| { |
| "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": "数码相机位于容器内，容器与网球拍位于汽车内，所有目标物体离手且线速度不超过0.05米/秒，三个关系与离手静置条件同时连续保持30个控制步。", |
| "embodiment_zh": "两模式均为R1Pro轮式移动双臂机器人：左右各一条七自由度机械臂，各配二指夹爪，采用辅助抓取；四自由度躯干与可平移、转向的移动底盘，头部及双腕相机。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "behavior-loading-the-car-i00", |
| "bench": "behavior-1k", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "garage_passage_opened", |
| "zh": "打开车库通道", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": false, |
| "criterion_zh": "车库与屋内走廊之间的门door_bexenl_0，或可供绕行的车库大门garage_door_prdjyt_0，至少一处由关闭变为打开，门板离开封堵通道的位置，留下机器人与所搬物品可通过的开口；头部或腕部视角应见门框内出现通路。门板仍封住通路、只碰到门把手不算完成；开门后再次关门不撤销此事件。", |
| "step": { |
| "cat": "机构", |
| "item": "打开" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一夹爪握住所选车库通道门的把手或门缘并拉开", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘的车轮在地面支撑机器人，使夹爪能随所选通道门的开合移动", |
| "plan": 1 |
| }, |
| { |
| "who": "手指/夹爪", |
| "how": "推/扫", |
| "note_zh": "任一张开的夹爪抵住所选车库通道门的门板推开", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘的车轮支撑机器人配合夹爪推开所选通道门", |
| "plan": 2 |
| } |
| ], |
| "optional": true, |
| "verify_zh": "待核实：门初态；车库大门是否提供可通行的室外替代路线；完整场景中的车库出口连通性。", |
| "sources": [ |
| "bddl/loading_the_car.bddl:14-22", |
| "bddl/loading_the_car.scene_objects.json:95-101", |
| "bddl/loading_the_car.scene_objects.json:332-338", |
| "grader/efe_behavior-files/rcb_behavior.py:1279-1284" |
| ], |
| "conf": 5, |
| "note_zh": "场景对象表确认车库通道门存在，但未给出完整通路拓扑和门初态，无法证明每个成功策略都必须开门；按Step 2与Step 4仅作为可能用到的可选准备保留，不为三个目标添加依赖。保留verify_zh，后续须核实初态及所有通路后才能认定必经；无状态日志，未来条件应为已核实可用出口的开放谓词之any。" |
| }, |
| { |
| "id": "camera_in_container", |
| "zh": "相机入容器", |
| "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落在玩具箱式容器的内腔；正式inside判据为相机轴对齐包围盒中心同时落入容器的包围盒与内部容积，仅位于箱口上方、箱外或贴着外壁不算，中心移出内腔即失去该关系。整项任务还要求三个包含关系同时成立，汽车、容器、相机和球拍均未附着于任一夹爪，且各自基座线速度不超过0.05米/秒，连续30个控制步（30赫兹）；这一联合窗口归入整体成功，不另建步骤。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一二指夹爪抓住数码相机机身并将其移入容器", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘的车轮在地面支撑机器人，使夹爪能在相机与容器所在位置间搬放相机", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:4-9", |
| "task/privileged/instruction.md:26-27", |
| "bddl/loading_the_car.bddl:16-18", |
| "bddl/loading_the_car.bddl:28", |
| "bddl/loading_the_car.literals.json:4", |
| "bddl/loading_the_car.literals.json:14", |
| "grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "grader/efe_behavior-files/rcb_behavior.py:1310-1314", |
| "grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 7, |
| "note_zh": "相机与容器为不同目标，单列一个包含关系；相机可在容器入车之前或之后放入，不加两者之间的边。节点只评价包含关系，允许关系在持物时成立，故关闭持物冻结；全部目标物体离手和静置由整体成功联合验收。" |
| }, |
| { |
| "id": "container_in_car", |
| "zh": "容器入车", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角可见玩具箱式容器进入车库内汽车的可容纳内腔；正式inside判据为容器轴对齐包围盒中心同时落入该车的包围盒与内部容积，停在车旁、车外或仅接触车体不算，中心移出汽车内部即失去该关系。整项任务还要求三个包含关系同时成立，汽车、容器、相机和球拍均未附着于任一夹爪，且各自基座线速度不超过0.05米/秒，连续30个控制步（30赫兹）；这一联合窗口归入整体成功，不另建步骤。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一二指夹爪抓住容器边缘并将容器装入汽车", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘的车轮支撑机器人携带容器从客厅移至车库内的汽车", |
