{
 "schema": "efe-task-dag/1",
 "taxonomy": "v2",
 "taskKey": "bigym2/stack_blocks",
 "suite": "bigym2",
 "base": "bigym2-stack-blocks-i00",
 "title_zh": "将积木堆到绿垫上",
 "summary_zh": "将近桌上的三个积木搬到远桌绿垫，堆成底层触垫、相邻层接触且中心高差至少0.03米和水平距离不超过0.05米的一摞，所有夹爪手指离开积木并共同保持50个控制步，期间无积木触地、机器人跌倒或骨盆越界。",
 "embodiment_zh": "三个模式均为Unitree G1人形机器人，左右两条手臂各装一个Dex1-1二指夹爪，以双腿行走；全身控制器驱动腿和腰，机器人可移动、下蹲及倾身。",
 "task_class": "compositional",
 "analysis_level": "step",
 "spec": {
  "version": "1.2",
  "task": "bigym2-stack-blocks-i00",
  "bench": "bigym2",
  "progress": "live",
  "entities": {},
  "milestones": [
   {
    "id": "blocks_stacked_1",
    "zh": "第1块堆好",
    "mode": "state",
    "when": null,
    "after": [],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "两个外部视角中，远桌的小绿色方垫上至少有一个红色积木直接接触垫面，成为同一摞的底层；仍在近桌、悬在垫上或放在垫旁都不算，底层离开垫面时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。",
    "step": {
     "cat": "关系",
     "item": "放置"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:6",
     "task/privileged/instruction.md:8",
     "task/privileged/instruction.md:15",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147",
     "grader/efe_bigym2-files/sim/server.py:128"
    ],
    "conf": 6,
    "note_zh": "按绿垫上同一连续堆叠链至少1块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。"
   },
   {
    "id": "blocks_stacked_2",
    "zh": "第2块堆好",
    "mode": "state",
    "when": null,
    "after": [
     "blocks_stacked_1"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "两个外部视角中，绿色方垫上至少有两个红色积木上下相接成同一摞：底层触垫，上层触下层，上层中心至少高0.03米、两中心水平距离不超过0.05米；仅并排放在桌上不算，连续堆叠链不足两块时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。",
    "step": {
     "cat": "关系",
     "item": "堆叠"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:6",
     "task/privileged/instruction.md:8",
     "task/privileged/instruction.md:15",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147",
     "grader/efe_bigym2-files/sim/server.py:128"
    ],
    "conf": 6,
    "note_zh": "按绿垫上同一连续堆叠链至少2块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。"
   },
   {
    "id": "blocks_stacked_3",
    "zh": "第3块堆好",
    "mode": "state",
    "when": null,
    "after": [
     "blocks_stacked_2"
    ],
    "hold_s": 0,
    "freeze_held": false,
    "goal": true,
    "criterion_zh": "两个外部视角中，绿色方垫上三个红色积木上下相接成三层：底层触垫，每一上层触紧邻下层，中心高差至少0.03米、水平距离不超过0.05米；第三块仍在手中悬空未接触下层不算，连续堆叠链不足三块时失去。全局成功另要求三个积木都无任何夹爪手指接触，且完整三层关系与该离手条件共同连续成立50个控制步（任务称1秒）；此联合验收不拆为节点，也不在各层重复加等待。",
    "step": {
     "cat": "关系",
     "item": "堆叠"
    },
    "contact": [
     {
      "who": "手指/夹爪",
      "how": "抓握",
      "plan": 1,
      "note_zh": "任一手的二指夹爪夹住待放积木，将其放到绿垫上或已有积木上，不指定左手或右手。"
     },
     {
      "who": "腿/躯干",
      "how": "支撑",
      "plan": 1,
      "note_zh": "双脚交替支撑地面，腿和躯干配合手臂把待放积木从近桌搬到远桌；这是搬放过程的接触，不另计行走步骤。"
     }
    ],
    "optional": false,
    "verify_zh": null,
    "sources": [
     "task/privileged/instruction.md:6",
     "task/privileged/instruction.md:8",
     "task/privileged/instruction.md:15",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147",
     "grader/efe_bigym2-files/sim/server.py:128"
    ],
    "conf": 6,
    "note_zh": "按绿垫上同一连续堆叠链至少3块计数，积木可互换；不固定实例、颜色次序或搬运次数。边仅表示累计层数，允许预先搭叠再整体搬到垫上，多个节点可同时成立。节点本身只验收几何关系，可在夹爪仍接触时成立，因此关闭持物冻结；共同离手与50步窗口属于全局成功。"
   }
  ],
  "constraints": [
   {
    "id": "block_on_floor",
    "zh": "积木触地",
    "never": null,
    "criterion_zh": "任意一个任务积木与地板发生接触即失败；落在桌面不属于触地。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/instruction.md:15",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:14"
    ]
   },
   {
    "id": "robot_fell",
    "zh": "机器人跌倒",
    "never": null,
    "criterion_zh": "机器人骨盆偏离直立约53度以上，或骨盆高度低于0.30米，被记为跌倒；任何一次跌倒都否决成功，即使之后重新站起，且跌倒本身不立即结束回合。",
    "consequence": "历史否决",
    "sources": [
     "task/privileged/instruction.md:15",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:16",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156"
    ]
   },
   {
    "id": "pelvis_out_of_bounds",
    "zh": "骨盆越界",
    "never": null,
    "criterion_zh": "骨盆到场景原点的距离超过10米，回合按任务越界失败结束；输入未提供上游所用距离范数的完整实现。",
