{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "bigym2/pick_box", "suite": "bigym2", "base": "bigym2-pick-box-i00", "title_zh": "纸箱放上厨房台面", "summary_zh": "纸箱接触厨房台面，中心水平投影位于台面范围内、最低点与台面顶面高度差不超过0.03米，两夹爪均不接触纸箱，连续满足50个控制步，机器人全程未跌倒。", "embodiment_zh": "三个模式均为Unitree G1人形机器人，左右臂各配Dex1-1二指夹爪；双腿与腰部由GR00T全身控制器驱动，以足式移动，无轮式底盘。", "task_class": "atomic", "analysis_level": "step", "spec": { "version": "1.2", "task": "bigym2-pick-box-i00", "bench": "bigym2", "progress": "live", "entities": {}, "milestones": [ { "id": "box_on_counter", "zh": "纸箱放上台面", "level": "semantic", "mode": "state", "when": null, "after": [], "hold_s": 0.98, "goal": true, "criterion_zh": "两个外部视角中，棕色纸箱从灰色低侧桌移到白色柜体的木色厨房台面上：纸箱接触台面，中心的水平投影在台面世界轴对齐包围盒内，最低点与台面顶面高度差不超过0.03米，两夹爪的指垫均不再接触纸箱，连续满足50个控制步（名义1秒）。仅举在台面上方、仍贴着任一指垫或仍在侧桌上均未完成；纸箱离开台面、滑出中心范围或重新被任一夹爪接触即不再满足。", "step": { "cat": "关系", "item": "放置" }, "contact": [ { "who": "双臂协作", "how": "其他", "plan": 1, "note_zh": "候选：夹持；左、右臂末端从纸箱两侧相向挤压并搬放纸箱，没有单个夹爪合拢包夹箱体，故不标抓握；现有接触条目缺少双臂相向夹持（暂行：DECISIONS.md D12）。" }, { "who": "腿/躯干", "how": "支撑", "plan": 1, "note_zh": "机器人双脚接触地面，双腿在双臂夹持纸箱时承重并行走，将纸箱从侧桌搬向厨房台面。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:6 task sentence", "inputs/task/privileged/instruction.md:15 counter contact, centre above top, bottom-height error <= 0.03 m, neither gripper holding, 50 consecutive controls", "inputs/task/privileged/environment/instance.json:162 control_dt = 0.02 s", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-157 upstream success and fall history", "inputs/oracle/run.json:1 step id 184 prints PickBoxG1._success; step id 189 prints _box_on_counter_top (centre XY in counter world AABB and box bottom Z near counter top)", "inputs/oracle/replay.mp4 @ 0-19.52 s: two external views, box initially on grey side table; at end on wooden counter, hands separated" ], "conf": 6, "note_zh": "一个纸箱的一次放置，不另拆接近、下蹲、夹持、举起、搬运、撤手或等待。验收要求离手，沿用放置节点的持物冻结默认；hold_s按D31换算为(50-1)×0.02=0.98秒，目前无状态日志，实际完成仍以连续50个控制步为准。成功视频末段约18至19.52秒可见纸箱在木色台面、双手撤离；箱体直立只是该示例姿态，不额外要求方向或速度。" } ], "constraints": [ { "id": "robot_fell", "zh": "机器人跌倒", "never": null, "criterion_zh": "机器人任一时刻被BiGym判定跌倒：说明文本给出的界限为骨盆相对竖直倾斜超过约53度，或骨盆高度低于0.30米；恢复站立也不能消除跌倒历史。", "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": "骨盆距场景原点超过10米，按任务终止规则结束当前回合。", "consequence": "立即终止", "sources": [ "inputs/task/privileged/instruction.md:17-19", "inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14-15" ] } ], "success": null, "atoms": [ { "atom": "box_counter_contact", "level": "new_code", "source": "Log dyn.box_counter_contact from box.is_colliding(cabinet_base.counter); inputs/oracle/run.json:1 step id 184." }, { "atom": "box_on_counter_top", "level": "new_code", "source": "Log dyn.box_on_counter_top from PickBoxG1._box_on_counter_top, and dyn.box_bottom_height_error_m; inputs/oracle/run.json:1 step