| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robowits/retrieve_cube", |
| "suite": "robowits", |
| "base": "robowits-retrieve-cube-i00", |
| "title_zh": "取出方块放到目标", |
| "summary_zh": "方块离开深窄容器并在绿色目标区的桌面高度释放静置，满足投影交叠、桌界及两秒检查窗要求。", |
| "embodiment_zh": "两种模式均为固定基座的Marvin双臂机器人，左右各一条七自由度机械臂，各配Pika二指平行夹爪；无需移动底盘。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robowits-retrieve-cube-i00", |
| "bench": "robowits", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "cube_outside_container", |
| "zh": "方块出容器", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "主视角可见小橙色方块已与白色深窄容器分离；按评分定义，方块俯视投影与容器俯视投影的交叠面积须小于方块投影面积的50%（投影采用碰撞网格凸包，缺失时用包围框）。方块仍藏在容器中或投影交叠达到50%即未完成或失去；单纯抬高、倾斜容器不算完成。", |
| "step": { |
| "cat": "关系", |
| "item": "取出" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "托/舀", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪握持深窄容器，容器内壁和底部承托方块并倾斜使其滑出；按容器到方块的接触链标注，不重复标夹爪握容器。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 2, |
| "note_zh": "任一侧夹爪从外侧推动白色容器使其倾倒，让方块滚出；此方案不握持容器。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-4 文本明确要求从容器取出方块", |
| "inputs/task/privileged/instruction.md:30-56 投影凸包及包围框回退", |
| "inputs/task/privileged/instruction.md:151-179 独立的容器投影交叠检验", |
| "inputs/task/privileged/environment/instance.json:68-148 初态方块在直立容器内", |
| "inputs/oracle/replay.mp4 @ 21-30 s 容器倾斜，橙色方块随后显露" |
| ], |
| "conf": 7, |
| "note_zh": "按DECISIONS.md D5，文本命名取出且评分器独立要求出容器，故与目标放置分开；可以先把方块倒在桌面暂停，再移到目标区。倾倒容器仅为方案，非额外步骤；既可移动方块也可移开容器。出容器不要求方块离手，因此关闭持物冻结。状态边不门控，可与放到目标同时达成。" |
| }, |
| { |
| "id": "cube_on_target", |
| "zh": "方块放到目标", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "cube_outside_container" |
| ], |
| "hold_s": 2.0, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "主视角可见小橙色方块留在绿色方形目标区且机器人已不接触方块：方块投影面积大于1e-8平方米、至少50%覆盖目标区，包围框底面高度在0.75至0.79米，方块及目标区的全部投影顶点均在x为0.20至1.01米、y为-0.70至0.70米的扩展桌界内。保持最后指令先等待1秒，再在2秒检查窗内每6控制步及末步检查这些条件和出容器条件、机器人无任何部件接触方块，每个控制步方块位置偏离检查窗起点不超过2毫米；未落到目标、离开目标或再次接触、移动超限即未完成或失去。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "托/舀", |
| "plan": 1, |
| "note_zh": "任一侧二指夹爪握持白色容器，容器承托方块并在绿色目标上方倾斜，让方块滑落到目标；容器到方块为同一接触链，随后移开容器。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "方块出容器后，任一侧二指夹爪抓住方块并放到绿色目标上，随后松开并离开方块。" |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "plan": 3, |
| "note_zh": "方块出容器落到桌面后，任一侧夹爪直接推小方块到绿色目标内，随后退出接触。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:15-27 桌界、高度容差和面积有效性阈值", |
| "inputs/task/privileged/instruction.md:138-185 桌界、底面高度及目标投影交叠检验", |
| "inputs/task/privileged/instruction.md:191-208 验收窗口及容器位置不受评", |
| "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:329-354 30步等待、60步检查、6步采样及2毫米位移界", |
| "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-798 真实机器人接触与逐步位移检查", |
| "inputs/task/standard/instruction.md:7-27 相同物理判据和验收窗口", |
| "inputs/oracle/replay.mp4 @ 30-33 s 方块停在绿色区域且容器移开" |
| ], |
| "conf": 7, |