    "consequence": "立即终止",
    "sources": [
     "task/privileged/instruction.md:17",
     "task/privileged/instruction.md:18",
     "grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:15"
    ]
   }
  ],
  "success": null,
  "atoms": [
   {
    "atom": "stack_prefix_count",
    "level": "new_code",
    "source": "拟新增 task.stack_prefix_count：记录从触绿垫的底层起，满足相邻接触、中心高差至少0.03米、水平距离不超过0.05米的最长连续积木链长度；供三个计数节点使用。依据 task/privileged/instruction.md:15。"
   },
   {
    "atom": "all_blocks_released",
    "level": "new_code",
    "source": "拟新增 task.all_blocks_released：对三个积木和左右夹爪记录上游 is_gripper_holding_object 的否定合取，不能以夹爪张开代替。依据 task/privileged/instruction.md:15。"
   },
   {
    "atom": "stack_success_hold_steps",
    "level": "new_code",
    "source": "拟新增 task.stack_success_hold_steps：记录完整三层几何关系与全体离手共同连续成立的上游计数，成功需50步。依据 task/privileged/instruction.md:15。"
   },
   {
    "atom": "block_floor_contact",
    "level": "new_code",
    "source": "拟新增 task.block_floor_contact：任意任务积木与地板的接触。依据 task/privileged/instruction.md:15。"
   },
   {
    "atom": "episode_fell",
    "level": "new_code",
    "source": "拟新增 task.episode_fell：记录上游 env.episode_fell() 的历史跌倒状态。依据 grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:156。"
   },
   {
    "atom": "pelvis_out_of_bounds",
    "level": "new_code",
    "source": "拟新增 task.pelvis_out_of_bounds：直接记录上游骨盆距场景原点超过10米的失败判据，避免猜测范数。依据 task/privileged/instruction.md:17。"
   }
  ]
 },
 "native_metrics": [
  {
   "name": "adjacent_center_height_difference",
   "unit": "m",
   "threshold": 0.03,
   "direction": "higher_better"
  },
  {
   "name": "adjacent_center_horizontal_distance",
   "unit": "m",
   "threshold": 0.05,
   "direction": "lower_better"
  }
 ],
 "open_questions_zh": [
  "inputs/states/index.json的logs为空；按DECISIONS.md P8，所有节点when、约束never与success均为null，不能用状态日志验证达成或评分一致性。atoms列出的字段是建议新增的日志，不是已有字段。",
  "上游bigym任务模块和跌倒检查实现未作为完整源码随输入提供；适配器委托bigym.loco.eval.is_success（grader/efe_bigym2-files/privileged/environment/rcb_bigym2.py:147），oracle/run.json中步骤9的模块输出也已截断。几何阈值、50步共同窗口、手指接触定义及约53度跌倒阈值依据三个模式一致的instruction.md；水平距离的严格或非严格边界、跌倒精确角阈值和10米越界的距离范数待上游完整实现核实，未自行增加数值容差。",
  "按DECISIONS.md N4将三个可互换积木按绿垫上同一连续堆叠链的数量计数；第一块是底层放置，第二、三块是堆叠，不指定哪块作底或要求逐块搬运。",
  "共同离手和连续50步窗口属于全局success；每个节点只记录对应层数的几何关系，hold_s为0且freeze_held为false。无状态日志时，联合验收完整写在各节点视频判据和任务摘要中；不把共同离手条件重复作用于每个节点。",
  "模式差异：物理成功规则共用上游检查器；特权模式评分还要求两次新进程回放成功且最终状态哈希一致（grader/efe_bigym2-files/privileged/tests/grade.py:112），标准和实时模式评分以现场回合结果为准（grader/efe_bigym2-files/sim/server.py:13；grader/efe_standard-files/v2_1/grade.py:99）。回放有效性、文件合法性与基础设施条件不作为世界状态节点；success因无日志而保持null。"
 ],
 "conf": 6,
 "conf_reason_zh": "三步来自任务文字和可互换物品计数规则，初态与成功视频吻合，三个模式物理目标一致；但没有任何状态日志，且未提供上游完整任务及跌倒检查源码，无法独立核实阈值边界和逐帧联合窗口。",
 "review": {
  "status": "agreed",
  "rounds": 1,
  "reviewers": [
   {
    "engine": "claude",
    "model": "claude-sonnet-5-5",
    "round": 1,
    "verdict": "agree",
    "conf": 7,
    "summary_zh": "三个可互换积木按绿垫上连续堆叠链计数（N4），节点、边、约束（积木触地、跌倒历史否决、骨盆越界）与指令和成功条件一致；无状态日志，按P8所有when/never/success为null，符合规则；共同离手与50步窗口留在全局成功并写入open_questions_zh。未发现需修改的内容。",
    "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：['blocks_stacked_1', 'blocks_stacked_2', 'blocks_stacked_3']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T09:37:51Z",
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  "reconcile_prompt": "prompts/05_reconcile.md",
  "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2",
  "calls": [
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    "stage": "dag",
    "round": 0,
    "ok": true,
    "space": "work/tasks/bigym2__stack_blocks/01_dag"
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   {
    "stage": "dag_review",
    "round": 1,
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    "space": "work/tasks/bigym2__stack_blocks/02_review_r1"
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  "review_engine": "claude",
  "review_model": "claude-sonnet-5-5",
  "inputs_manifest_sha256": "b057e32b52e06ae6e3ed5fad1790605d6ac9629a717ef1f7a5e058c58046ea0f",
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 }
}