id 189; inputs/task/privileged/instruction.md:15." }, { "atom": "box_gripper_contacts", "level": "new_code", "source": "Log dyn.box_held_left and dyn.box_held_right from robot.is_gripper_holding_object(box, side), based on finger-pad contacts; inputs/oracle/run.json:1 step ids 17-18 and 184." }, { "atom": "box_counter_hold_steps", "level": "new_code", "source": "Log dyn.box_counter_hold_steps, consecutive controls satisfying contact, top geometry and neither gripper holding; inputs/task/privileged/instruction.md:15." }, { "atom": "robot_fell", "level": "new_code", "source": "Log dyn.robot_fell from env.episode_fell(); inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156-157." }, { "atom": "pelvis_out_of_bounds", "level": "new_code", "source": "Log dyn.pelvis_out_of_bounds from the upstream scene-origin distance check; inputs/task/privileged/instruction.md:17-19." }, { "atom": "task_success", "level": "new_code", "source": "Log flags.success from bigym.loco.eval.is_success(env); inputs/grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147-150." } ] }, "native_metrics": [ { "name": "box_bottom_height_error", "unit": "m", "threshold": 0.03, "direction": "lower_better" } ], "open_questions_zh": [ "inputs/states/index.json的logs为空，成功示例也没有状态日志；依P8，所有节点when、约束never及success均为null，atoms仅列待新增的日志字段，不能声称完成了状态证据核验。", "双臂相向夹持的接触方式尚未命名：依D12使用双臂协作×其他，候选夹持；它不是单个夹爪包夹式抓握。该接触是典型方案，不把双臂使用作为成功条件。", "三个模式共享Episode及上游is_success，固定实例的起始状态与场景哈希也相同；特权模式另要求两次重放均成功且末态哈希一致（inputs/grader/efe_bigym2-files/privileged/tests/grade.py:105-119），标准与实时模式按实际回合判定（inputs/grader/efe_bigym2-files/sim/server.py:125-128；inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。这是交付与复现要求，不增设语义节点或把未记录的交付结果绑定为世界状态。", "文本要求轻放；现有评分器调用链与成功示例打印的_success只明确检查台面接触、顶面几何、离手及保持窗口，未见冲击力或放置速度阈值；轻放作为放置的方式不另建步骤，也不自定阈值。", "输入未包含上游bigym的完整任务、保持计数和跌倒判定源码；纸箱顶面几何由成功示例run.json的step id 189打印源码佐证，0.03米与50步来自各模式说明，约53度的跌倒角仅为说明中的近似值，不能把它改写为精确角度阈值。" ], "conf": 6, "conf_reason_zh": "文本、共享评分调用链、固定初态与成功视频支持一个放置步骤；顶面几何及指垫接触语义有示例打印的源码支持，但没有状态日志可绑定或核验，且上游保持与跌倒实现未完整提供。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 8, "summary_zh": "单节点“纸箱放上台面”与说明文本（拿起并轻放到台面）和评分器一致；拿起是机器人动作不单列，轻放已作为开放问题记录；无状态日志故when/never/success为null合规；约束为跌倒历史否决与越界终止；接触标签依D12。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：['box_on_counter']" ] }, "provenance": { "prompt": "prompts/01_task_dag.md", "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T10:20:25Z", "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/bigym2__pick_box/01_dag" }, { "stage": "dag_review", "round": 1, "ok": true, "space": "work/tasks/bigym2__pick_box/02_review_r1" } ], "review_engine": "claude", "review_model": "claude-sonnet-5-5", "inputs_manifest_sha256": "ec06c386f837b58023cc81e832e4da585bd86e389ef994c9ab8c9b1f3bfaadc6", "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" } }