| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "yamlab/put_pot_on_cooktop", |
| "suite": "yamlab", |
| "base": "yamlab-put-pot-on-cooktop-i00", |
| "title_zh": "双臂提锅放上灶台", |
| "summary_zh": "锅先由双爪共同提离桌面达到提起验收，再直立放在灶台允许区域和高度内，双爪均松开并连续满足放置验收。", |
| "embodiment_zh": "特权与标准模式相同：工作台上固定安装的两条 I2RT YAM 六自由度机械臂，左右臂各配一个平行二指夹爪；无移动底盘，使用一个固定主视相机和左右腕部相机。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "yamlab-put-pot-on-cooktop-i00", |
| "bench": "yamlab", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "when": null, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "id": "pot_lifted_bimanually", |
| "zh": "双臂提起锅", |
| "mode": "event", |
| "after": [], |
| "hold_s": 0.23333333333333334, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "主视图中，深色双耳锅从原先左侧桌面明显离开支撑，双臂的两只夹爪同时夹持锅沿或把手，腕部视图可辅助确认夹指接触；锅中心须比初始静置高度高出超过 0.05 米（约 z > 0.87589 米），每只夹爪的两指均以指腹接触锅且各至少 0.1 牛，连续满足 8 个控制步（30 赫兹）。仅伸到锅旁、只有一爪持锅或未抬够高度均未完成；达标后记为已提起，之后下放不会取消这一步。", |
| "step": { |
| "cat": "位姿", |
| "item": "拿起" |
| }, |
| "contact": [ |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "note_zh": "左臂与右臂的二指夹爪各抓住锅的一侧锅沿或把手，同时承载并提起锅；不限定抓取位置。", |
| "plan": 1 |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-4,12,15-17", |
| "inputs/task/privileged/environment/instance.json:116-140,237-247", |
| "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:569-583", |
| "inputs/task/standard/instruction.md:8-13", |
| "inputs/oracle/replay.mp4 @ 0-8 s" |
| ], |
| "note_zh": "文字单独要求双臂提起，并以独立高度和双爪抓握条件验收；提起后可以暂停，故保留为一步，接近与合爪不另建节点。成功要求这一提起阶段曾达标，因此 goal 为真而 mode 为 event；8 步的时间跨度按 D31 为 (8-1)/30 秒。" |
| }, |
| { |
| "when": null, |
| "optional": false, |
| "verify_zh": null, |
| "conf": 6, |
| "id": "pot_on_cooktop", |
| "zh": "锅放上灶台", |
| "mode": "state", |
| "after": [ |
| "pot_lifted_bimanually" |
| ], |
| "hold_s": 0.9666666666666667, |
| "freeze_held": true, |
| "goal": true, |
| "criterion_zh": "主视图中，深色双耳锅从左侧桌面移到右侧黑色矩形灶台上并直立落稳，双爪张开、不再抓握锅，腕部视图可辅助确认；锅与灶台中心的水平距离须在 0.23357 米容差内，锅中心高度与灶台中心高度加 0.06735/2 + 0.13838/2 米之差在 0.02 米内，锅的局部竖轴与世界竖直夹角在 0.2 弧度内，全部条件连续满足 30 个控制步（30 赫兹），且此前已完成提起阶段。锅仍在桌面、悬在灶台上方、仍被任一夹爪抓握或尚未持续达标均未完成；放置后锅滑离允许区域、落下或倾斜超标时失去该状态。", |
| "step": { |
| "cat": "关系", |
| "item": "放置" |
| }, |
| "contact": [ |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "note_zh": "左臂与右臂的二指夹爪各抓锅一侧，共同把锅搬到灶台并下放，随后依次或同时张开两爪。", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "已完成双爪提起后，由一只二指夹爪继续抓住锅沿或把手搬放，另一爪先松开，最后持锅夹爪也松开；放置阶段不要求保持双爪抓握。", |
| "plan": 2 |
| } |
| ], |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4,13-17", |
| "inputs/task/privileged/environment/instance.json:201-249", |
| "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:575-583", |
| "inputs/task/standard/instruction.md:9-13", |
| "inputs/oracle/replay.mp4 @ 10-17.4 s" |
| ], |
| "note_zh": "直立、位置高度容差、双爪不抓握和连续验收均属放置的接受条件，不另列对准、松手或静置节点；评分说明未另列速度阈值或双爪撤退距离。放置的结果需在结束时成立，因此使用 state；after 记录原生阶段顺序，不门控 state 的实时条件。30 步跨度按 D31 为 (30-1)/30 秒；若未来直接绑定原生完成计数则应设 hold_s 为 0，避免重复计算保持窗口。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "task_object_below_table", |
| "zh": "任务物体落桌下", |
| "never": null, |
| "criterion_zh": "锅或灶台任一物体的根中心高度低于桌面超过 0.01 米（本实例 z < 0.7417 米），在尚未判定成功时立即结束回合并失败；物体仅倾斜而未触发该高度条件不单独构成此约束。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:443-450,610-624", |
| "inputs/task/privileged/environment/instance.json:238,249", |
