{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "robowits/stack_bowls", "suite": "robowits", "base": "robowits-stack-bowls-i00", "title_zh": "小碗同心叠入大碗", "summary_zh": "两碗的俯视投影中心相距不超过1.1厘米、投影留在容差桌面内，并在规定检查窗口中无机器人接触且各自位移不超过2毫米。", "embodiment_zh": "两种模式均为固定基座的Marvin双臂机器人，每臂7自由度，各装Pika二指平行夹爪；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": "small_bowl_nested", "zh": "小碗同心叠入", "mode": "state", "when": null, "after": [], "hold_s": 2.0, "goal": true, "criterion_zh": "主视角开局可见两只黑碗前后分离；完成时小碗落在大碗处，结合主视角和腕部视角可见两个碗口投影近乎同心：碰撞网格二维凸包顶点的均值中心相距不超过0.011米（无凸包时依次用包围盒中心、物体位置），两碗投影均在x为[0.20,1.01]米、y为[-0.70,0.70]米的范围内；上下顺序和高度不参与验收。机器人任何部位均不得接触两碗，保持末条命令等待1秒后，在随后2秒窗口的起点、每6个控制步及终点均须满足几何与无接触条件，且每个控制步两碗位置相对窗口起点的位移均不超过0.002米（30赫兹）；分离、明显偏心、投影越界、被机器人接触或超限移动即未完成或失去，画面遮挡或毫米精度无法分辨时须借助接触及几何记录核实。", "step": { "cat": "关系", "item": "堆叠" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "note_zh": "单侧二指夹爪夹住小碗碗沿，将小碗移到大碗处后放开；左右夹爪均可承担这一作用。", "plan": 1 }, { "who": "双臂协作", "how": "抓握", "note_zh": "一侧二指夹爪夹住小碗碗沿，另一侧夹爪握住大碗碗沿协助对齐，最后两侧夹爪均放开两碗。", "plan": 2 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:4", "inputs/task/privileged/instruction.md:13-17", "inputs/task/privileged/instruction.md:25-77", "inputs/task/privileged/instruction.md:83-107", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:313", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:329-355", "inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-798", "inputs/task/privileged/environment/instance.json:55-137", "inputs/task/standard/instruction.md:7-29", "inputs/grader/efe_robowits-files/sim/server.py:165-176", "inputs/oracle/replay.mp4:0.0-19.2s" ], "conf": 6, "note_zh": "从任务句得到一个堆叠步骤；抓取、抬升、搬运、松手及静置均不另建节点，也不限定移动哪只碗。按D1/N3，保留文本名称，以指令明确优先的俯视同心检查验收；桌面范围是该步骤的验收，不另建保持节点。初态两碗独立且分离，投影在桌面范围内。放置验收要求释放，适用默认持物冻结。检查循环i=0至60共61个时刻覆盖完整2秒，故hold_s=2；前置1秒不计入保持时长。" } ], "constraints": [], "success": null, "atoms": [ { "atom": "dyn.bowls_footprints_on_table", "level": "new_code", "source": "待记录两碗碰撞网格二维凸包（无凸包时为bounds或pos）及is_on_table结果；inputs/task/privileged/instruction.md:13-60。" }, { "atom": "dyn.bowls_radial_offset_m", "level": "new_code", "source": "待记录_check_success所用两碗投影中心及其平面距离；inputs/task/privileged/instruction.md:25-77。" }, { "atom": "dyn.bowls_robot_contact_free", "level": "new_code", "source": "待记录Session.touching_robot对large bowl与medium bowl的真实机器人接触结果；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:744-761。" }, { "atom": "dyn.bowls_settle_window_ok", "level": "new_code", "source": "待记录Session.settle_check的窗口起点、逐步最大位置位移及几何/释放采样结果，形成可观察世界状态的窗口验收值；inputs/grader/efe_robowits-files/privileged/tests/rcb_robowits.py:763-798；不得以未记录的离线最终评分替代。" } ] }, "native_metrics": [ { "name": "radial_offset", "unit": "m", "threshold": 0.011, "direction": "lower_better" }, { "name": "settle_max_move", "unit": "m", "threshold": 0.002, "direction": "lower_better" } ], "open_questions_zh": [ "任务设计问题：任务句要求小碗嵌入大碗，实际评分不检查高度、上下顺序或容纳关系，大碗同心置于小碗上也能通过（inputs/task/privileged/instruction.md:98-102及其中_check_success:25-77）。依DECISIONS.md D1/N3保留一个文本命名的堆叠步骤，以指令明确优先的同心验收判定，不增加未受评的高度或嵌套节点。", "输入状态日志为空（inputs/states/index.json）；依DECISIONS.md P8，所有when及success置null，atoms列出需要记录的几何、真实接触和检查窗口数据，无法进行逐帧状态证据核对。成功视频的最后画面有机械臂遮挡，精确凸包中心差、2毫米位移及真实接触不能仅凭该画面确定。", "指令术语把“未持有”定义为夹爪尖端不在扩张3厘米的包围盒内，但实际goal/settle_check使用Genesis真实机器人接触（inputs/task/privileged/instruction.md:104-107；评分工具rcb_robowits.py:744-761）。本DAG按评分器的任何部位无接触验收，不增加3厘米退让要求。", "两模式物理验收相同，但特权模式要求同一轨迹两次回放均通过且CPU终态哈希一致、初态匹配（privileged/tests/grade.py:111-118）；标准模式直接使用服务的实时窗口结论且不重放（standard/tests/grade.py:28-39；sim/server.py:165-176）。这些交付与回放有效性检查不属于语义世界状态，也不拆成两次场景步骤。" ], "conf": 6, "conf_reason_zh": "语义粒度、初态、阈值和两模式的共同验收均有明确文本或代码依据，成功视频支持单步堆叠；没有状态日志，且最后画面遮挡，不能核验毫米级几何和真实接触，只能保留视频判据与待记录原子。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "单步“小碗同心叠入”与指令及评分器一致：阈值0.011米、桌面容差、2毫米位移、无接触均取自评分器；无状态日志，按P8 when与success为null，原子已列出；文本与评分不符（不检查嵌套/高度）已写入open_questions_zh。成功视频显示一只夹爪移碗，plan 1成立。", "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：['small_bowl_nested']" ] }, "provenance": { "prompt": "prompts/01_task_dag.md", "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T10:23:12Z", "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/robowits__stack_bowls/01_dag" }, { "stage": "dag_review", "round": 1, "ok": true, "space": "work/tasks/robowits__stack_bowls/02_review_r1" } ], "review_engine": "claude", "review_model": "claude-sonnet-5-5", "inputs_manifest_sha256": "1c70089199fe794a3d8e2cc95b08313c98a860e62bbc85a34712e899a835d436", "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" } }