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{
"schema": "efe-task-dag/1",
"taxonomy": "v2",
"taskKey": "behavior-1k/organizing_school_stuff",
"suite": "behavior-1k",
"base": "behavior-organizing-school-stuff-i00",
"title_zh": "整理上学用品",
"summary_zh": "文件夹、书本、铅笔、钢笔和计算器均在提包内,提包在床上,全部目标物离手且静止并共同保持30个控制步。",
"embodiment_zh": "两种模式均为R1Pro轮式移动双臂机器人,左右各一条七自由度机械臂、各配一个二指夹爪,具有可动躯干和全向轮式底盘;采用辅助抓取,头部及双腕相机提供视角。",
"task_class": "compositional",
"analysis_level": "step",
"spec": {
"version": "1.2",
"task": "behavior-organizing-school-stuff-i00",
"bench": "behavior-1k",
"progress": "live",
"entities": {},
"milestones": [
{
"id": "folder_in_carryall",
"zh": "文件夹入提包",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"criterion_zh": "头部或腕部视角可追踪蓝色大薄文件夹进入红棕色提包的开口并留在内腔;准确的inside判据是该物体轴对齐包围盒中心同时位于提包包围盒及内部容积内,露出上缘本身不算失败,中心仍在包外、仅悬在包口上方或后来掉出即未完成或失去。最终还须六个目标关系同时成立,五件物品、提包和床均未被辅助抓取附着,线速度均不超过0.05米/秒,连续30个控制步(30赫兹,标称1秒);这是跨步骤联合验收,不另建节点。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧二指夹爪夹住文件夹,送入提包;左右手均可。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在夹爪持有文件夹时支撑并移动机器人至提包附近。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:4-8 任务文字和六个共同目标",
"task/privileged/instruction.md:25-27 inside 与 ontop 的定义",
"grader/efe_behavior-files/rcb_behavior.py:103-105 连续30个控制步、速度不超过0.05 m/s、最多150步收尾",
"grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标物离手与静止的联合验收",
"bddl/organizing_school_stuff.bddl:32 inside目标",
"bddl/organizing_school_stuff.bddl:17-27 文具、提包及机器人同在卧室",
"bddl/organizing_school_stuff.literals.json:20 initial为000000"
],
"conf": 6,
"note_zh": "约12秒可见文件夹转向包口,随后留在红棕色提包内;允许上缘露出包口。 五种物品各不相同,分别建节点;各物品入包与提包上床均无固定次序。单项不另设30步保持窗口,联合离手静止条件归整体成功;本节点只按几何关系判定,持物时关系也可成立或失去,故设置freeze_held=false;离手静止仍由最终联合验收要求。",
"freeze_held": false
},
{
"id": "book_in_carryall",
"zh": "书本入提包",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"criterion_zh": "头部或腕部视角可追踪蓝色封面的小书本进入红棕色提包的开口并留在内腔;准确的inside判据是该物体轴对齐包围盒中心同时位于提包包围盒及内部容积内,露出上缘本身不算失败,中心仍在包外、仅悬在包口上方或后来掉出即未完成或失去。最终还须六个目标关系同时成立,五件物品、提包和床均未被辅助抓取附着,线速度均不超过0.05米/秒,连续30个控制步(30赫兹,标称1秒);这是跨步骤联合验收,不另建节点。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧二指夹爪夹住书本,送入提包;左右手均可。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在夹爪持有书本时支撑并移动机器人至提包附近。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:4-8 任务文字和六个共同目标",
"task/privileged/instruction.md:25-27 inside 与 ontop 的定义",
"grader/efe_behavior-files/rcb_behavior.py:103-105 连续30个控制步、速度不超过0.05 m/s、最多150步收尾",
"grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标物离手与静止的联合验收",
"bddl/organizing_school_stuff.bddl:33 inside目标",
"bddl/organizing_school_stuff.bddl:17-27 文具、提包及机器人同在卧室",
"bddl/organizing_school_stuff.literals.json:20 initial为000000"
],
