| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "humanoidbench/manip_window", |
| "suite": "humanoidbench", |
| "base": "humanoidbench-manip-window-i00", |
| "title_zh": "持工具上下擦窗", |
| "summary_zh": "机器人拿稳擦窗工具并使擦头接触玻璃上下擦拭，以本回合累计回报达到 650 为受评完成条件。", |
| "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，共 61 个位置伺服执行器；双脚支撑身体，无轮式底盘。模式仅改变状态可见性、控制时钟及回放验收方式。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "humanoidbench-manip-window-i00", |
| "bench": "humanoidbench", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "wiping_tool_in_hand", |
| "zh": "拿稳擦窗工具", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "外部视角中，原先悬在双手前的银色长杆由手掌和手指拿住，带黑色擦头的工具能随手移动而不继续自由下落；仅伸手靠近、工具仍脱手下坠不算完成。可单手或双手拿稳，不要求指定手、抬升高度或持续时长。", |
| "step": { |
| "cat": "位姿", |
| "item": "拿起" |
| }, |
| "contact": [ |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "note_zh": "双手的手指分别握住银色擦窗工具杆，共同拿稳工具。", |
| "plan": 1 |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "note_zh": "双脚接触地面，支撑人形机器人拿稳擦窗工具时的身体。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "一只灵巧手握住擦窗工具杆；任一手均可，另一手无需同时握杆。", |
| "plan": 2 |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "note_zh": "双脚接触地面，支撑人形机器人单手拿稳擦窗工具时的身体。", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-6", |
| "inputs/task/privileged/README.md:21-30", |
| "inputs/task/privileged/tests/rewards.json:7 Window.get_reward", |
| "inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67", |
| "inputs/oracle/run.json:1 steps[id=102].out.text, window.xml:52-55 free tool", |
| "inputs/oracle/replay.mp4 @ video 0.00-0.70 s" |
| ], |
| "conf": 6, |
| "note_zh": "按 Y17 / DECISIONS.md D2 保留文本明确要求的工具拿取：工具是自由物体，开局悬空且很快掉落；评分中指定擦头与玻璃的接触不可省略。此步为可暂停的拿稳状态，不把靠近、接触和抬手拆开；评分器没有独立抓握成功标志，故 goal=false，必要性及其判定边界见开放问题。" |
| }, |
| { |
| "id": "window_wiped", |
| "zh": "擦拭窗户", |
| "mode": "event", |
| "when": null, |
| "after": [ |
| "wiping_tool_in_hand" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "外部视角中银色长杆端部的黑色擦头贴住青色玻璃并随手上下擦动，可有小幅快速往复；工具只在玻璃前悬空移动或仅偶尔碰一下，不能据此判为整步完成。整步按评分器验收为本回合逐控制步回报总和达到 650，不要求规定次数、覆盖面积、污渍消失、松手或另加静置窗口；视频只提供接触与擦动线索，精确达标须有本回合回报记录或受评成功结果支持。", |
| "step": { |
| "cat": "位姿", |
| "item": "沿轨迹移动" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "压/擦", |
| "note_zh": "灵巧手控制擦窗工具杆，使黑色擦头压住玻璃并沿窗面上下擦动；可单手或双手控杆，同一工具接触链只记一次。", |
| "plan": 1 |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "note_zh": "双脚接触地面，支撑人形机器人在窗前操纵擦窗工具时的身体。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-20", |
| "inputs/task/standard/instruction.md:38-45", |
| "inputs/task/standard-realtime/instruction.md:67-74", |
| "inputs/task/privileged/tests/rewards.json:7 Window.get_reward", |
| "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-379", |
| "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:425-429", |
| "inputs/grader/efe_humanoidbench-files/sim/server.py:267-270", |
| "inputs/grader/efe_humanoidbench-files/sim/rcb_service.py:695-703", |
| "inputs/oracle/replay.mp4 @ video 0.70-10.00 s" |
| ], |
| "conf": 6, |
| "note_zh": "文本命名为擦窗；依 D1 按评分器实际检查的工具接触和竖直运动过程标为位姿·沿轨迹移动，而不假设存在污渍去除状态。一个累计回报阈值只对应一个擦拭步骤（D6），不拆接触、速度、站姿、双手距离或每次上下行程；回报非负，累计达标作为 event 锁存，之后瞬时接触消失不撤销累计成果。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "pelvis_too_low", |
| "zh": "骨盆过低", |
| "never": null, |
| "criterion_zh": "任务检查机器人自由根关节的骨盆高度 qpos[2] < 0.58 m 时立即终止本回合；外部视角可见身体明显塌落，但倾斜或坐姿本身不是额外失败判据。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67", |
| "inputs/task/privileged/instruction.md:19-20" |
| ] |
| }, |
| { |
| "id": "wiping_tool_dropped", |
| "zh": "擦窗工具掉落", |
| "never": null, |