| "plan": 1 |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "note_zh": "左右二指夹爪各抓住容器一侧边缘，共同将容器装入汽车", |
| "plan": 2 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘的车轮支撑机器人在双臂携带容器时从客厅移至车库", |
| "plan": 2 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:4-9", |
| "task/privileged/instruction.md:26-29", |
| "bddl/loading_the_car.bddl:15-22", |
| "bddl/loading_the_car.bddl:27", |
| "bddl/loading_the_car.literals.json:3", |
| "bddl/loading_the_car.literals.json:14", |
| "grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "grader/efe_behavior-files/rcb_behavior.py:1310-1314", |
| "grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 7, |
| "note_zh": "不把夹取、搬运或放手分成节点。目标未指定汽车的某一具体储物腔，不强制后备箱或某个车门。相机可以先入箱后随箱搬运，也可以在箱入车后放入；整体成功才要求二者同时保持。" |
| }, |
| { |
| "id": "racket_in_car", |
| "zh": "球拍入车", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "头部或腕部视角可见网球拍进入车库内汽车的可容纳内腔；正式inside判据为球拍轴对齐包围盒中心同时落入该车的包围盒与内部容积，只把拍头搭在车外或把球拍留在车旁不算，中心移出汽车内部即失去该关系。整项任务还要求三个包含关系同时成立，汽车、容器、相机和球拍均未附着于任一夹爪，且各自基座线速度不超过0.05米/秒，连续30个控制步（30赫兹）；这一联合窗口归入整体成功，不另建步骤。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "任一二指夹爪抓住网球拍的拍柄或拍框并将球拍装入汽车", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘的车轮支撑机器人将网球拍从客厅搬至车库内的汽车", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "task/privileged/instruction.md:4-9", |
| "task/privileged/instruction.md:26-29", |
| "bddl/loading_the_car.bddl:15-22", |
| "bddl/loading_the_car.bddl:29", |
| "bddl/loading_the_car.literals.json:5", |
| "bddl/loading_the_car.literals.json:14", |
| "grader/efe_behavior-files/rcb_behavior.py:100-105", |
| "grader/efe_behavior-files/rcb_behavior.py:147-164", |
| "grader/efe_behavior-files/rcb_behavior.py:1310-1314", |
| "grader/efe_behavior-files/rcb_behavior.py:1414-1434" |
| ], |
| "conf": 7, |
| "note_zh": "网球拍为被装载目标物而非辅助工具，不建拿起球拍节点。与容器入车无必需先后顺序；目标没有要求关车。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "robot_fallen", |
| "zh": "机器人倒地", |
| "never": null, |
| "criterion_zh": "机器人基座高度低于地面超过0.03米，或基座向上轴的世界竖直分量小于0.75（倾斜约超过41.4度），这一或条件连续300个控制步（10秒）成立即判倒地并终止；短于该窗口的倾倒不触发此规则。同一步成功先于倒地检查，已达成成功则不被倒地覆盖。", |
| "consequence": "立即终止", |
| "sources": [ |
| "grader/efe_behavior-files/rcb_behavior.py:92-99", |
| "grader/efe_behavior-files/rcb_behavior.py:124-144", |
| "grader/efe_behavior-files/rcb_behavior.py:1393-1399", |
| "grader/efe_behavior-files/rcb_behavior.py:1483-1490" |
| ] |
| }, |
| { |
| "id": "simulator_breakdown", |
| "zh": "仿真状态崩溃", |
| "never": null, |
| "criterion_zh": "机器人位置、四元数、基座线速度或关节位置出现非有限值，或基座任一坐标绝对值超过10000米、基座线速度大于100米/秒；每30个控制步还检查目标物体的位置，任一目标位置非有限或任一坐标绝对值超过10000米也立即终止为失败。此项优先于成功检查，不以普通物体跌落替代这一故障判据。", |
| "consequence": "立即终止", |
| "sources": [ |
| "grader/efe_behavior-files/rcb_behavior.py:106-113", |
| "grader/efe_behavior-files/rcb_behavior.py:1393-1396", |
| "grader/efe_behavior-files/rcb_behavior.py:1437-1471" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "inside_camera_container", |
| "level": "new_code", |
| "source": "flags.lit:(inside digital_camera.n.01_1 container.n.01_1)" |
| }, |
| { |
| "atom": "inside_container_car", |
| "level": "new_code", |
| "source": "flags.lit:(inside container.n.01_1 car.n.01_1)" |
