{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "behavior-1k/loading_the_car",
 "suite": "behavior-1k",
 "base": "behavior-loading-the-car-i00",
 "title_zh": "装载汽车",
 "summary_zh": "数码相机在容器内，容器与网球拍均在汽车内，所有目标物体离手且以不超过0.05米/秒的线速度静置，联合保持30个控制步。",
 "embodiment_zh": "两种模式均为R1Pro移动双臂机器人：四关节躯干、左右各七关节机械臂及二指夹爪，采用辅助抓取，全向轮式底盘；标准模式仅开放头部、双腕相机及本体感知。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "behavior-loading-the-car-i00",
  "bench": "behavior-1k",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "car_opened",
    "zh": "打开汽车",
    "level": "semantic",
    "mode": "event",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": false,
    "criterion_zh": "头部或腕部相机可见车库内目标汽车的装载门或盖已离开关闭位置，露出可把容器和球拍送入的内部开口；仅碰到把手、门盖仍合拢不算完成。记录开口建立的事件，之后重新关上不撤销该事件。",
    "step": {
     "cat": "机构",
     "item": "打开"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "一侧夹爪抓住目标汽车门盖的把手或边缘并拉开。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘移动，将夹爪送到目标汽车装载口旁。",
      "plan": 1
     },
     {
      "who": "手指/夹爪",
      "how": "推/扫",
      "note_zh": "一侧夹爪或手指推拨目标汽车门盖边缘，使装载口打开。",
      "plan": 2
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘移动，将夹爪送到目标汽车门盖旁。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": "待核实：汽车装载口的关节初值、可用开口及容器通过的净空；实例文件只有物体位姿，没有门盖关节状态。",
    "sources": [
     "inputs/task/privileged/instruction.md:26-29",
     "inputs/bddl/loading_the_car.bddl:15",
     "inputs/bddl/loading_the_car.scene_objects.json:88-94",
     "docs/DECISIONS.md:52-59"
    ],
    "conf": 5,
    "note_zh": "依S2默认保留文字未点名的装载前提；不限定必须是哪扇车门或哪只夹爪。评分器不检查汽车开合，不增加关车步骤；不把5%开度阈值冒充足够装载的几何间隙。"
   },
   {
    "id": "camera_in_container",
    "zh": "相机入箱",
    "level": "semantic",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "头部或腕部视角可见数码相机进入玩具收纳箱的内腔，而非落在箱旁、箱盖或外壁上；按原生inside判据，相机轴对齐包围盒中心须落在容器包围盒及内部体积内，相机离开内腔即失去此状态。整体成功还要求这三个包含关系同时成立，且汽车、容器、相机和球拍均未被辅助抓取、线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该联合验收属于success，不单独计步。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "一侧二指夹爪夹住数码相机，将其送入收纳箱。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承携相机的机械臂，在桌子与收纳箱之间移动。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:4-9",
     "inputs/task/privileged/instruction.md:26-27",
     "inputs/bddl/loading_the_car.bddl:28",
     "inputs/bddl/loading_the_car.literals.json:4",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1402-1434"
    ],
    "conf": 7,
    "note_zh": "只计相机与容器的包含关系；整场的离手、静置及连续窗口放入success，因此本关系可在持物时成立，freeze_held=false。可先将相机装箱，也可先把箱装车后再放相机，不强加装载顺序。"
   },
   {
    "id": "container_in_car",
    "zh": "容器入车",
    "level": "semantic",
    "mode": "state",
    "when": null,
    "after": [
     "car_opened"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "头部或腕部相机可见原在客厅地面的玩具收纳箱已进入车库内目标汽车的内部装载空间，而非车旁地面、车顶或仅贴在车身上；按inside判据，箱的轴对齐包围盒中心须落在汽车包围盒及内部体积内，箱退出车内即失去此状态。整体成功还要求这三个包含关系同时成立，且汽车、容器、相机和球拍均未被辅助抓取、线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该联合验收属于success，不单独计步。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "一侧夹爪抓住收纳箱的可抓边缘，把箱送入汽车内部。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承持箱机械臂，将收纳箱从客厅运至车库。",
      "plan": 1
     },
     {
