| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "humanoidbench/manip_cube", |
| "suite": "humanoidbench", |
| "base": "humanoidbench-manip-cube-i00", |
| "title_zh": "双手方块调姿", |
| "summary_zh": "保持两个方块不掉落并将其转向目标朝向，使整段朝向、手块距离及站立控制奖励之和达到370。", |
| "embodiment_zh": "三个模式均为Unitree H1双足人形机器人，左、右臂各装一只Shadow灵巧手，合计61个位置伺服执行器；双足与腿躯干支撑，无轮式底盘。特权模式可读完整物理状态，标准及实时模式通过头部双相机、房间相机和本体感觉控制，同一固定初态。", |
| "task_class": "atomic", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "humanoidbench-manip-cube-i00", |
| "bench": "humanoidbench", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "cubes_reoriented", |
| "zh": "转好两个方块", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "两只手附近的彩色方块被转向悬浮半透明目标方块所示的朝向；画面中可比较各色面的方向，初始平掌上方的方块尚未转向目标即未完成。验收以整段每步奖励之和达到370为准：朝向奖励占0.5、手块接近奖励占0.3、站立与低用力及低水平速度的乘积占0.2；瞬间看似对齐不代表已达标，视频也不能识别四元数符号或精确累计得分，须以原生累计奖励或该集成功记录确认。", |
| "step": { |
| "cat": "位姿", |
| "item": "调整位姿" |
| }, |
| "contact": [ |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "左手灵巧手握左侧方块，右手灵巧手握右侧方块，各自随手腕和手臂转向目标；两手不必同时开始。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "人形机器人的双脚支撑地面，腿与躯干在双手转动方块期间承重。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "手内调整", |
| "plan": 2, |
| "note_zh": "左、右灵巧手的手指分别在手内重定向各自方块，不要求两手遵循固定先后。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 2, |
| "note_zh": "人形机器人的双脚支撑地面，腿与躯干在双手手内调整方块期间承重。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-5 两个方块转到目标朝向且不得掉落", |
| "inputs/task/privileged/instruction.md:12-23 整段累计奖励阈值370及四元数符号敏感", |
| "inputs/task/privileged/tests/rewards.json:7 Cube.get_reward的完整公式：朝向四元数差范数，margin=0.3；手块距离bounds=(0,0.1)m、margin=0.5m；权重0.5/0.3/0.2", |
| "inputs/task/privileged/tests/rewards.json:11 站立奖励头部高度参数1.65m；并非跌倒终止阈值", |
| "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-379 每步累加奖励", |
| "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:425-429 原生成功条件episode_return >= success_bar", |
| "inputs/oracle/replay.mp4 @ 0.00,0.10,0.30,0.60,5.00s 初始平掌托块，随后两手转动并持块；部分方块受手掌遮挡" |
| ], |
| "conf": 6, |
| "note_zh": "按DECISIONS.md D6的单一累计量规则合为一个语义步骤，未另建积分、抓取、拿起、身体平衡或松手节点。mode=event：验收为已累积的奖励，达标后不因瞬时朝向变化撤销；不添加瞬时误差硬阈值，也不把margin=0.3当作通过阈值。典型方案先握住方块、再用腕臂旋转；也可在手内调整，两种接触方案分开列。允许持物达标，freeze_held=false。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "cube_dropped", |
| "zh": "方块掉落", |
| "never": null, |
| "criterion_zh": "任一方块跌到任务原生低高度终止界限以下即结束该集；视频中表现为方块从手边下坠至低处。短暂离手不等于已触发低高度终止，给定文件未包含该数值阈值。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:21-23", |
| "inputs/task/standard/instruction.md:10-14", |
| "inputs/task/standard/environment/docker-compose.yaml:27" |
| ] |
| }, |
| { |
| "id": "pelvis_too_low", |
| "zh": "骨盆过低", |
| "never": null, |
| "criterion_zh": "机器人骨盆降到任务原生终止高度以下即结束该集；画面可见身体明显塌低或倒下，但不能把任意倾斜、坐下或侧躺直接当作触发，给定文件未包含该数值阈值。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:21-23", |
| "inputs/task/standard/instruction.md:10-14", |
| "inputs/task/standard/environment/docker-compose.yaml:27" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "episode_return_ge_success_bar", |
| "level": "new_code", |
