{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "humanoidbench/manip_window",
 "suite": "humanoidbench",
 "base": "humanoidbench-manip-window-i00",
 "title_zh": "持工具上下擦窗",
 "summary_zh": "取得擦窗工具并使擦头贴着玻璃上下运动，使整段回合的累计奖励达到650分。",
 "embodiment_zh": "三种模式均为Unitree H1双足人形机器人，双臂各配一只Shadow灵巧手，共61个位置伺服执行器；腿和躯干维持支撑，没有轮式底盘。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "humanoidbench-manip-window-i00",
  "bench": "humanoidbench",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "wiping_tool_in_hand",
    "zh": "握住擦窗工具",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": false,
    "criterion_zh": "外部视角中，手指握住窗前带黑色擦头的银色长柄，工具被手控制而不再自由下落，并能随手移动；只把手靠近工具、工具仍独立下落不算完成。允许一只手或双手取得工具，不要求先抬高到某个高度。",
    "step": {
     "cat": "位姿",
     "item": "拿起"
    },
    "contact": [
     {
      "who": "双臂协作",
      "how": "抓握",
      "plan": 1,
      "note_zh": "左、右灵巧手各握住银色擦窗工具长柄的一段，共同控制工具。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "机器人双脚接触地面，腿和躯干支撑取工具时的身体。"
     },
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 2,
      "note_zh": "左手或右手单独握住擦窗工具长柄；评分器没有必须双手抓握的检查。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 2,
      "note_zh": "机器人双脚接触地面，腿和躯干支撑单手取工具时的身体。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:3-6",
     "inputs/task/privileged/README.md:21-30",
     "inputs/task/privileged/tests/rewards.json:7 window_contact_filter and hand_tool_proximity_reward",
     "inputs/oracle/run.json:1 steps[id=102].out.text, window.xml:52-57 (free tool); steps[id=103].out.text, window.py:63-66 (drop termination)",
     "inputs/oracle/replay.mp4:0.00-0.50 video seconds"
    ],
    "conf": 6,
    "note_zh": "按Y17及DECISIONS.md D2保留必需工具取得步骤；工具初始悬空而非安装在手上，擦头与窗玻璃的接触奖励必不可少。握住工具是过程事件，不是评分器独立目标；没有凭成功录像强制双手方案，也没有把一般抓取阶段推广为节点。"
   },
   {
    "id": "window_wiping_completed",
    "zh": "上下擦窗",
    "mode": "event",
    "when": null,
    "after": [
     "wiping_tool_in_hand"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "外部视角可见银色长柄受手控制，末端黑色擦头贴近青色窗玻璃作上下擦拭；仅拿着工具、悬空挥动或短暂碰一下玻璃尚不能判为完成，数值验收是整段回合累计奖励达到650分，达到后作为事件保留。每步奖励为0.5倍操作奖励加0.5倍实际擦头—玻璃接触门控的贴窗奖励：操作奖励含0.2倍站姿、低施力和头部位移质量的乘积、0.4倍竖直速度质量及0.4倍双手靠近工具质量；这些都是可互相补偿的软奖励，速度目标为绝对竖直速度0.5米/秒、双手距离各不大于0.2米时该项满分、头部离初始位置0.4米时该项满分、五个擦头采样点的世界x坐标目标为0.92米，不能据单帧或肉眼精确断言650分已达标，需结合本回合评分记录。",
    "step": {
     "cat": "位姿",
     "item": "沿轨迹移动"
    },
    "contact": [
     {
      "who": "手持工具",
      "how": "压/擦",
      "plan": 1,
      "note_zh": "灵巧手持银色长柄，使末端黑色擦头压在窗玻璃上上下擦拭；单手、双手握柄属于同一工具到玻璃的接触链，不重复追加握柄接触。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "机器人双脚接触地面，腿和躯干支撑持工具擦窗时的身体。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:4-6",
     "inputs/task/privileged/instruction.md:12-20",
     "inputs/task/privileged/tests/rewards.json:7 complete Window.get_reward formula",
     "inputs/task/privileged/tests/rewards.json:11 _STAND_HEIGHT = 1.65",
     "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-379 reward accumulation",
     "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:425-429 return threshold",
     "inputs/grader/efe_humanoidbench-files/sim/server.py:267-270 same success rule",
     "inputs/grader/efe_humanoidbench-files/privileged/tests/grade.py:72-87 privileged repeat/determinism acceptance",
     "inputs/oracle/replay.mp4:0.50-10.05 video seconds"
    ],
    "conf": 6,
    "note_zh": "一个累计奖励阈值对应一个完整擦窗步骤，不把接触、站姿、目标速度、每次上下往返或持续时长拆成节点（D6）。按D1由评分检查的工具运动过程标为沿轨迹移动，名称仍沿用文本；场景没有清洁程度或污渍移除判据。event反映累计奖励达到门槛的历史事实，末帧不要求继续运动或松手。"
   }
  ],
  "constraints": [
   {
    "id": "pelvis_too_low",
    "zh": "骨盆过低",
    "never": null,
    "criterion_zh": "骨盆自由关节的世界高度qpos[2]低于0.58米即终止回合；画面中的明显下沉或倒地可提示风险，但不能从姿态外观代替精确高度检查。",
