| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robotwin-2/put_bottles_dustbin", |
| "suite": "robotwin-2", |
| "base": "robotwin_2_0_put_bottles_dustbin", |
| "title_zh": "三个瓶子入桶", |
| "summary_zh": "三个瓶子的位姿原点均进入机器人左侧地面垃圾桶对应的评分区域。", |
| "embodiment_zh": "两种模式均为 ALOHA-AgileX 双臂机器人，左右臂各配一个二指夹爪；底座固定，轮子不受控制，操作不需要底盘移动。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robotwin_2_0_put_bottles_dustbin", |
| "bench": "robotwin-2", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "bottles_in_dustbin_1", |
| "zh": "第1个瓶入桶", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "至少1个不同瓶子的位姿原点同时满足 |x+0.45|<0.221 米、|y|<0.325 米、0.2<z<0.7 米；外部俯视画面可见瓶子移过桌边白色内衬垃圾桶的桶口并进入桶内低处，仍在桌上或仅悬在桶口上方不算，评分器不要求松手、直立或静置。若符合区域条件的瓶子数降至1个以下则失去本步；桶壁遮挡时须结合连续入桶过程和其他视角判断，单凭桌面少了瓶子不足以确认。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "左臂二指夹爪抓住可直接够到的瓶身，将瓶子移到左侧垃圾桶内；松爪后的下落属于放入的后续过程。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "右臂二指夹爪握住右侧瓶身，左臂二指夹爪同时夹住同一瓶身完成空中交接；随后右爪放开，左爪送瓶入桶。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:4 三个瓶子放入左侧垃圾桶；交接是操作方式", |
| "task/privileged/instruction.md:9-17 check_success：逐瓶检查位姿原点，全部通过即成功", |
| "task/standard/instruction.md:3-8 相同任务，单次实时回合", |
| "task/privileged/environment/rcb_traj.py:389-403 回放结束调用 check_success", |
| "grader/efe_robotwin-2-files/sim/server.py:543-552 实时回合调用相同 check_success", |
| "task/privileged/solution/oracle_put_bottles_dustbin.py:133-148 三个瓶子和固定敞口垃圾桶", |
| "oracle/run.json:steps[id=56].out.text 成功回放的三个瓶子终态位置均满足区域条件", |
| "oracle/replay.mp4:0-29s 初态、逐瓶移入桶口与桌面清空的六视角画面" |
| ], |
| "conf": 6, |
| "note_zh": "三个瓶子的外观分别为透明蓝标瓶、黑色红标瓶和黄色瓶，但文字与评分器均把它们作为同类瓶子送往同一桶，按满足同一目标的数量计步，不固定实例或左右手次序（S5、N4）。计数边仅表达至少第 k 个蕴含至少第 k-1 个；不规定瓶子的操作顺序。抓取、抬升、交接和松手不拆步（D3、S8）；入桶区域允许持瓶达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "bottles_in_dustbin_2", |
| "zh": "第2个瓶入桶", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "bottles_in_dustbin_1" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "至少2个不同瓶子的位姿原点同时满足 |x+0.45|<0.221 米、|y|<0.325 米、0.2<z<0.7 米；外部俯视画面可见瓶子移过桌边白色内衬垃圾桶的桶口并进入桶内低处，仍在桌上或仅悬在桶口上方不算，评分器不要求松手、直立或静置。若符合区域条件的瓶子数降至2个以下则失去本步；桶壁遮挡时须结合连续入桶过程和其他视角判断，单凭桌面少了瓶子不足以确认。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "左臂二指夹爪抓住可直接够到的瓶身，将瓶子移到左侧垃圾桶内；松爪后的下落属于放入的后续过程。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "右臂二指夹爪握住右侧瓶身，左臂二指夹爪同时夹住同一瓶身完成空中交接；随后右爪放开，左爪送瓶入桶。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:4 三个瓶子放入左侧垃圾桶；交接是操作方式", |
| "task/privileged/instruction.md:9-17 check_success：逐瓶检查位姿原点，全部通过即成功", |
| "task/standard/instruction.md:3-8 相同任务，单次实时回合", |
| "task/privileged/environment/rcb_traj.py:389-403 回放结束调用 check_success", |
| "grader/efe_robotwin-2-files/sim/server.py:543-552 实时回合调用相同 check_success", |
| "task/privileged/solution/oracle_put_bottles_dustbin.py:133-148 三个瓶子和固定敞口垃圾桶", |
| "oracle/run.json:steps[id=56].out.text 成功回放的三个瓶子终态位置均满足区域条件", |
| "oracle/replay.mp4:0-29s 初态、逐瓶移入桶口与桌面清空的六视角画面" |
| ], |
| "conf": 6, |
| "note_zh": "三个瓶子的外观分别为透明蓝标瓶、黑色红标瓶和黄色瓶，但文字与评分器均把它们作为同类瓶子送往同一桶，按满足同一目标的数量计步，不固定实例或左右手次序（S5、N4）。计数边仅表达至少第 k 个蕴含至少第 k-1 个；不规定瓶子的操作顺序。抓取、抬升、交接和松手不拆步（D3、S8）；入桶区域允许持瓶达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "bottles_in_dustbin_3", |
| "zh": "第3个瓶入桶", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "bottles_in_dustbin_2" |
| ], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "至少3个不同瓶子的位姿原点同时满足 |x+0.45|<0.221 米、|y|<0.325 米、0.2<z<0.7 米；外部俯视画面可见瓶子移过桌边白色内衬垃圾桶的桶口并进入桶内低处，仍在桌上或仅悬在桶口上方不算，评分器不要求松手、直立或静置。若符合区域条件的瓶子数降至3个以下则失去本步；桶壁遮挡时须结合连续入桶过程和其他视角判断，单凭桌面少了瓶子不足以确认。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 1, |
| "note_zh": "左臂二指夹爪抓住可直接够到的瓶身，将瓶子移到左侧垃圾桶内；松爪后的下落属于放入的后续过程。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "右臂二指夹爪握住右侧瓶身，左臂二指夹爪同时夹住同一瓶身完成空中交接；随后右爪放开，左爪送瓶入桶。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:4 三个瓶子放入左侧垃圾桶；交接是操作方式", |
| "task/privileged/instruction.md:9-17 check_success：逐瓶检查位姿原点，全部通过即成功", |
| "task/standard/instruction.md:3-8 相同任务，单次实时回合", |
| "task/privileged/environment/rcb_traj.py:389-403 回放结束调用 check_success", |
| "grader/efe_robotwin-2-files/sim/server.py:543-552 实时回合调用相同 check_success", |
| "task/privileged/solution/oracle_put_bottles_dustbin.py:133-148 三个瓶子和固定敞口垃圾桶", |
| "oracle/run.json:steps[id=56].out.text 成功回放的三个瓶子终态位置均满足区域条件", |
| "oracle/replay.mp4:0-29s 初态、逐瓶移入桶口与桌面清空的六视角画面" |
| ], |
| "conf": 6, |
| "note_zh": "三个瓶子的外观分别为透明蓝标瓶、黑色红标瓶和黄色瓶，但文字与评分器均把它们作为同类瓶子送往同一桶，按满足同一目标的数量计步，不固定实例或左右手次序（S5、N4）。计数边仅表达至少第 k 个蕴含至少第 k-1 个；不规定瓶子的操作顺序。抓取、抬升、交接和松手不拆步（D3、S8）；入桶区域允许持瓶达成，故关闭持物冻结。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "bottles_in_dustbin_count", |
| "level": "new_code", |
| "source": "需逐帧新增 dyn.bottles_in_dustbin_count：遍历 env.bottles，对 get_pose().p 满足 abs(x+0.45)<0.221、abs(y)<0.325、z>0.2 且 z<0.7 的瓶子计数；依据 task/privileged/instruction.md:9-17。当前 inputs/states/index.json 的 logs 为空，此字段尚未记录，节点不绑定该拟新增字段。" |
| } |
| ] |
| }, |
| "native_metrics": [], |
| "open_questions_zh": [ |
| "无状态日志：inputs/states/index.json 的 logs 为空，成功参考也没有状态日志；依 P8，全部 when 和 success 为 null，不能进行基于状态的到达率或判分一致性验证。桶内低处被桶壁遮挡，视频需依靠连续入桶画面；不能用桌面清空替代区域条件。", |
| "文本与评分差异：文本称右侧瓶子必须在空中从右臂交给左臂，check_success 只检查最终位置，未验证交接历史或指定手臂；依 D3，把交接留在接触方案及步骤说明中，不增加换手节点，也不把参考轨迹的手臂次序变成边。", |
| "文本与评分差异：入桶的实际验收为瓶子位姿原点落在固定世界坐标区域内，不检查完整瓶身是否被桶体容纳、释放、静止、朝向或桶壁接触；节点采用评分器给出的区域，不另加这些条件，持瓶时也可达成。", |
| "模式差异：privileged 在交付轨迹结束后检查成功，并要求重复回放成功且终态哈希一致（task/privileged/tests/grade.py:168-171）；standard 在实时动作或观察调用后检查并于首次成功结束（grader/efe_robotwin-2-files/sim/server.py:543-552、565-579）。二者物理目标相同，交付有效性和确定性验收不作为世界状态步骤或约束。", |
| "本地没有独立的 envs/put_bottles_dustbin.py 完整模块；数值判据采用 privileged 指令明示的 check_success（task/privileged/instruction.md:9-17），并由回放工具和实时服务对该方法的调用及成功参考最终位置交叉支持。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三个逐瓶放入步骤直接来自两种模式相同的任务文字，区域阈值来自明示评分代码；初帧显示三瓶在桌面且垃圾桶敞开，成功视频展示逐瓶入桶，成功回放输出的三瓶位置均在区域内。无状态日志且桶壁遮挡终态，不能自动核验逐帧条件；完整任务模块也未独立收录。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "三个按计数的入桶步骤与指令、check_success 的逐瓶区域阈值一致，没有无依据的节点，计数边、freeze_held、标签和 open_questions 均合理；无状态日志，when 为 null 符合 P8，success 为 null 且三个目标节点已覆盖全部成功条件。交接按 D3 放进接触方案，未单列。", |
| "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：['bottles_in_dustbin_1', 'bottles_in_dustbin_2', 'bottles_in_dustbin_3']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:38:06Z", |
| "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/robotwin-2__put_bottles_dustbin/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robotwin-2__put_bottles_dustbin/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "357eef0ca258791769906427e30f2f8aa4045b561d557fdde80ae0769ac24bc6", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
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|
|