| "criterion_zh": "擦窗工具主体 window_wiping_tool 的世界高度 < 0.58 m 时立即终止本回合；画面中银色长杆脱落并降到低处是线索，仅一只手松开或擦头离开玻璃并不直接触发这项终止。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67", |
| "inputs/task/privileged/instruction.md:19-20" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "wiping_tool_in_hand", |
| "level": "new_code", |
| "source": "Log objects.window_wiping_tool.held and hands, with hand-tool grasp/support contacts; inputs/task/privileged/instruction.md:3-6. No state log is supplied." |
| }, |
| { |
| "atom": "episode_return", |
| "level": "new_code", |
| "source": "Log Session._ret or status().episode_return; inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-374,425-428; threshold >= 650." |
| }, |
| { |
| "atom": "pelvis_z", |
| "level": "new_code", |
| "source": "Log MuJoCo data.qpos[2]; inputs/oracle/run.json:1 steps[id=103].out.text window.py:62-64; failure < 0.58 m." |
| }, |
| { |
| "atom": "wiping_tool_z", |
| "level": "new_code", |
| "source": "Log named.data.xpos[\"window_wiping_tool\"][2]; inputs/oracle/run.json:1 steps[id=103].out.text window.py:65-66; failure < 0.58 m." |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "episode_return", |
| "unit": "reward", |
| "threshold": 650, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json 的 logs 为空，成功参考录像也无状态日志；依 P8，所有 when、never 与 success 均为 null。atoms 仅列将来需要新增的提取字段，不把评分器变量冒充已记录字段；不能对精确累计达标时间或约束触发时刻做日志验证。", |
| "D2 / Y17 的本任务应用：文本明确要求抓住悬空工具；场景快照显示工具有自由关节，工具主体低于 0.58 m 会终止，评分又要求指定擦头与玻璃接触。不接触玻璃时每步回报最多 0.5，1000 步最多 500，低于 650，故每条合法路线都需要这件工具；据此保留拿稳工具这一前置步骤。评分器不直接检查手指闭合或抓握，无法仅凭代码排除以非包围接触支承工具的策略，因此不强制双手或指定抓法。", |
| "文本步骤未受评：拿稳擦窗工具没有独立的抓握成功检查；双手到工具的距离只给软奖励，掉落也仅按主体高度判断。拿稳工具保留为 goal=false 的文本工具前置步骤，不把靠近工具直接当成抓握成立。", |
| "任务设计问题：文本要求稳定上下擦拭，但评分器只把竖直速度绝对值接近 0.5 m/s 作为软奖励，不检查方向交替、擦拭次数、覆盖面积或清洁程度；接触部分占总回报的一半，其他软奖励可以补偿动作质量不足（inputs/task/privileged/tests/rewards.json:7）。依 D1 保留擦窗名称，按实际受评的接触运动标为位姿·沿轨迹移动；不额外要求窗面变干净，也不添加往复计数步骤。", |
| "软奖励参数不是逐项成功门槛：擦头五个接触点的 x 以 0.92 m 为目标、线性容差 margin=0.4 m，真实擦头—玻璃接触才开启接触半项；工具竖直速度绝对值目标 0.5 m/s、margin=0.5 m/s，左右手到工具距离各在 0 至 0.2 m 内取满分、margin=0.5 m，头相对复位位置的位移目标 0.4 m、margin=0.1 m。站姿项以头高 1.65 m、躯干直立量 0.9 为满分起点，并乘小执行器力奖励；这些全部留在单一回报验收内，不分别设硬阈值或节点（inputs/task/privileged/tests/rewards.json:7,11）。", |
| "三个模式的 rewards.json 内容一致，物理完成条件均为累计回报 >= 650。privileged 评分将同一动作序列默认回放两次且要求末态哈希一致（grade.py:53,72-76）；standard 与 standard-realtime 采用最后一个现场回合，累计达标即结束（server.py:267-270；rcb_service.py:695-703）。交付、确定性和基础设施检查不属于世界状态，故不造语义节点或未记录的 verdict 条件；privileged 已达累计阈值后仍可能继续到动作结束。", |
| "掉落/跌倒约束的精确 0.58 m 阈值来自本任务成功运行记录保存的 window.py 快照（inputs/oracle/run.json:1，steps[id=103].out.text:62-66）；输入未单独提供该上游模块或冻结 instance.npz，初态只能由任务文本、快照和首帧交叉核实。", |
| "参考录像由提供的唯一成功运行选取，且该运行自身也将被标注（N2）；它展示双手附近持杆、黑色擦头接触青色窗面的几何，不用于强制某只手、某个动作时刻或某个往复周期。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "文本、共享回报公式和成功录像支持工具拿取后擦窗这两个步骤；累计阈值及终止高度均有输入证据。没有状态日志，累计达标不可由画面精确计算，Y17 的抓握边界及擦窗按接触运动归类仍有解释空间。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "文本只命名拿稳工具与擦窗两步，DAG 与之一致；累计回报≥650 与 0.58 m 终止约束与评分器一致；无状态日志故 when/success 为 null 符合 P8；标签与开放问题已记录文本/评分器不一致，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：['wiping_tool_in_hand', 'window_wiped']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:25:32Z", |
| "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_window/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/humanoidbench__manip_window/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "5eafe0c2472844c32624bb216ca760727aa0ed21ef78e5ce23a17700d5430317", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
