| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robodojo/sweep_blocks_random", |
| "suite": "robodojo", |
| "base": "robodojo-sweep-blocks-random-i00", |
| "title_zh": "小物体扫入簸箕", |
| "summary_zh": "两纸团、一积木和两耳机同时进入簸箕同一验收区域，簸箕留在桌面且平放，扫帚在簸箕右侧超过0.1米，双臂回到初始位姿容差内。", |
| "embodiment_zh": "两种模式均为固定桌面上的双ARX X5机械臂，各装平行二指夹爪，无移动底盘；可持小扫帚操作，簸箕在桌面上。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robodojo-sweep-blocks-random-i00", |
| "bench": "robodojo", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "dustpan_on_table", |
| "zh": "簸箕留桌面", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "头部相机可见芥末黄色簸箕平放在桌面；其原点高度不高于初值加0.01米，局部正z轴与世界向上夹角严格小于5度，允许在桌面滑动或转向，开局即成立。簸箕抬高超过阈值或倾斜到5度及以上即失去；仅最终同时检查，不追溯暂时偏离。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "无接触", |
| "how": "不适用", |
| "plan": 1, |
| "note_zh": "双臂不碰簸箕，簸箕靠桌面支承保持原位平放。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "左臂或右臂夹爪握住簸箕短柄，使簸箕留在桌面且平放。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10", |
| "inputs/task/privileged/instruction.md:43-46", |
| "inputs/task/privileged/instruction.md:60-62", |
| "inputs/task/privileged/environment/instance.json:39-50", |
| "inputs/oracle/replay.mp4 @ 0, 90, 150, 300 s" |
| ], |
| "conf": 7, |
| "note_zh": "按S4(a)保留可维持的初始目标状态；平放是簸箕留桌面的验收，不另拆节点。评分器不因中途丢失此状态终止或历史否决，因此不写约束；握柄时也可成立。" |
| }, |
| { |
| "id": "paper_balls_in_dustpan_1", |
| "zh": "第1个纸团入簸箕", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机中，浅灰和棕色的两个皱纸团中至少1个纸团的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于1即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10", |
| "inputs/task/privileged/instruction.md:30-58", |
| "inputs/task/privileged/instruction.md:60-62", |
| "inputs/task/privileged/instruction.md:73-77", |
| "inputs/task/privileged/environment/instance.json:126-226", |
| "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s" |
| ], |
| "conf": 6, |
| "note_zh": "对象集合为 target_1_0, target_1_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。" |
| }, |
| { |
| "id": "paper_balls_in_dustpan_2", |
| "zh": "第2个纸团入簸箕", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "paper_balls_in_dustpan_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机中，浅灰和棕色的两个皱纸团中至少2个纸团的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于2即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10", |
| "inputs/task/privileged/instruction.md:30-58", |
| "inputs/task/privileged/instruction.md:60-62", |
| "inputs/task/privileged/instruction.md:73-77", |
| "inputs/task/privileged/environment/instance.json:126-226", |
| "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s" |
| ], |
| "conf": 6, |
| "note_zh": "对象集合为 target_1_0, target_1_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。" |
| }, |
| { |
| "id": "brick_in_dustpan_1", |
| "zh": "积木入簸箕", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机中，黄色小积木的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于1即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10", |
| "inputs/task/privileged/instruction.md:30-58", |
| "inputs/task/privileged/instruction.md:60-62", |
| "inputs/task/privileged/instruction.md:73-77", |
| "inputs/task/privileged/environment/instance.json:228-278", |
| "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s" |
| ], |
| "conf": 6, |
| "note_zh": "对象集合为 target_2_0；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。" |
| }, |
| { |
| "id": "earbuds_in_dustpan_1", |
| "zh": "第1个耳机入簸箕", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机中，黑色和白色的两只小耳机中至少1个耳机的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于1即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10", |
| "inputs/task/privileged/instruction.md:30-58", |
| "inputs/task/privileged/instruction.md:60-62", |
| "inputs/task/privileged/instruction.md:73-77", |
| "inputs/task/privileged/environment/instance.json:280-380", |