"conf": 6,
"note_zh": "约75至100秒可见右腕相机旁的蓝色书本随机器人返回提包,随后被放进包内。 五种物品各不相同,分别建节点;各物品入包与提包上床均无固定次序。单项不另设30步保持窗口,联合离手静止条件归整体成功;本节点只按几何关系判定,持物时关系也可成立或失去,故设置freeze_held=false;离手静止仍由最终联合验收要求。",
"freeze_held": false
},
{
"id": "pencil_in_carryall",
"zh": "铅笔入提包",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"criterion_zh": "头部或腕部视角可追踪黄色细长铅笔进入红棕色提包的开口并留在内腔;准确的inside判据是该物体轴对齐包围盒中心同时位于提包包围盒及内部容积内,露出上缘本身不算失败,中心仍在包外、仅悬在包口上方或后来掉出即未完成或失去。最终还须六个目标关系同时成立,五件物品、提包和床均未被辅助抓取附着,线速度均不超过0.05米/秒,连续30个控制步(30赫兹,标称1秒);这是跨步骤联合验收,不另建节点。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧二指夹爪夹住铅笔,送入提包;左右手均可。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在夹爪持有铅笔时支撑并移动机器人至提包附近。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:4-8 任务文字和六个共同目标",
"task/privileged/instruction.md:25-27 inside 与 ontop 的定义",
"grader/efe_behavior-files/rcb_behavior.py:103-105 连续30个控制步、速度不超过0.05 m/s、最多150步收尾",
"grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标物离手与静止的联合验收",
"bddl/organizing_school_stuff.bddl:34 inside目标",
"bddl/organizing_school_stuff.bddl:17-27 文具、提包及机器人同在卧室",
"bddl/organizing_school_stuff.literals.json:20 initial为000000"
],
"conf": 6,
"note_zh": "约65至100秒可见左腕相机中的黄色铅笔随机器人返回提包并放入。 五种物品各不相同,分别建节点;各物品入包与提包上床均无固定次序。单项不另设30步保持窗口,联合离手静止条件归整体成功;本节点只按几何关系判定,持物时关系也可成立或失去,故设置freeze_held=false;离手静止仍由最终联合验收要求。",
"freeze_held": false
},
{
"id": "pen_in_carryall",
"zh": "钢笔入提包",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"criterion_zh": "头部或腕部视角可追踪白灰色细长笔进入红棕色提包的开口并留在内腔;准确的inside判据是该物体轴对齐包围盒中心同时位于提包包围盒及内部容积内,露出上缘本身不算失败,中心仍在包外、仅悬在包口上方或后来掉出即未完成或失去。最终还须六个目标关系同时成立,五件物品、提包和床均未被辅助抓取附着,线速度均不超过0.05米/秒,连续30个控制步(30赫兹,标称1秒);这是跨步骤联合验收,不另建节点。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧二指夹爪夹住钢笔,送入提包;左右手均可。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在夹爪持有钢笔时支撑并移动机器人至提包附近。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:4-8 任务文字和六个共同目标",
"task/privileged/instruction.md:25-27 inside 与 ontop 的定义",
"grader/efe_behavior-files/rcb_behavior.py:103-105 连续30个控制步、速度不超过0.05 m/s、最多150步收尾",
"grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标物离手与静止的联合验收",
"bddl/organizing_school_stuff.bddl:35 inside目标",
"bddl/organizing_school_stuff.bddl:17-27 文具、提包及机器人同在卧室",
"bddl/organizing_school_stuff.literals.json:20 initial为000000"
],
"conf": 6,
"note_zh": "约20至55秒的右腕画面可追踪细长笔从地面被取走并送到提包。 五种物品各不相同,分别建节点;各物品入包与提包上床均无固定次序。单项不另设30步保持窗口,联合离手静止条件归整体成功;本节点只按几何关系判定,持物时关系也可成立或失去,故设置freeze_held=false;离手静止仍由最终联合验收要求。",
"freeze_held": false
},
{
"id": "calculator_in_carryall",
"zh": "计算器入提包",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"criterion_zh": "头部或腕部视角可追踪带绿色液晶屏的黑灰色计算器进入红棕色提包的开口并留在内腔;准确的inside判据是该物体轴对齐包围盒中心同时位于提包包围盒及内部容积内,露出上缘本身不算失败,中心仍在包外、仅悬在包口上方或后来掉出即未完成或失去。最终还须六个目标关系同时成立,五件物品、提包和床均未被辅助抓取附着,线速度均不超过0.05米/秒,连续30个控制步(30赫兹,标称1秒);这是跨步骤联合验收,不另建节点。",
