{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "bigym2/put_cups", "suite": "bigym2", "base": "bigym2-put-cups-i00", "title_zh": "双杯放入吊柜", "summary_zh": "两只杯子均接触吊柜底层板且没有夹爪手指接触，联合连续保持50个控制步，同时机器人全程未跌倒。", "embodiment_zh": "三个模式均为Unitree G1双足人形机器人，左、右七关节机械臂各配Dex1-1二指夹爪；双足和腰部由GR00T全身控制器维持站立与行走，无轮式底盘。", "task_class": "compositional", "analysis_level": "step", "spec": { "version": "1.2", "task": "bigym2-put-cups-i00", "bench": "bigym2", "progress": "live", "entities": {}, "milestones": [ { "id": "cabinet_opened", "zh": "打开吊柜门", "mode": "event", "when": null, "after": [], "hold_s": 0, "freeze_held": false, "goal": false, "criterion_zh": "起初关闭的两扇玻璃门中，至少一扇向外转开，形成杯子可通过的底层入口；右侧外部视角画面上沿可见玻璃门框离开柜体正面、伸向机器人一侧，仍贴合柜体或仅有不足以通过杯子的缝隙则未完成。此步一旦完成即保留，不要求两扇都开或最终仍开。", "step": { "cat": "机构", "item": "打开" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左或右夹爪握住一扇玻璃柜门的把手，沿门铰链方向向外拉开。", "plan": 1 }, { "who": "手指/夹爪", "how": "勾", "note_zh": "左或右夹爪的手指勾住玻璃柜门把手向外拉开。", "plan": 2 }, { "who": "双臂协作", "how": "抓握", "note_zh": "左夹爪与右夹爪分别握住两扇玻璃门的把手，配合向外开门。", "plan": 3 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:8-9", "inputs/task/privileged/README.md:17-18", "inputs/task/privileged/environment/instance.json:7", "inputs/oracle/run.json:1 (steps[].id=13, frozen steps=0, doors=[0,0])", "inputs/oracle/replay.mp4 (0-5 s)" ], "conf": 8, "note_zh": "关闭的吊柜入口是放杯的必经前置；左右任一可用入口均计一次，不把两扇门各建必经节点，不采用某次成功的开门角度作为阈值。柜门关回不受评，故无关门节点。" }, { "id": "cups_in_cabinet_1", "zh": "第1只杯入柜", "mode": "state", "when": null, "after": [ "cabinet_opened" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "至少一只白色带柄杯已从木色台面移至吊柜内并实际接触其底层板（约离地1.15米），底层板不再接触任何杯子即失去此步，杯子仍在台面、悬在柜下或只被举高均不算；柜体会遮挡杯子，须结合举杯越过柜底缘及可见接触，不能仅凭原位置空了判定。手持时底层接触也可计此位置步骤，但最终两杯须同时接触底层、均无任一夹爪手指接触，联合连续50个控制步（任务称1秒）；未满足联合验收则整项任务尚未成功。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左或右二指夹爪夹住一只杯子的杯柄或杯身，逐只放入吊柜。", "plan": 1 }, { "who": "腿/躯干", "how": "支撑", "note_zh": "机器人双脚支撑地面，携杯移步至吊柜前的可放置位置。", "plan": 1 }, { "who": "双臂协作", "how": "抓握", "note_zh": "左夹爪和右夹爪各抓一只杯子，配合把两杯送入吊柜；并非两臂挤住同一物体。", "plan": 2 }, { "who": "腿/躯干", "how": "支撑", "note_zh": "机器人双脚在地面承重并移步，配合双手携带两只杯子。", "plan": 2 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:6-9", "inputs/task/privileged/instruction.md:15", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157", "inputs/oracle/run.json:1 (steps[].id=9, printed PutCups._success)", "inputs/oracle/replay.mp4 (24-35.96 s)" ], "conf": 6, "note_zh": "两只杯子同类且无固定位置配对，按当前接触底层板的杯子数量计数，不追踪实例身份；抓取、离台、搬运和松手不另建节点。