| "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s" |
| ], |
| "conf": 6, |
| "note_zh": "对象集合为 target_3_0, target_3_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。" |
| }, |
| { |
| "id": "earbuds_in_dustpan_2", |
| "zh": "第2个耳机入簸箕", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "earbuds_in_dustpan_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部相机中，黑色和白色的两只小耳机中至少2个耳机的中心已进入黄色簸箕盘面验收区；仍在前唇外、旁边桌面或掉落且投影在区外的不计，数量低于2即失去。计入的物体原点俯视投影须在随簸箕移动的任一验收区内：距唇后8.7厘米的中心线点严格小于0.081米，或在中心线两侧各8.5厘米、唇后1.6至9.0厘米的矩形内（含边界，容差1e-6米）；不检查高度、松手或静置。整体成功还要求五物体同时全在圆内或同时全在矩形内，不能各选一支，并且扫帚中心在簸箕中心右侧超过0.1米、两臂末端各坐标距初位不超过0.15米且姿态差不超过20度。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "推/扫", |
| "plan": 1, |
| "note_zh": "任一臂夹爪握住扫帚柄，扫帚刷毛把目标物体扫过簸箕前唇。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "任一臂二指夹爪直接夹住目标物体，将其放到簸箕内；成功视频后半段采用此法。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "任一臂手指或张开的夹爪直接推动目标物体进入簸箕。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:10", |
| "inputs/task/privileged/instruction.md:30-58", |
| "inputs/task/privileged/instruction.md:60-62", |
| "inputs/task/privileged/instruction.md:73-77", |
| "inputs/task/privileged/environment/instance.json:280-380", |
| "inputs/oracle/replay.mp4 @ 120, 180, 210, 240, 270, 300, 315 s" |
| ], |
| "conf": 6, |
| "note_zh": "对象集合为 target_3_0, target_3_1；同类按数量计步，不按颜色或模型固定先后。每件物体可独立满足圆或矩形，所有五件共用同一分支的联合条件留给success；类别之间无边。扫帚扫入、夹爪抓放、直接推入均不另加过程节点；可持物达标，故关闭持物冻结。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "target_1_0_in_dustpan_circle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_1_0_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_1_0_in_dustpan_rectangle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_1_0_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_1_1_in_dustpan_circle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_1_1_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_1_1_in_dustpan_rectangle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_1_1_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_2_0_in_dustpan_circle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_2_0_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_2_0_in_dustpan_rectangle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_2_0_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_3_0_in_dustpan_circle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_3_0_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_3_0_in_dustpan_rectangle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_3_0_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_3_1_in_dustpan_circle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_3_1_in_dustpan_circle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "target_3_1_in_dustpan_rectangle", |
| "level": "new_code", |
| "source": "需新增逐帧日志 dyn.target_3_1_in_dustpan_rectangle，按原生is_A_in_B_support_circle或is_pointA_in_B_functional_bbox计算；inputs/task/privileged/instruction.md:47-55。" |
| }, |
| { |
| "atom": "dustpan_rise_m", |
| "level": "new_code", |
| "source": "需新增日志：逐帧记录簸箕原点z相对初值的升高量；inputs/task/privileged/instruction.md:43-44" |
| }, |
| { |
| "atom": "dustpan_up_angle_deg", |
| "level": "new_code", |
| "source": "需新增日志：逐帧记录簸箕局部+z与世界向上夹角；inputs/task/privileged/instruction.md:45-46" |
| }, |
| { |
| "atom": "broom_right_dx_m", |
| "level": "new_code", |
| "source": "需新增日志：逐帧记录broom原点x减broom_shovel原点x；inputs/task/privileged/instruction.md:40-42" |
| }, |
| { |
| "atom": "arms_back_to_origin", |
| "level": "new_code", |
| "source": "需新增日志：逐帧记录原生all_robot_back_to_origin；inputs/task/privileged/instruction.md:57-58" |
| } |
| ], |
| "notes_zh": "成功为同一动作边界上的合取：簸箕升高<=0.01米、朝上夹角<5度、扫帚与簸箕原点x差>0.1米、(五个目标原点XY全在支撑圆内 OR 五个全在功能矩形内)、双臂各轴位置差<=0.15米且姿态差<=20度。无过程保持时窗、无释放或静止要求。没有状态日志，以上均保留为视频判据和待记录原子，不伪造when或success绑定。" |