| "source": "需记录Session._ret与Session.success_bar：inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:373,425-429；世界过程奖励累计达到370，当前无状态日志。" |
| }, |
| { |
| "atom": "cube_below_termination_height", |
| "level": "new_code", |
| "source": "需记录Cube.get_terminated对左右方块高度的原生判据；inputs/task/standard/instruction.md:10-14确认低高度终止，原任务模块与数值阈值未提供。" |
| }, |
| { |
| "atom": "pelvis_below_termination_height", |
| "level": "new_code", |
| "source": "需记录Cube.get_terminated对骨盆高度的原生判据；inputs/task/standard/instruction.md:10-14确认低高度终止，原任务模块与数值阈值未提供。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "episode_return", |
| "unit": "reward", |
| "threshold": 370, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空；所有when、never及success均为null，无法进行状态日志绑定和回放一致性检验（暂行：DECISIONS.md P8）。", |
| "粒度读取：文本一句话给出两个方块的同一调姿目标；按Step 0.3及Step 3.7核对后，因评分器只检查跨双手、跨整集的单一累计奖励阈值而不逐块计数，依DECISIONS.md D6的当前规则视为一个联合调姿步骤，并依P17将task_class定为atomic。保留单节点，不构造第1/2块的任意误差阈值；累计量的粒度规则仍为暂行规则。", |
| "任务设计问题：任务文字要求两个方块达到目标朝向，实际成功是累计稠密奖励>=370；接近方块、站立等项可补偿部分朝向误差，也不要求结束时两个方块同时精确对齐。四元数直接相减还区分q与-q，物理朝向相同却可能得分不同；说明已告知此规则，视频不能区分该符号（inputs/task/privileged/tests/rewards.json:7；instruction.md:12-23）。", |
| "给定输入没有Cube.get_terminated完整源码，也没有冻结instance.npz或状态日志；只能由说明与录像确认初态和低高度终止规则，不能核实具体骨盆、方块终止高度。不采用奖励的头部高度1.65m、代理通用fallen阈值或oracle试验高度替代。", |
| "模式差异：共同物理验收均是累计奖励>=370；特权模式对动作文件进行两次独立重放并核对最终状态哈希，标准及实时模式判最后一集的现场结果且达标立即停止。确定性、交付格式、基础设施有效性不建世界状态节点；特权模式积分达标后仍可能继续至500步，之后低高度终止不构成额外的历史否决（grade.py:72-76；rcb_hb.py:425-443；server.py:267-270；rcb_service.py:695-705）。", |
| "成功录像仅256像素且部分方块被手遮挡；可见平掌托块到握持转动的变化，无法精确判定朝向误差、四元数符号与370分达标时刻。节点需结合原生评分记录确认，不将oracle的极小终态误差或500步保持设成要求。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "文本、恢复的奖励公式与会话累计条件一致；但没有状态日志、原生低高度终止源码及可由视频精确辨识的累计得分。", |
| "review": { |
| "status": "agreed", |
| "rounds": 2, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "fix", |
| "conf": 6, |
| "summary_zh": "单节点DAG（D6单一累计量）基本合理，约束与成功条件与评分器一致；但task_class写成compositional而文本步骤清单只有一个步骤，与DAG自身及P17矛盾，应改为atomic（或按文本拆成两块的步骤，但评分器只有一个累计阈值，D6不支持）。无状态日志，无法做回放检验。", |
| "n_issues": 1, |
| "n_major": 1 |
| }, |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 2, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "单节点（两个方块调姿）符合D6与P17，task_class=atomic已按上一轮修正；两个终止约束与说明一致，success为null合理（累计奖励无日志字段），open_questions_zh已列出任务设计问题与文本/评分差异。无状态日志，无法做回放检验。", |
| "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：['cubes_reoriented']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:52:26Z", |
| "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/humanoidbench__manip_cube/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/humanoidbench__manip_cube/02_review_r1" |
| }, |
| { |
| "stage": "reconcile", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/humanoidbench__manip_cube/05_reconcile_r1" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 2, |
| "ok": true, |
| "space": "work/tasks/humanoidbench__manip_cube/02_review_r2" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "b28c38ff5b0ee635b183c6058cb4698e75b55910e9c4dd9dfaf6c5f9c06ee58d", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
