{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "robowits/stack_bowls", "suite": "robowits", "base": "robowits-stack-bowls-i00", "title_zh": "小碗同心套叠", "summary_zh": "两碗的俯视轮廓在允许桌面范围内且中心距不超过1.1厘米，机器人不接触两碗，并通过两秒的静置检查。", "embodiment_zh": "两种模式均为桌前固定基座的Marvin双臂机器人，每臂7自由度，左右末端各为Pika平行二指夹爪；可用任一臂或双臂配合，无需移动底盘。", "task_class": "atomic", "analysis_level": "step", "spec": { "version": "1.2", "task": "robowits-stack-bowls-i00", "bench": "robowits", "progress": "live", "entities": {}, "milestones": [ { "id": "bowls_nested_concentrically", "zh": "小碗同心套叠", "mode": "state", "when": null, "after": [], "hold_s": 2.0, "goal": true, "criterion_zh": "主视角中原本前后分开的两只深色碗重叠成同心的一组，可结合腕部视角查看碗沿；按评分验收，两碗俯视轮廓须均在 x∈[0.20,1.01] m、y∈[-0.70,0.70] m 内，轮廓凸包顶点均值中心的水平距离≤0.011 m（无有效凸包时依次用包围盒中心、物体位置），不额外要求小碗低于大碗或嵌入某个深度。机器人保持末次指令先等待1秒，再检查2秒：从窗口起点起每6个控制步及末步均满足上述关系且机器人任一部位均不接触两碗，每个控制步两碗各自距窗口起点位置的位移均≤0.002 m；仍被夹持、明显偏心、任一轮廓越界或持续移动均未完成，达成后丢失任一条件即失去该步。", "step": { "cat": "关系", "item": "堆叠" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "任一臂的二指夹爪夹住中号碗碗沿并将其叠到大碗上；成功视频使用左夹爪，右夹爪也可执行此方案。", "plan": 1 }, { "who": "双臂协作", "how": "抓握", "note_zh": "一侧二指夹爪抓住大碗碗沿稳住或定位，另一侧二指夹爪抓住中号碗碗沿配合套叠；完成后两夹爪均须脱离两碗。", "plan": 2 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:3-4 任务文字与双臂二指夹爪", "inputs/task/privileged/instruction.md:13-77 内嵌原生成功判据：桌面范围、中心计算及0.011 m阈值", "inputs/task/privileged/instruction.md:83-102 验收窗口及不检查高度、套叠顺序", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:313 控制频率30 Hz", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:339-355 等待30步、检查60步、步幅6及两碗均受评", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761 Genesis接触列表与瞬时目标", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:763-799 静置窗口及每步位移上限0.002 m", "inputs/task/privileged/environment/instance.json:1 两碗初始分离，均在桌面范围内", "inputs/oracle/replay.mp4 @ 0.0,2.0,4.0,6.0,8.0,10.0,12.0,14.0,16.0,18.0,19.0 s 主视角及双腕视角：左夹爪搬动中号碗至大碗上" ], "conf": 6, "note_zh": "仅一个套叠步骤；抓取、抬起、搬运、降低、松手和退手均是其动作阶段或验收，未拆节点。按说明中优先的评分标准接受俯视同心，大小碗上下顺序不固定；桌面边界是本步的摆放验收，不另建保持在桌上节点或历史约束。hold_s为60次控制间隔即2秒，窗口包含i=0至i=60；1秒预等待是评价安排。验收要求松手静置，保留持物冻结默认行为。" } ], "constraints": [], "success": null, "atoms": [ { "atom": "dyn.bowls_radial_offset_m", "level": "new_code", "source": "需记录collect_objs_info两碗convex_hull_2d顶点均值中心的水平距离，及包围盒/位置回退；inputs/task/privileged/instruction.md:25-37,75-77。" }, { "atom": "dyn.bowls_footprints_in_table", "level": "new_code", "source": "需记录两碗俯视轮廓均落入扩展桌面矩形的布尔值；inputs/task/privileged/instruction.md:13-15,40-68。" }, { "atom": "dyn.bowls_robot_contact_clear", "level": "new_code", "source": "需逐帧记录Session.touching_robot对large bowl和medium bowl的实际接触结果；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761。" }, { "atom": "dyn.bowls_check_window_max_move_m", "level": "new_code", "source": "需记录窗口起点、每步两碗位置及相对该起点的最大位移，并同步目标检查采样；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:763-799。" } ] }, "native_metrics": [ { "name": "radial_offset", "unit": "m", "threshold": 0.011, "direction": "lower_better" }, { "name": "settle.max_move_m", "unit": "m", "threshold": 0.002, "direction": "lower_better" } ], "open_questions_zh": [ "inputs/states/index.json的logs为空；按DECISIONS.md P8，所有节点when及success均为null。不能核验逐帧绑定、2毫米静置或精确凸包中心距，spec.atoms仅列待增加的世界状态记录，不代表已有日志字段。", "任务设计问题：文字要求小碗同心嵌入大碗，但原生判据只检验俯视同心和桌面范围，不检验高度、容纳或上下顺序；说明已明确大碗置于中号碗上也可通过（inputs/task/privileged/instruction.md:98-102；standard/instruction.md:22-26）。依DECISIONS.md N3、D1采用说明优先的评分验收，不另造一个未受评的嵌入步骤。", "文本与代码差异：两模式说明的not held解释为夹爪尖点不进入物体外扩3厘米包围盒，但实际Session.goal依据Genesis机器人任一部位的接触列表判定释放（inputs/task/privileged/instruction.md:104-106；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761）。以实际代码的无接触为验收，不添加3厘米退让阈值。", "两模式的物理目标与静置检查共用Session.goal/settle_check；privileged对提交轨迹重复回放，CPU还检查状态哈希一致及实例匹配；standard由在线单回合通过窗口即成功（privileged/tests/grade.py:63,111-118；sim/server.py:165-176；standard/tests/grade.py:28-40，均位于inputs/grader/efe_robowits-files）。这些复现与交付有效性要求不建语义节点；重复回放同一冻结实例也不是不同任务场景。", "输入未包含独立的19_stack_bowls.py模块，原生几何判据依据privileged说明中完整摘录的_check_success；成功视频末段碗沿被夹爪局部遮挡且无状态日志，精确中心距和无接触不能仅凭像素独立核验。" ], "conf": 6, "conf_reason_zh": "单个套叠步骤、初态、两模式共同验收及全部数值均有文字或代码依据，成功视频支持几何和典型接触方案；但没有状态日志，无法绑定或独立复核精确轮廓中心、接触与静置窗口，且文字和实际评分存在已列明的差异。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "任务文字只描述一个步骤（把小碗同心套入大碗），单节点、goal、state、hold_s 2.0、阈值（0.011 m、2 mm、桌面范围含1 cm容差）均与评分一致；松手静置与不接触已折入该节点，无状态日志故 when/success 为 null 符合 P8；任务设计问题（'套入'未被检验）已在 open_questions_zh 列出。未发现需改内容的错误。", "n_issues": 0, "n_major": 0 } ], "open_zh": [] }, "evidence_check": { "n_state_runs": 0, "n_faithful": 0, 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