{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "behavior-1k/assembling_gift_baskets", "suite": "behavior-1k", "base": "behavior-assembling-gift-baskets-i00", "title_zh": "组装四只礼篮", "summary_zh": "四只柳条篮各容纳一根蜡烛、一块黄油曲奇、一块瑞士奶酪和一个蝴蝶结，所有目标物离手并以不超过0.05 m/s的线速度连续静置30个控制步。", "embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人：左右臂各有一个二指夹爪，采用辅助抓握，配可动躯干、全向轮式底盘及头部和双腕相机；标准模式通过服务操控，特权模式提交轨迹供重放。", "task_class": "compositional", "analysis_level": "step", "spec": { "version": "1.2", "task": "behavior-assembling-gift-baskets-i00", "bench": "behavior-1k", "progress": "live", "entities": {}, "milestones": [ { "id": "candles_in_baskets_1", "zh": "第1根蜡烛入篮", "mode": "state", "when": null, "after": [], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出1件不同的柱状蜡烛，分别位于1只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至1以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蜡烛，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蜡烛时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:43-46 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第1件是当前正确一一配对数至少为1，不指定蜡烛或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "candles_in_baskets_2", "zh": "第2根蜡烛入篮", "mode": "state", "when": null, "after": [ "candles_in_baskets_1" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出2件不同的柱状蜡烛，分别位于2只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至2以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蜡烛，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蜡烛时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:43-46 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第2件是当前正确一一配对数至少为2，不指定蜡烛或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "candles_in_baskets_3", "zh": "第3根蜡烛入篮", "mode": "state", "when": null, "after": [ "candles_in_baskets_2" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出3件不同的柱状蜡烛，分别位于3只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至3以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蜡烛，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蜡烛时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:43-46 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第3件是当前正确一一配对数至少为3，不指定蜡烛或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "candles_in_baskets_4", "zh": "第4根蜡烛入篮", "mode": "state", "when": null, "after": [ "candles_in_baskets_3" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出4件不同的柱状蜡烛，分别位于4只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至4以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蜡烛，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蜡烛时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:43-46 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第4件是当前正确一一配对数至少为4，不指定蜡烛或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cookies_in_baskets_1", "zh": "第1块曲奇入篮", "mode": "state", "when": null, "after": [], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出1件不同的饼片状的黄油曲奇，分别位于1只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至1以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件黄油曲奇，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有黄油曲奇时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:53-56 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第1件是当前正确一一配对数至少为1，不指定黄油曲奇或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cookies_in_baskets_2", "zh": "第2块曲奇入篮", "mode": "state", "when": null, "after": [ "cookies_in_baskets_1" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出2件不同的饼片状的黄油曲奇，分别位于2只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至2以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件黄油曲奇，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有黄油曲奇时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:53-56 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第2件是当前正确一一配对数至少为2，不指定黄油曲奇或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cookies_in_baskets_3", "zh": "第3块曲奇入篮", "mode": "state", "when": null, "after": [ "cookies_in_baskets_2" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出3件不同的饼片状的黄油曲奇，分别位于3只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至3以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件黄油曲奇，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有黄油曲奇时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:53-56 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第3件是当前正确一一配对数至少为3，不指定黄油曲奇或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cookies_in_baskets_4", "zh": "第4块曲奇入篮", "mode": "state", "when": null, "after": [ "cookies_in_baskets_3" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出4件不同的饼片状的黄油曲奇，分别位于4只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至4以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件黄油曲奇，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有黄油曲奇时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:53-56 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第4件是当前正确一一配对数至少为4，不指定黄油曲奇或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cheeses_in_baskets_1", "zh": "第1块奶酪入篮", "mode": "state", "when": null, "after": [], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出1件不同的楔形瑞士奶酪块，分别位于1只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至1以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件瑞士奶酪，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有瑞士奶酪时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:48-51 