    "consequence": "立即终止",
    "sources": [
     "inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67",
     "inputs/task/privileged/instruction.md:19-20",
     "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-379"
    ]
   },
   {
    "id": "wiping_tool_dropped",
    "zh": "工具掉落",
    "never": null,
    "criterion_zh": "window_wiping_tool主体原点的世界高度低于0.58米即终止回合；不是擦头最低点低于0.58米，也不是一瞬间离手就自动触发。",
    "consequence": "立即终止",
    "sources": [
     "inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67",
     "inputs/task/privileged/instruction.md:19-20",
     "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-379"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "wiping_tool_in_hand",
    "level": "new_code",
    "source": "需记录灵巧手与window_wiping_tool的实际抓握/承载状态；现有输入无状态日志，评分函数中的双手距离软奖励不能等价替代抓握。"
   },
   {
    "atom": "episode_return",
    "level": "new_code",
    "source": "inputs/grader/efe_humanoidbench-files/privileged/environment/rcb_hb.py:371-374,425-429；需将已恢复奖励函数的逐步累加值写入回放状态，物理验收为episode_return >= 650。"
   },
   {
    "atom": "pelvis_height_m",
    "level": "new_code",
    "source": "需记录MuJoCo data.qpos[2]；阈值来源 inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67。"
   },
   {
    "atom": "wiping_tool_height_m",
    "level": "new_code",
    "source": "需记录MuJoCo named.data.xpos[window_wiping_tool][2]；阈值来源 inputs/oracle/run.json:1 steps[id=103].out.text, window.py:62-67。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "episode_return",
   "unit": "分",
   "threshold": 650,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空，没有任何可安全绑定的逐帧状态字段；按P8所有节点when、约束never及success均为null，不能做状态重放的一致性检验。录像只能识别握持与擦拭，650分必须由评分记录确认，不能自定擦拭秒数。",
  "D2/Y17工具必需性：三种模式均明确要求取得同一擦窗工具；奖励只对window_wipe_collision与window_pane_collision的实际接触给接触项，完全无此接触时每步至多0.5分、1000步至多500分，达不到650；场景记录表明工具有自由关节、最初悬空，主体落到0.58米以下立即终止，故保留工具在手这个过程节点。但评分器没有硬性的手部抓握检查，靠近只给软奖励，现有证据不能排除非抓握承托的评分漏洞；该应用仍属D2的待定边界，不把双手握柄强加给所有方案。",
  "文本步骤未受评：握住擦窗工具没有独立的抓握布尔值或握持阶段验收，保留goal=false并从视频判断；掉落检查实际只看工具主体高度，不是丢失抓握即刻判负。",
  "任务设计问题：文本要求稳定上下擦窗，但评分只累加软奖励，没有污渍、覆盖率、往返次数或速度符号反转检查；0.5米/秒是绝对竖直速度的奖励峰值，静止也可得到非零运动奖励，故累计650分不等价于严格完成文本描述的擦拭。按D1将上下擦窗标为位姿·沿轨迹移动，按D6保持一个累计验收节点，不另加清洁程度或往返计数要求（inputs/task/privileged/tests/rewards.json:7）。",
  "三种模式的奖励JSON完全一致，物理成功核心均为累计回报达到650；privileged另要求重复回放全部达标且最终状态哈希一致（grade.py:72-76），standard与standard-realtime使用同一server.py:267-270的实时回合成功值并达到门槛即停止。交付格式、重复回放确定性与基础设施有效性无法用世界状态表达，不建语义节点；success=null保留这些协议差异，不用未记录的验证器结果伪造绑定。",
  "逐帧终止条件的独立上游任务源文件未随bench_src提供；0.58米阈值取自本任务oracle/run.json的steps[id=103].out.text中展示的window.py:62-67，初态悬空由指令、同记录展示的自由关节及录像起始帧相互支持。不能将源码默认qpos值冒充缺失的冻结instance.npz实测值。"
 ],
 "conf": 6,
 "conf_reason_zh": "两步来自任务文字及Y17必需工具例外，奖励、累计阈值和模式共用实现已核对，成功录像显示工具被控制并贴窗擦动；没有状态日志或冻结实例数值，抓握无硬检查、软累计评分与文字的边界仍需保留疑问，故置信度为6。",
 "review": {
  "status": "agreed",
  "rounds": 2,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "fix",
    "conf": 6,
    "summary_zh": "节点集合（握住工具→上下擦窗）与文本一致，约束、when=null（无状态日志，P8）均合理；唯一实质错误是终点节点 window_wiping_completed 被标成 optional=true 且 goal=false：擦窗是文本和评分器共同要求的目标，累计650分达不到就不通过，不是可跳过步骤。",
    "n_issues": 1,
    "n_major": 1
   },
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 2,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "无状态日志，两个节点（握住工具=Y17 工具拾取；擦窗累计650分为目标）与指令描述一致；约束（骨盆/工具高度<0.58 立即终止）符合评分器终止条件；任务设计问题（软奖励累计≠严格上下擦拭）已在 open_questions_zh 中列出；标签与 conf 合理。",
    "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：['wiping_tool_in_hand', 'window_wiping_completed']"
  ]
 },
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  "effort": "high",
  "created": "2026-10-29T02:57:46Z",
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