| "note_zh": "释放、静置、桌界、高度及投影覆盖率均为放置验收；不另建节点。2秒来自含起点和终点的60个控制间隔，不是额外2秒等待步骤；前1秒不检查。联合窗口还要求出容器节点保持成立。默认冻结只对应方块被持有；夹爪握住容器不应冻结此节点。投影几何不要求完整方块全部位于目标内，容器最终位置不受评。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "cube_container_overlap_ratio", |
| "level": "new_code", |
| "source": "需记录方块与容器碰撞网格二维凸包交叠面积除以方块投影面积；依据inputs/task/privileged/instruction.md:147-179。" |
| }, |
| { |
| "atom": "cube_target_placement_ok", |
| "level": "new_code", |
| "source": "需记录目标覆盖率、方块投影有效面积、方块底面高度及方块和目标的桌界检验；依据inputs/task/privileged/instruction.md:138-185。" |
| }, |
| { |
| "atom": "cube_release_rest_window", |
| "level": "new_code", |
| "source": "需记录机器人真实接触方块、窗口开始位置、逐步最大位移、窗口检查时刻及进度；依据inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-798。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "container_overlap_ratio", |
| "unit": "1", |
| "threshold": 0.5, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "target_overlap_ratio", |
| "unit": "1", |
| "threshold": 0.5, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "cube_z_min_lower_bound", |
| "unit": "m", |
| "threshold": 0.75, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "cube_z_min_upper_bound", |
| "unit": "m", |
| "threshold": 0.79, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "settle_max_move_mm", |
| "unit": "mm", |
| "threshold": 2, |
| "direction": "lower_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json为空，按DECISIONS.md P8全部节点when和success置null；视频可核对宏观关系，不能精确核对50%交叠临界、真实接触及2毫米检查窗，需增加atoms所列记录后才能自动验证。", |
| "取出与放置的边界采用DECISIONS.md D5当前解释：文本分别命名两种变化，且评分器以独立的容器交叠小于50%和目标交叠至少50%检验，保留两个目标节点；不是因成功视频的倾倒动作而拆分。取出可先在目标区外完成后暂停；直接倒到目标允许两步重叠。", |
| "两模式物理验收均调用Session.settle_check；privileged需两次重放通过且最终哈希一致、冻结实例匹配（inputs/grader/efe_robowits-files/privileged/tests/grade.py:111-121），standard以现场窗口结果为准（inputs/grader/efe_robowits-files/sim/server.py:165-175及standard/tests/grade.py:28-40）。交付与重放有效性不是世界状态节点，未伪造可观测绑定。", |
| "指令术语中的not held采用夹爪尖端与扩展包围框说明，但实际释放验收用Genesis全机器人接触表（inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761），本文件以实际无接触条件为准。容器不要求放回、释放或静置，无相应约束。" |
| ], |
| "conf": 7, |
| "conf_reason_zh": "两步均由文本给出，容器退出与目标放置各有独立评分条件；初态和成功视频支持该解释，数值来自指令内完整谓词及共享评分代码。没有状态日志，细小投影、接触和静置只能保留未绑定判据，取出与放置粒度按D5当前解释。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "文本两步（取出、放到目标）均在，评分器的出容器与目标交叠/高度/桌界/静置窗均已覆盖，无状态日志故when全为null合规，未发现需改内容的问题。", |
| "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：['cube_outside_container', 'cube_on_target']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:38:04Z", |
| "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/robowits__retrieve_cube/01_dag" |
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| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robowits__retrieve_cube/02_review_r1" |
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| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "932f5676464cb57b334fa2585ba7737484fc8b8a4d8f321fa567ac4e0cef93ef", |
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