| "inputs/task/privileged/instruction.md:15-17" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "pot_lift_bimanual_raw", |
| "level": "new_code", |
| "source": "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:569-583; log pot center height and both native gripper grasp predicates before pick-stage latching; inputs/task/privileged/instruction.md:12" |
| }, |
| { |
| "atom": "pot_on_cooktop_released_raw", |
| "level": "new_code", |
| "source": "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:575-583; log native raw place geometry, upright and both-grippers-released predicates, plus ordered stage counters; inputs/task/privileged/instruction.md:13-16" |
| }, |
| { |
| "atom": "task_object_below_table", |
| "level": "new_code", |
| "source": "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:443-450,618-624; log each task object root height and configured fall threshold" |
| }, |
| { |
| "atom": "task_success", |
| "level": "new_code", |
| "source": "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:569-573,630-633; log per-frame Session.success() and stages()" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "pot_lift_above_rest", |
| "unit": "m", |
| "threshold": 0.05, |
| "direction": "higher_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:12", |
| "inputs/task/privileged/environment/instance.json:241-243" |
| ] |
| }, |
| { |
| "name": "pot_cooktop_center_xy_distance", |
| "unit": "m", |
| "threshold": 0.23357, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/environment/instance.json:244", |
| "inputs/grader/efe_yamlab-files/privileged/environment/rcb_yamlab.py:582" |
| ] |
| }, |
| { |
| "name": "pot_center_rest_height_abs_error", |
| "unit": "m", |
| "threshold": 0.02, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:13", |
| "inputs/task/privileged/environment/instance.json:239-245" |
| ] |
| }, |
| { |
| "name": "pot_up_axis_vertical_angle", |
| "unit": "rad", |
| "threshold": 0.2, |
| "direction": "lower_better", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:13", |
| "inputs/task/privileged/environment/instance.json:246" |
| ] |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json 的 logs 为空，成功视频也没有状态日志；按 P8 所有节点 when、约束 never 与 success 均为 null，无法进行基于状态的达成率及成功一致性验证。新增记录字段列在 atoms，当前不虚构任何绑定。", |
| "输入只提供 YAMLab 调用包装，未提供上游 yamlab/envs/tasks 内的实际抓握和阶段检查实现；阈值来自指令与冻结实例导出参数。水平容差采用实例导出的 0.23357 米，文字写作 0.234 米；导出函数保留五位小数，原始未舍入值及阈值边界比较符仍待上游实现核实，视频不能独立测出每指 0.1 牛接触力。", |
| "两模式共用世界状态检查与相同初态，但最终评分包装不同：特权模式另要求两次新进程重放都成功、终态哈希相同且初态匹配；标准模式按实时回合成功并排除基础设施失败和模拟器调用错误。此类交付与复现判据不建语义节点，无日志时 success 保持 null。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "两步直接来自任务文字，原生阶段顺序、验收阈值和初始场景有输入证据，成功视频展示了这两步；但没有任何状态日志，且上游实际检查实现缺失，精确接触力与原始数值边界不能独立复核。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "两步（双臂提起→放上灶台并双爪松开）与指令和评分阶段一致，阈值、保持窗口（8步/30步）、约束、event/state 模式、freeze_held 均合理；无状态日志故 when/success 为 null 并已在 open_questions_zh 说明。", |
| "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：['pot_lifted_bimanually', 'pot_on_cooktop']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:44:09Z", |
| "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/yamlab__put_pot_on_cooktop/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/yamlab__put_pot_on_cooktop/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "b60605f61eae9d2832d02e314be784ae2a048badefcd7d257a9a5541392696ee", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
