两个铰链角均须严格大于 1.1 rad", |
| "inputs/grader/efe_dexjoco-files/privileged/environment/rcb_dexjoco.py:189-190 对象及铰链映射", |
| "inputs/oracle/replay.mp4 @ 0, 3, 6, 9, 12, 15, 18, 21 s 镜腿折合的可见过程", |
| "inputs/oracle/run.json:1 steps[id=2].out.text 两个初始铰链角均为 0" |
| ], |
| "note_zh": "两条镜腿受同一阈值检查且允许任一先合，采用当前折合数量而不固定左右身份；第2条的边仅表示数量由至少一条到两条，不指定动作顺序。镜腿为刚性铰接部件，折合标为机构·关上；持物时也可达标。连续50步为跨三节点的联合成功验收，不分别延迟镜腿进度。" |
| }, |
| { |
| "mode": "state", |
| "when": null, |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "id": "glasses_in_case", |
| "zh": "眼镜入盒", |
| "after": [], |
| "criterion_zh": "左上外部视角中，黑色眼镜移到原来位于其右侧的浅棕色敞口木盒内，并降低到盒壁包围的高度；验收只要求眼镜中心相对盒体模型中心的世界坐标差满足 x、y 各在 [-0.145, 0.145] m，z 在 [-0.045, 0.0275] m，手仍接触眼镜也可成立，停在盒外或仅悬在盒口上方不算，中心离开该范围即失去。最终此位置与两条镜腿角度各严格大于 1.1 rad 必须同时连续成立 50 个 50 Hz 控制步；任一条件中断，联合计数清零。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "右侧 Allegro 灵巧手的拇指与食指捏住眼镜框及收拢的镜腿，将眼镜送入敞口木盒。", |
| "plan": 1 |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-5 眼镜入已打开的盒", |
| "inputs/task/privileged/instruction.md:10-33 以传感器眼镜中心减去盒体模型位置，按世界轴检查中心包围范围", |
| "inputs/task/privileged/instruction.md:44-60 角度与位置联合计数，条件中断即清零", |
| "inputs/task/standard/instruction.md:4 相同成功条件", |
| "inputs/oracle/run.json:1 steps[id=2].out.text 眼镜初始位置 [-0.39026,-0.2144,1.02235]，盒中心 [-0.27158,0.28072,1.01235]", |
| "inputs/oracle/run.json:1 steps[id=2].out.text _success_trigger_target=50", |
| "inputs/oracle/replay.mp4 @ 24, 27, 30, 33.8 s 眼镜搬入木盒并降至盒壁内" |
| ], |
| "note_zh": "不要求整副眼镜每个部位都被盒体包住，不添加松手、静止、朝向或关盒条件。盒体已打开；评分器没有折合后才能入盒的原生阶段门控，给定盒口也无证据排除先入盒再折合或同步完成，因此不加镜腿到入盒的顺序边。联合保持窗口属于成功验收；无日志时 success=null，由视频判据描述，hold_s=0 保留单步位置达成的即时进度。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "temple_0_closed", |
| "level": "new_code", |
| "source": "待记录 data.sensor(\"glass_joint_0_pos\").data[0]，或对应 glass_joint_0 的实时关节角；inputs/task/privileged/instruction.md:36-45。条件为角度 > 1.1 rad。" |
| }, |
| { |
| "atom": "temple_1_closed", |
| "level": "new_code", |
| "source": "待记录 data.sensor(\"glass_joint_1_pos\").data[0]，或对应 glass_joint_1 的实时关节角；inputs/task/privileged/instruction.md:37-46。条件为角度 > 1.1 rad。" |
| }, |
| { |
| "atom": "glasses_center_in_case", |
| "level": "new_code", |
| "source": "待记录 sensor(\"glass_pos\") 世界坐标与 model.body_pos[model.body(\"open_box\").id]，按世界轴相减；inputs/task/privileged/instruction.md:10-33。x/y 范围各 ±0.145 m，z 范围 [-0.045,0.0275] m。" |
| }, |
| { |
| "atom": "joint_success_hold", |
| "level": "new_code", |
| "source": "待记录环境 _success_trigger_count 和 _success_trigger_target；inputs/task/privileged/instruction.md:44-60，inputs/oracle/run.json:1 steps[id=2].out.text 给出 target=50。以计数 >=50 验收联合保持，不需要从视频估计单个关节的精确值。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "temple_0_angle", |
| "unit": "rad", |
| "threshold": 1.1, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "temple_1_angle", |
| "unit": "rad", |
| "threshold": 1.1, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "abs_glass_case_dx", |
| "unit": "m", |
| "threshold": 0.145, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "abs_glass_case_dy", |
| "unit": "m", |
| "threshold": 0.145, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "glass_case_dz_lower_bound", |
| "unit": "m", |
| "threshold": -0.045, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "glass_case_dz_upper_bound", |
| "unit": "m", |
| "threshold": 0.0275, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "没有状态日志：inputs/states/index.json 的 logs 为空。依 P8 所有节点 when=null，success=null；精确铰链角、中心边界和联合计数均不能做状态复核，需依据视频和原生成功证据判断，不能把 run.json 的最终评分当成逐帧世界状态绑定。", |
| "所给评分链调用 DexJoCo 环境，但未包含 panda_fold_glasses_env.py 完整源码或冻结 instance.npz；成功几何依据 instruction.md 内嵌的原生检查代码，初态由文字、成功视频首帧及 oracle/run.json 第2步实时读数互证。包装器在原生 terminated 且非成功时结束，但输入未完整展示本任务的专有失败条件；不凭空添加掉落或倾倒约束。", |
| "指令内嵌代码第59行注释写连续10次，而任务文字与 oracle/run.json 第2步打印的 _success_trigger_target=50 一致，实际按50个控制步接受；50 Hz 下首末采样跨度为0.98秒，联合计数窗口放在整体成功验收，不另设等待节点。", |
| "按 N4 将受相同阈值检查的两条镜腿解释为同类计数项，分成第1条、第2条；第2条仅接第1条，不固定 temple_0/temple_1 先后。机构·关上表达铰接镜腿折合；没有柔性材料形变。", |
| "两种模式共用 Session 的原生任务成功检查（包装器 step 第425-445行，标准服务 server.py 第60、78行）；特权模式额外复播并核对终态哈希，标准模式评判实时单次回合。这些交付及复现检查不增加世界状态节点。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三个文字步骤、角度与位置阈值以及联合50步验收均有任务文字和成功视频支持；仅保留计数顺序边。缺少任何状态日志及完整原生环境源码，精确绑定与失败规则无法独立复核。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "文字步骤（折合两条镜腿、眼镜入盒）与三个节点一致；阈值1.1 rad、盒内范围±0.145/-0.045~0.0275、50步保持均与指令内嵌代码相符；无状态日志故 when=null、success=null 合理；无习惯边（入盒不依赖折合）。未发现需修改之处。", |
| "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：['temples_closed_1', 'temples_closed_2', 'glasses_in_case']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:38:10Z", |
| "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/dexjoco__fold_glasses/01_dag" |
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| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/dexjoco__fold_glasses/02_review_r1" |
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| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "1a61fc28ae99a99d92c584b523ef825e11bd9d3556a3c7e6f8dfc3eba54c5ff4", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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|
|