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第1件是当前正确一一配对数至少为1，不指定瑞士奶酪或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cheeses_in_baskets_2", "zh": "第2块奶酪入篮", "mode": "state", "when": null, "after": [ "cheeses_in_baskets_1" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出2件不同的楔形瑞士奶酪块，分别位于2只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至2以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件瑞士奶酪，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有瑞士奶酪时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:48-51 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第2件是当前正确一一配对数至少为2，不指定瑞士奶酪或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cheeses_in_baskets_3", "zh": "第3块奶酪入篮", "mode": "state", "when": null, "after": [ "cheeses_in_baskets_2" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出3件不同的楔形瑞士奶酪块，分别位于3只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至3以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件瑞士奶酪，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有瑞士奶酪时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:48-51 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第3件是当前正确一一配对数至少为3，不指定瑞士奶酪或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "cheeses_in_baskets_4", "zh": "第4块奶酪入篮", "mode": "state", "when": null, "after": [ "cheeses_in_baskets_3" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出4件不同的楔形瑞士奶酪块，分别位于4只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至4以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件瑞士奶酪，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有瑞士奶酪时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:48-51 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第4件是当前正确一一配对数至少为4，不指定瑞士奶酪或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "bows_in_baskets_1", "zh": "第1个蝴蝶结入篮", "mode": "state", "when": null, "after": [], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出1件不同的带两侧环的蝴蝶结，分别位于1只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至1以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蝴蝶结，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蝴蝶结时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:58-61 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第1件是当前正确一一配对数至少为1，不指定蝴蝶结或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "bows_in_baskets_2", "zh": "第2个蝴蝶结入篮", "mode": "state", "when": null, "after": [ "bows_in_baskets_1" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出2件不同的带两侧环的蝴蝶结，分别位于2只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至2以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蝴蝶结，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蝴蝶结时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:58-61 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第2件是当前正确一一配对数至少为2，不指定蝴蝶结或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "bows_in_baskets_3", "zh": "第3个蝴蝶结入篮", "mode": "state", "when": null, "after": [ "bows_in_baskets_2" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出3件不同的带两侧环的蝴蝶结，分别位于3只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至3以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蝴蝶结，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蝴蝶结时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:58-61 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第3件是当前正确一一配对数至少为3，不指定蝴蝶结或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" }, { "id": "bows_in_baskets_4", "zh": "第4个蝴蝶结入篮", "mode": "state", "when": null, "after": [ "bows_in_baskets_3" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "从头部或腕部相机观察篮口，至少能选出4件不同的带两侧环的蝴蝶结，分别位于4只不同柳条篮的内腔；以物品轴对齐包围盒中心同时落在篮子包围盒与内部容积中为准，停在桌面、篮外或仅悬在篮口上方均不计。该一一配对数降至4以下即失去本步，持物时只要内部关系成立也计数；整项任务还须四类各四组配对同时成立，全部20个目标物（含四只篮子）均离手且线速度不超过0.05 m/s，连续30个控制步（名义1秒），此联合验收归入success。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左臂或右臂的二指夹爪直接夹住一件蝴蝶结，送入选定柳条篮；左右夹爪均可完成，不固定用手。", "plan": 1 }, { "who": "底盘", "how": "支撑", "note_zh": "轮式底盘在夹爪持有蝴蝶结时移动，支承机器人在桌边与选定柳条篮之间搬运。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:5 任务要求及inside定义", "inputs/bddl/assembling_gift_baskets.bddl:58-61 同类物品与篮子任意一一配对", "inputs/bddl/assembling_gift_baskets.literals.json:360070 initial的64项inside均为假", "inputs/grader/efe_behavior-files/rcb_behavior.py:100-105 联合松手静置窗口及速度阈值", "inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434 联合验收逻辑" ], "conf": 6, "note_zh": "第4件是当前正确一一配对数至少为4，不指定蝴蝶结或篮子的实例身份；同类计数按前一计数递增，四类之间无依赖。节点仅表示入篮关系，联合离手静置在success中验收，故freeze_held为false；底盘随持物搬运按典型方案标注。" } ], "constraints": [ { "id": "robot_fall", "zh": "机器人跌倒", "never": null, "criterion_zh": "机器人底座竖直轴的世界z分量小于0.75（偏离竖直约41.4度以上），或底座低于地面超过0.03 m，任一异常连续达到300个30 Hz控制步（名义10秒）并触发跌倒终止；短暂倾倒不足此窗不算。