夹爪离开两杯与50步保持为跨两步的联合成功验收，置于success语义中，when与success因无状态日志均为null；故本位置节点hold_s=0且freeze_held=false，不增加单杯保持时长。计数边允许同一时刻达到两步，state不受after门控。" }, { "id": "cups_in_cabinet_2", "zh": "第2只杯入柜", "mode": "state", "when": null, "after": [ "cups_in_cabinet_1" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "两只白色带柄杯已从木色台面移至吊柜内并实际接触其底层板（约离地1.15米），任意一只杯子失去底层板接触即失去此步，杯子仍在台面、悬在柜下或只被举高均不算；柜体会遮挡杯子，须结合举杯越过柜底缘及可见接触，不能仅凭原位置空了判定。手持时底层接触也可计此位置步骤，但最终两杯须同时接触底层、均无任一夹爪手指接触，联合连续50个控制步（任务称1秒）；未满足联合验收则整项任务尚未成功。", "step": { "cat": "关系", "item": "放入" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "左或右二指夹爪夹住一只杯子的杯柄或杯身，逐只放入吊柜。", "plan": 1 }, { "who": "腿/躯干", "how": "支撑", "note_zh": "机器人双脚支撑地面，携杯移步至吊柜前的可放置位置。", "plan": 1 }, { "who": "双臂协作", "how": "抓握", "note_zh": "左夹爪和右夹爪各抓一只杯子，配合把两杯送入吊柜；并非两臂挤住同一物体。", "plan": 2 }, { "who": "腿/躯干", "how": "支撑", "note_zh": "机器人双脚在地面承重并移步，配合双手携带两只杯子。", "plan": 2 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:6-9", "inputs/task/privileged/instruction.md:15", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157", "inputs/oracle/run.json:1 (steps[].id=9, printed PutCups._success)", "inputs/oracle/replay.mp4 (24-35.96 s)" ], "conf": 6, "note_zh": "两只杯子同类且无固定位置配对，按当前接触底层板的杯子数量计数，不追踪实例身份；抓取、离台、搬运和松手不另建节点。夹爪离开两杯与50步保持为跨两步的联合成功验收，置于success语义中，when与success因无状态日志均为null；故本位置节点hold_s=0且freeze_held=false，不增加单杯保持时长。计数边允许同一时刻达到两步，state不受after门控。" } ], "constraints": [ { "id": "robot_fell", "zh": "机器人跌倒", "never": null, "criterion_zh": "机器人骨盆过度倾斜（任务文本近似为偏离直立超过53度）或高度低于0.30米，被上游episode_fell记为跌倒；任何一次跌倒都使最后成功无效，即使后来站起，跌倒本身不立即终止。", "consequence": "历史否决", "sources": [ "inputs/task/privileged/instruction.md:15", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157" ] }, { "id": "pelvis_out_of_bounds", "zh": "骨盆越界", "never": null, "criterion_zh": "骨盆离场景原点超过10米时上游终止本回合，未达成成功则失败；该距离不从录像中估算。", "consequence": "立即终止", "sources": [ "inputs/task/privileged/instruction.md:17-19", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-16" ] } ], "success": null, "atoms": [ { "atom": "cabinet_passable_opening", "level": "new_code", "source": "需逐帧记录两扇吊柜门的关节开度及与杯子几何相容的可通过开口；起始关闭见inputs/task/privileged/instruction.md:8，无现成角度阈值，不擅自编造。" }, { "atom": "cup_shelf_contact_count", "level": "new_code", "source": "需逐帧记录task.cups逐杯is_colliding(task.cabinet_wall.shelf_bottom)与其计数，依据inputs/oracle/run.json:1的步骤9输出、inputs/task/privileged/instruction.md:15。" }, { "atom": "cups_gripper_contacts", "level": "new_code", "source": "需逐帧记录每杯与左右夹爪的robot.is_gripper_holding_object(cup,side)，不是通用双指抓握判据；inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