| }, |
| { |
| "atom": "inside_racket_car", |
| "level": "new_code", |
| "source": "flags.lit:(inside tennis_racket.n.01_1 car.n.01_1)" |
| }, |
| { |
| "atom": "garage_passage_open", |
| "level": "new_code", |
| "source": "proc_scene.door_bexenl_0.open; proc_scene.garage_door_prdjyt_0.open" |
| }, |
| { |
| "atom": "joint_success_release_rest", |
| "level": "new_code", |
| "source": "flags.success_rule; Session._rest.run; Session._rest_info" |
| }, |
| { |
| "atom": "robot_fallen", |
| "level": "new_code", |
| "source": "Session._fall.fallen; Session._fall.run" |
| }, |
| { |
| "atom": "simulator_breakdown", |
| "level": "new_code", |
| "source": "Session.breakdown" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "q_score", |
| "unit": "比例", |
| "threshold": 1, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "没有成功示范：inputs/oracle_none.txt记录14次目录运行全部失败；未提供solution脚本，依据文本、BDDL初态、固定实例和评分代码规划，不能核对成功视频中的可见外观（N2、N8）。", |
| "inputs/states/index.json的logs为空；所有节点when、约束never与整体success均为null（P8）。atoms的new_code仅列出后续需采集的字段，不声称这些字段已在本任务日志中出现；无法检验逐帧关系、开门事件或成功与评分器的一致性。", |
| "车库通路待核实：BDDL指定机器人在车库、物品在客厅；场景对象表给出door_bexenl_0连接车库与走廊，另有garage_door_prdjyt_0仅标在车库，未给完整门户拓扑和关节初态。不能证明初始关闭或所有成功路线均需开门，故通道开门事件仅列可选并保留verify_zh，三个目标不依赖它；须核实初态与所有通路后再决定是否为必经步骤。客厅与走廊是否有无门通路同样未由该表完整描述，不臆造额外必经门。", |
| "汽车与玩具箱式容器的关节初态及内部开口几何未提供，不能证明装载必须打开汽车或容器；任务文本也未要求开启它们。删除仅由推测加入的汽车开启节点，保留初态和装载路径待核实的问题，容器亦无足够依据新增开盖步骤。", |
| "BDDL第31-33行的not-open位于goal的and之外；任务说明第29行明确说该表达式不受评，literals文件也只有三个inside目标。依照实际指令与评分目标，不要求关车，不把这一无效表达式当作未受评的文本步骤。", |
| "两模式共用Session的包含关系、离手静置、倒地与崩溃规则；特权模式还要求两次独立进程重放均成功、终态哈希一致且实例重建有效，标准模式读取已终结的实时服务结果。交付有效性与重放确定性不属世界状态步骤，不绑定成节点或success伪字段；见grader/efe_behavior-files/privileged/grade.py:168-174与grader/efe_behavior-files/standard/grade.py:29-35。", |
| "三个放入节点只计各自inside关系，允许关系在持物时成立，故均freeze_held=false；共同离手与静置30步的窗口归整体success，不重复加到每个关系节点。无日志时由各criterion_zh保留这一整体验收；汽车也属于目标物体，须一同离手静置。", |
| "原生q_score报告目标关系完成比例，满分1只对应裸目标，不替代30步离手静置成功规则；其逐字实现位于未提供的OmniGibson评分模块，本输入只能核对status与评分入口对该数值的读取（grader/efe_behavior-files/rcb_behavior.py:1539-1555）。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "三个描述目标和评分验收明确，初始目标位串000且两模式固定实例相同；但没有成功示范或状态日志，车库通道的门初态和替代路线未核实，通道开门仅列可选且不约束目标先后，汽车开启缺乏步骤依据已删除，仍无法进行日志回放一致性验证。", |
| "review": { |
| "status": "agreed", |
| "rounds": 2, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "fix", |
| "conf": 6, |
| "summary_zh": "目标三节点（容器入车、相机入容器、球拍入车）与评分器目标一致，约束为倒地/崩溃，无日志故when全为null，整体结构基本合理。两处需改：可选节点“打开汽车装载口”文本未提及且初态未核实，应删除；开门前置边在门初态未核实时可能把所有目标节点卡死。", |
| "n_issues": 2, |
| "n_major": 0 |
| }, |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 2, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "无状态日志、无成功示范。三个目标步骤（相机入容器、容器入车、球拍入车）与BDDL目标三个inside一致，离手静置30步归整体success，not-open在and之外已按指令说明不评，倒地/崩溃约束有评分代码依据。可选的车库通道开门事件虽非文本所述步骤，但已标optional并附verify_zh与open_questions_zh，不影响节点集合与成功判定，故不要求修改。success为null因日志无字段可表达，符合规则。", |
| "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：['garage_passage_opened', 'camera_in_container', 'container_in_car', 'racket_in_car']" |
| ] |
| }, |
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