      "who": "双臂协作",
      "how": "抓握",
      "note_zh": "左右夹爪分别抓住收纳箱两侧边缘，共同搬放收纳箱。",
      "plan": 2
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承双臂及收纳箱，从客厅移至车库。",
      "plan": 2
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:4-9",
     "inputs/task/privileged/instruction.md:26-27",
     "inputs/bddl/loading_the_car.bddl:15-22",
     "inputs/bddl/loading_the_car.bddl:27",
     "inputs/bddl/loading_the_car.literals.json:3",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1402-1434"
    ],
    "conf": 7,
    "note_zh": "终点关系为一个步骤；不拆为拿起、搬运和松手。相机不必先入箱，球拍也不必后装；只将汽车开口建立记为物理前提。联合离手静置在success，freeze_held=false。"
   },
   {
    "id": "racket_in_car",
    "zh": "球拍入车",
    "level": "semantic",
    "mode": "state",
    "when": null,
    "after": [
     "car_opened"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "头部或腕部相机可见网球拍进入车库内目标汽车的内部装载空间，而非留在客厅桌面、车旁地面或车顶；按inside判据，球拍轴对齐包围盒中心须落在汽车包围盒及内部体积内，球拍退出车内即失去此状态，不额外要求整支球拍的外形完全被车身遮住。整体成功还要求这三个包含关系同时成立，且汽车、容器、相机和球拍均未被辅助抓取、线速度不超过0.05米/秒，连续30个控制步（标称1秒）；该联合验收属于success，不单独计步。",
    "step": {
     "cat": "关系",
     "item": "放入"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "note_zh": "一侧夹爪抓住网球拍柄，将球拍放进目标汽车。",
      "plan": 1
     },
     {
      "who": "底盘",
      "how": "支撑",
      "note_zh": "轮式底盘支承持球拍机械臂，从客厅桌旁驶至车库。",
      "plan": 1
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "inputs/task/privileged/instruction.md:4-9",
     "inputs/task/privileged/instruction.md:26-27",
     "inputs/bddl/loading_the_car.bddl:17-22",
     "inputs/bddl/loading_the_car.bddl:29",
     "inputs/bddl/loading_the_car.literals.json:5",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1402-1434"
    ],
    "conf": 7,
    "note_zh": "球拍装车与容器装车互不排序。联合离手静置在success，freeze_held=false。"
   }
  ],
  "constraints": [
   {
    "id": "robot_fallen",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "基座上轴的世界z分量低于0.75，或基座高度比场景地面低超过0.03米，连续300个控制步（10秒）即触发跌倒失败；短暂倾倒后在此窗口内恢复不触发。成功与跌倒同一步时先判成功。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_behavior-files/rcb_behavior.py:92-99",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:124-144",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1483-1489"
    ]
   },
   {
    "id": "simulator_breakdown",
    "zh": "仿真崩坏",
    "never": null,
    "criterion_zh": "机器人位置、朝向、线速度或关节位置出现非有限值；或机器人位置任一坐标绝对值超过10000米、基座线速度范数超过100米/秒；或每30步检查的目标物体位置非有限、任一坐标绝对值超过10000米。检测到即终止失败，先于成功检查。",
    "consequence": "立即终止",
    "sources": [
     "inputs/grader/efe_behavior-files/rcb_behavior.py:106-113",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1393-1396",
     "inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "car_loading_access_open",
    "level": "new_code",
    "source": "需记录car.n.01_1装载门盖的关节开度及装载开口；参考inputs/task/privileged/instruction.md:28与场景几何，当前未提供状态日志。"
   },
   {
    "atom": "camera_inside_container",
    "level": "new_code",
    "source": "需记录原生flags.lit:(inside digital_camera.n.01_1 container.n.01_1)；inputs/bddl/loading_the_car.bddl:28"
   },
   {
    "atom": "container_inside_car",
    "level": "new_code",