| }, |
| "native_metrics": [ |
| { |
| "name": "broom_root_x_minus_dustpan_root_x", |
| "unit": "m", |
| "threshold": 0.1, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "dustpan_root_z_rise", |
| "unit": "m", |
| "threshold": 0.01, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "dustpan_up_angle", |
| "unit": "deg", |
| "threshold": 5, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "target_xy_distance_to_support_center", |
| "unit": "m", |
| "threshold": 0.081, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "arm_ee_absolute_position_error_per_axis", |
| "unit": "m", |
| "threshold": 0.15, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "arm_ee_orientation_error", |
| "unit": "deg", |
| "threshold": 20, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json为空，六个节点when和success均为null（P8）；无法做日志绑定及成功重放的一致性自检，几何边界不能仅靠视频精确测量。", |
| "原生task/RoboDojo/tasks/sweep_blocks_random.py及env/reward_manager源码未随输入提供；可读评分代码只调用env.run_reward与env.take_action（inputs/grader/efe_robodojo-files/privileged/environment/rcb_robodojo.py:361-372、424-451）。阈值、单阶段和无历史失败语义依据两模式instruction.md的Success段及oracle记录交叉核对，未独立逐项核验上游实现。", |
| "D2/Y17：未将拿起扫帚列为必经步骤。文本要求使用扫帚，但成功检查只验位置关系，不验工具接触；场景中五个物体均可由夹爪直接接触，成功视频约150至310秒多次直接夹放。故无法证明每条成功路线都必须先拿扫帚；扫帚使用仅作典型接触方案。", |
| "文本步骤未受评：扫帚交给右臂；instruction.md:73明确不检查换手。依D3不将未受评的机器人换手阶段列节点。任务设计问题：描述要求用扫帚扫入，检查不要求刷毛接触目标，oracle成功轨迹后半段直接抓放仍通过。", |
| "评分器要求，文本未提：任务动作主体没有要求扫帚最后在簸箕右侧超过0.1米；instruction.md:40-42的Success段明确补充该条件。依S2/N1将其置于整体success语义，不增设扫帚放置节点。", |
| "按S4(a)，簸箕留桌面为开局已成立的state步骤，平放并入验收；instruction.md:60-62明确不记历史且没有立即失败，故暂时抬起或倾斜不是历史否决约束。双臂回初位按S4(b)仅属于success。", |
| "N4：两纸团和两耳机虽颜色、模型不同，目标不配对固定位置，故各类别按第1个、第2个计数，积木单列；同类计数链只表达数量依赖。", |
| "五个物体的圆/矩形分支必须全体一致（instruction.md:47-55、75-76）；单个入簸箕节点允许圆或矩形，跨物体的一致分支留在success，避免一个物体尚未入簸箕阻塞其他物体的进展。", |
| "模式共用Session成功逻辑（inputs/grader/efe_robodojo-files/sim/server.py:109、218-219）。privileged由一次新进程重放定分（inputs/grader/efe_robodojo-files/privileged/tests/grade.py:160-187），standard以实时episode定分（inputs/grader/efe_robodojo-files/standard/tests/grade.py:1-6、39-44）；交付及基础设施有效性不作为语义节点或约束。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "节点来自任务文本和已核实初态，计数及边不依赖oracle策略；成功视频支持扫入与直接夹放两种手段。没有状态日志且上游原生检查实现未提供，阈值依据指令中的详细检查说明，全部机器条件待补录，故保守记6。", |
| "review": { |
| "status": "agreed", |
| "rounds": 2, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "fix", |
| "conf": 6, |
| "summary_zh": "六个节点的计数、边和模式基本合理，簸箕留桌面、纸团/耳机计数符合规则。但文本明确要求使用扫帚，且评分器要求开局不成立的“扫帚在簸箕右侧>0.1 m”，该世界状态变化目前只被塞进空的 success（success=null），既不在任何目标节点也不在 success，目标集合少了一个必须由机器人造成的状态。另：各入簸箕节点的 criterion_zh 重复整体成功条件，易误导视频判读。", |
| "n_issues": 2, |
| "n_major": 1 |
| }, |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 2, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "节点集合（簸箕留桌面、2纸团、1积木、2耳机计数步）与文本及评分器一致；扫帚拾取/换手依D2/D3不列节点，回初位与扫帚在右侧留在success且已在open_questions_zh说明；无状态日志，when/success为null符合P8，边无习惯边。无需修改内容。", |
| "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：['dustpan_on_table', 'paper_balls_in_dustpan_1', 'paper_balls_in_dustpan_2', 'brick_in_dustpan_1', 'earbuds_in_dustpan_1', 'earbuds_in_dustpan_2']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:17:50Z", |
| "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/robodojo__sweep_blocks_random/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robodojo__sweep_blocks_random/02_review_r1" |
| }, |
| { |
| "stage": "reconcile", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robodojo__sweep_blocks_random/05_reconcile_r1" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 2, |
| "ok": true, |
| "space": "work/tasks/robodojo__sweep_blocks_random/02_review_r2" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "2585ed028fa90d868b109498722809a395c3b70d55c3d7a0a7b82228181811d5", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