评分器在同一步先检查崩坏、再检查成功、最后检查跌倒，故同一步已成功时不再判跌倒失败。", "consequence": "立即终止", "sources": [ "inputs/grader/efe_behavior-files/rcb_behavior.py:96-99", "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144", "inputs/grader/efe_behavior-files/rcb_behavior.py:1394-1396", "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1488" ] }, { "id": "simulator_breakdown", "zh": "模拟器崩坏", "never": null, "criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值，机器人位置任一坐标绝对值大于10000 m或底座线速度大于100 m/s；目标物位置出现非有限值或任一坐标绝对值大于10000 m也触发失败。机器人每控制步检查，目标物每30步检查；须以服务或状态记录判定，普通视频不能精确证实。", "consequence": "立即终止", "sources": [ "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113", "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471" ] } ], "success": null, "atoms": [ { "atom": "dyn.candles_in_distinct_baskets", "level": "new_code", "source": "Log all 16 flags.lit:(inside candle.n.01_i wicker_basket.n.01_j), i,j=1..4; compute maximum one-to-one matching cardinality. Source: inputs/bddl/assembling_gift_baskets.bddl:43-46; no state log is supplied." }, { "atom": "dyn.cookies_in_distinct_baskets", "level": "new_code", "source": "Log all 16 flags.lit:(inside butter_cookie.n.01_i wicker_basket.n.01_j), i,j=1..4; compute maximum one-to-one matching cardinality. Source: inputs/bddl/assembling_gift_baskets.bddl:53-56; no state log is supplied." }, { "atom": "dyn.cheeses_in_distinct_baskets", "level": "new_code", "source": "Log all 16 flags.lit:(inside swiss_cheese.n.01_i wicker_basket.n.01_j), i,j=1..4; compute maximum one-to-one matching cardinality. Source: inputs/bddl/assembling_gift_baskets.bddl:48-51; no state log is supplied." }, { "atom": "dyn.bows_in_distinct_baskets", "level": "new_code", "source": "Log all 16 flags.lit:(inside bow.n.08_i wicker_basket.n.01_j), i,j=1..4; compute maximum one-to-one matching cardinality. Source: inputs/bddl/assembling_gift_baskets.bddl:58-61; no state log is supplied." }, { "atom": "flags.success_rule", "level": "new_code", "source": "Log Session.succeeded / RestWatch.done per control step; inputs/grader/efe_behavior-files/rcb_behavior.py:147-164,1401-1434. Includes all four BDDL forpairs goals, release of all 20 goal objects, speed <=0.05 m/s for 30 consecutive 30-Hz control steps; no state log supplied." }, { "atom": "dyn.robot_fall_terminated", "level": "new_code", "source": "Log FallWatch.fallen and whether _fall_step ended the episode; inputs/grader/efe_behavior-files/rcb_behavior.py:96-99,124-144,1394-1396,1483-1488. Do not use generic fallen: thresholds and hold differ." }, { "atom": "dyn.simulator_breakdown", "level": "new_code", "source": "Log Session.breakdown and _breakdown_step result; inputs/grader/efe_behavior-files/rcb_behavior.py:106-113,1437-1471." } ] }, "native_metrics": [ { "name": "q_score", "unit": "1", "threshold": 1.0, "direction": "higher_better" } ], "open_questions_zh": [ "输入的states/index.json没有任何状态日志；依DECISIONS.md P8，全部16个节点的when、两个约束的never及success均为null。atoms列出需要补记的字段，未将评分器代码中的字段假定为已有日志字段；无法执行逐轨迹达成与判分一致性核对。", "成功参考为behavior-assembling-gift-baskets-i00-standard--uwrgdbn，oracle.json明确video_kind为none、has_state_log为false，且它是唯一成功并也是待标注运行（DECISIONS.md N2的回退）。已阅读其run.json，记录包含四篮逐件装填、第二根蜡烛掉落后恢复及最终服务success；没有可打开的参考视频或图片，视觉判据依据文本inside定义与场景对象拟定，尚不能核对相机中的遮挡和外观。", "依DECISIONS.md N4，每类四件同类物品采用四个计数节点，按当前inside关系的最大一一配对数计数；把多件同类物品放进同一只篮子不能增加不同篮子的配对数，不能按固定实例或成功参考的装填顺序划分。", "两模式共享Session的世界状态成功、跌倒和崩坏规则；标准模式评分实时服务结果（standard/grade.py:29-35），特权模式还要求两次新进程重放均成功、终态哈希一致且初态匹配（privileged/grade.py:168-174）。重放确定性和交付有效性不是世界状态步骤，不进入语义节点；无相应日志，success保留null。", "初始BDDL将机器人、篮子和桌子放在同一客厅地板上（assembling_gift_baskets.bddl:15-38），所有inside初值均为假；参考记录也仅转向并绕桌取放，没有开启房间门。无需添加客厅与花园之间门的必经节点；完整冻结机器人世界起点未包含在instance.json中，起点判断以BDDL及参考记录交叉支持。" ], "conf": 6, "conf_reason_zh": "文本、BDDL初态和四组一一配对目标明确支持16个计数步骤，评分器联合松手静置及终止阈值均有来源；但没有任何状态日志或可查看的参考视频，全部条件无法绑定或通过逐帧证据验证，因此置信度为6。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "16个计数节点（四类各第1–4个，按类链接k-1→k，atleast计数，当前无状态日志故when为null）、两个终止约束、success为null均符合01 Step 3/5及P8、N4；松手静置联合验收已写入criterion并归入success，freeze_held均为false，标签关系·放入与手指抓握加底盘支撑合理。无需修改。", "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：['candles_in_baskets_1', 'candles_in_baskets_2', 'candles_in_baskets_3', 'candles_in_baskets_4', 'cookies_in_baskets_1', 'cookies_in_baskets_2', 'cookies_in_baskets_3', 'cookies_in_baskets_4', 'cheeses_in_baskets_1', 'cheeses_in_baskets_2', 'cheeses_in_baskets_3', 'cheeses_in_baskets_4', 'bows_in_baskets_1', 'bows_in_baskets_2', 'bows_in_baskets_3', 'bows_in_baskets_4']" ] }, "provenance": { "prompt": "prompts/01_task_dag.md", "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T01:38:50Z", "review_prompt": "prompts/02_task_dag_review.md", "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85", "reconcile_prompt": "prompts/05_reconcile.md", "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83", "calls": [ { "stage": "dag", "round": 0, "ok": true, "space": "work/tasks/behavior-1k__assembling_gift_baskets/01_dag" }, { "stage": "dag_review", "round": 1, "ok": true, "space": "work/tasks/behavior-1k__assembling_gift_baskets/02_review_r1" } ], "review_engine": "claude", "review_model": "claude-sonnet-5-5", "inputs_manifest_sha256": "a81dad3caaaf2950cd2eb73b4b86737a17bd527d53e0c0af16bcda1066568eb3", "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" } }