    "source": "需记录原生flags.lit:(inside container.n.01_1 car.n.01_1)；inputs/bddl/loading_the_car.bddl:27"
   },
   {
    "atom": "racket_inside_car",
    "level": "new_code",
    "source": "需记录原生flags.lit:(inside tennis_racket.n.01_1 car.n.01_1)；inputs/bddl/loading_the_car.bddl:29"
   },
   {
    "atom": "joint_settled_success",
    "level": "new_code",
    "source": "需记录原生flags.success_rule或Session.status()的success、goal_held_steps及goal_objects_held/moving；inputs/grader/efe_behavior-files/rcb_behavior.py:1414-1434、1543-1546"
   },
   {
    "atom": "robot_fall",
    "level": "new_code",
    "source": "需记录Session.status().fallen或FallWatch的原生结果；inputs/grader/efe_behavior-files/rcb_behavior.py:124-144、1546"
   },
   {
    "atom": "simulator_breakdown",
    "level": "new_code",
    "source": "需记录Session.status().breakdown及原生故障原因；inputs/grader/efe_behavior-files/rcb_behavior.py:1437-1471、1546"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "q_score",
   "unit": "无量纲",
   "threshold": null,
   "direction": "higher_better"
  }
 ],
 "open_questions_zh": [
  "无成功参考轨迹：inputs/oracle_none.txt记载14条目录运行全部失败；无solution脚本及状态日志，只能依据文字、BDDL、实例与评分器规划，视频判据未经过成功画面核实（暂行：DECISIONS.md N2、N8）。",
  "inputs/states/index.json的logs为空；所有节点when、约束never与success均为null，不虚构日志绑定。atoms列出未来需补记的字段（暂行：DECISIONS.md P8）。",
  "汽车开口：按DECISIONS.md S2默认加入打开汽车事件；本地实例仅含物体位姿，未提供门盖关节初值及装载净空，故标待核实，不改为optional。该事件的装载开口判据不等同于任意一扇车门超过5%开度。",
  "通路：BDDL初态机器人在车库，物品在客厅；scene_objects列出garage-corridor的door_bexenl_0、living_room-garden的door_vudhlc_3、corridor-garden的door_vudhlc_0/1以及只标注garage的garage_door_prdjyt_0，未给门初态及完整开放通道。依据S2允许省略文本未点名的前提，本DAG不展开房间门节点，不将任一特定房门当成所有路线必经。",
  "任务设计问题：BDDL第31-33行的not open位于:goal的首个and表达式之外，实际三个目标字面量不含关车条件；两种instruction都已明确说明不检查关车。依实际评分器不设关车节点或约束（inputs/task/privileged/instruction.md:29；inputs/bddl/loading_the_car.literals.json:2-14）。",
  "两模式的世界状态目标一致，但privileged要求两次新进程回放均成功、最终状态哈希一致且实例匹配；standard以服务中的实际episode成功为准并要求完成终结且无基础设施错误。这些交付及复现条件不是语义节点；success保持null（privileged/grade.py:168-174；standard/grade.py:29-35）。",
  "联合验收含汽车、容器、相机、球拍四个目标对象的释放与静置，检查速度为线速度>0.05米/秒才判运动，未检查角速度。30步窗口不拆节点，全部放在success并在三个目标criterion中说明；关系节点只计inside，允许持物时几何成立，因此freeze_held=false（DECISIONS.md D17）。",
  "q_score是评分器输出的连续进度指标（rcb_behavior.py:1548-1553；privileged/grade.py:188-190），输入未提供其聚合公式或独立通过阈值，threshold为null，不用q_score代替联合成功。"
 ],
 "conf": 6,
 "conf_reason_zh": "三个目标步骤、初始三关系均不成立及共同验收规则证据明确；但无状态日志、无成功视频，汽车开口初态与通路几何未核实，所有状态只能依视频判据判断。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 6,
    "summary_zh": "节点集（打开汽车[S2可选读法]、相机入箱、容器入车、球拍入车）与文字、BDDL三个inside目标一致；30步释放静置联合验收放在success说明里，约束为评分器跌倒/崩坏，边无习惯边，freeze_held=false。无状态日志与oracle，when/never为null并已在open_questions_zh说明。轻微：criterion中称“玩具收纳箱”未经核实（容器类别仅为container.n.01）。",
    "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：['car_opened', 'camera_in_container', 'container_in_car', 'racket_in_car']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T10:17:35Z",
  "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/behavior-1k__loading_the_car/01_dag"
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  "review_engine": "claude",
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 }
}