:373-377。" }, { "atom": "joint_acceptance_hold", "level": "new_code", "source": "需记录上游两杯接触底层且均不held的连续控制步计数或本征成功状态，50步窗口见inputs/task/privileged/instruction.md:15，调用见inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-150。" }, { "atom": "episode_fell", "level": "new_code", "source": "需记录上游env.episode_fell()历史标志，见inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157；精确倾斜判据源码未提供。" }, { "atom": "pelvis_out_of_bounds", "level": "new_code", "source": "需记录上游骨盆离原点超过10米的终止谓词，见inputs/task/privileged/instruction.md:17-19；不使用未经源码核实的平面或三维距离替代。" } ] }, "native_metrics": [], "open_questions_zh": [ "inputs/states/index.json的logs为空，无法核实任何逐帧字段；所有节点when、约束never与success均为null，使用视频判据，spec.atoms列出待增加的记录（暂行：DECISIONS.md P8）。", "输入只提供调用上游bigym的适配器，没有完整PutCups、保持计数和跌倒判定源码；oracle步骤9仅打印了部分_success。50个控制步与约53度/0.30米等采用instruction明文，不把约53度当精确阈值，也不推测10米判断是平面还是三维距离。", "录像两个外部视角的吊柜主体遮住杯子最终接触面，右侧视角还能在画面上沿看见转出的门框；杯子离开台面只证明搬移。柜内接触与手指是否完全离杯须结合成功判定，失败录像若始终遮挡则保留未知（暂行：DECISIONS.md N8、P19）。", "文本中的gently未给出轻放的冲击或速度阈值；列明的Success与所见_success仅检查底层板接触、手指脱离及保持，不额外要求杯子直立或零速度，不为轻放方式另加节点。", "三个模式的世界状态成功要求相同；privileged额外要求两次新进程回放均成功且终态哈希相同（grade.py:105-114），standard及standard-realtime采用服务实时回合结果（sim/server.py:13-16,125-128）。复现和基础设施条件不伪装成任务世界状态节点，success=null不能检验这些交付差异。", "Take the cups from the counter只说明搬移起点，台面不是容器且离台无独立受评目标，因此折入每杯入柜步骤，不另建取出或拿起节点（暂行：DECISIONS.md D5）；两个相同杯子按至少1/2只计数（N4），放手与50步联合保持置于整体success验收（S1、D17）。", "唯一成功oracle也是后续待标注运行，oracle.json明确无其他成功可选；本文件仅以其确认可行方案和相机线索，不据其依次开两门或双手搬杯固定节点与顺序（暂行：DECISIONS.md N2）。" ], "conf": 6, "conf_reason_zh": "三个语义步骤由任务文本、关闭初态及同类两杯计数直接支持，开门前置和放杯目标明确；缺少全部状态日志与完整上游判定源码，录像又遮挡最终底层接触及手指间隙，故绑定与联合验收只能保留人工判据，不能给高置信。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "节点（开门、第1只入柜、第2只入柜）与instruction一致，放手和50步联合保持放在success，跌倒为历史否决约束，开放问题已在open_questions_zh列出；无状态日志，故when/success为null并用视频判据，符合P8。未发现需要改动的内容。", "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：['cabinet_opened', 'cups_in_cabinet_1', 'cups_in_cabinet_2']" ] }, "provenance": { "prompt": "prompts/01_task_dag.md", "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T01:38:21Z", "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/bigym2__put_cups/01_dag" }, { "stage": "dag_review", "round": 1, "ok": true, "space": "work/tasks/bigym2__put_cups/02_review_r1" } ], "review_engine": "claude", "review_model": "claude-sonnet-5-5", "inputs_manifest_sha256": "1e55b8c93769aab6ca3807c9535510f40428b56f1d54246cb1a8d2838166719d", "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" } }