"step": {
"cat": "关系",
"item": "放入"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧二指夹爪夹住计算器,送入提包;左右手均可。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在夹爪持有计算器时支撑并移动机器人至提包附近。",
"plan": 1
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:4-8 任务文字和六个共同目标",
"task/privileged/instruction.md:25-27 inside 与 ontop 的定义",
"grader/efe_behavior-files/rcb_behavior.py:103-105 连续30个控制步、速度不超过0.05 m/s、最多150步收尾",
"grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标物离手与静止的联合验收",
"bddl/organizing_school_stuff.bddl:36 inside目标",
"bddl/organizing_school_stuff.bddl:17-27 文具、提包及机器人同在卧室",
"bddl/organizing_school_stuff.literals.json:20 initial为000000"
],
"conf": 6,
"note_zh": "约20至50秒可见左腕相机旁的计算器从地面被带到提包,随后留在包内。 五种物品各不相同,分别建节点;各物品入包与提包上床均无固定次序。单项不另设30步保持窗口,联合离手静止条件归整体成功;本节点只按几何关系判定,持物时关系也可成立或失去,故设置freeze_held=false;离手静止仍由最终联合验收要求。",
"freeze_held": false
},
{
"id": "carryall_on_bed",
"zh": "提包放上床",
"mode": "state",
"when": null,
"after": [],
"hold_s": 0,
"goal": true,
"criterion_zh": "头部视角可见红棕色双提手包从木地板移到白色床垫上,并由床面承托;ontop要求提包与床接触且床在包下方,悬在床上方、仍在地板或后来滑离床面即未完成或失去。最终还须六个目标关系同时成立,五件物品、提包和床均未被辅助抓取附着,线速度均不超过0.05米/秒,连续30个控制步(30赫兹,标称1秒);这是跨步骤联合验收,不另建节点。",
"step": {
"cat": "关系",
"item": "放置"
},
"contact": [
{
"who": "手指/夹爪",
"how": "抓握",
"note_zh": "一侧二指夹爪抓住提包的提手,将提包搬到床上。",
"plan": 1
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在夹爪持包时支撑并移动机器人至床边。",
"plan": 1
},
{
"who": "双臂协作",
"how": "抓握",
"note_zh": "左右二指夹爪各握一个提手,共同将提包搬到床上。",
"plan": 2
},
{
"who": "底盘",
"how": "支撑",
"note_zh": "轮式底盘接触卧室地面,在双臂持包时支撑并移动机器人至床边。",
"plan": 2
}
],
"optional": false,
"verify_zh": null,
"sources": [
"task/privileged/instruction.md:4-8 任务文字和六个共同目标",
"task/privileged/instruction.md:25-27 inside 与 ontop 的定义",
"grader/efe_behavior-files/rcb_behavior.py:103-105 连续30个控制步、速度不超过0.05 m/s、最多150步收尾",
"grader/efe_behavior-files/rcb_behavior.py:1414-1434 目标物离手与静止的联合验收",
"bddl/organizing_school_stuff.bddl:23 提包开局在地板上",
"bddl/organizing_school_stuff.bddl:37 提包ontop床目标",
"oracle/replay.mp4 约100-107秒:红棕色提包移到白色床面"
],
"conf": 6,
"note_zh": "可以先将空包放上床再装物,也可以先装包再上床,故不依赖五个入包节点。参考录像末尾包上床;夹爪离开与全体静止属于联合成功验收。本节点只按几何关系判定,持物时关系也可成立或失去,故设置freeze_held=false;离手静止仍由最终联合验收要求。",
"freeze_held": false
}
],
"constraints": [
{
"id": "robot_fallen",
"zh": "机器人跌倒",
"never": null,
"criterion_zh": "机器人基座上轴的世界z分量小于0.75(约偏离直立41.4度),或基座低于地板超过0.03米,连续300个30赫兹控制步(10秒)即判跌倒并结束;较短时间后恢复不触发。代码同一步先查崩溃、再查成功、再查跌倒,故同一步成功优先于跌倒。",
"consequence": "立即终止",
"sources": [
"grader/efe_behavior-files/rcb_behavior.py:96-98",
"grader/efe_behavior-files/rcb_behavior.py:136-144",
"grader/efe_behavior-files/rcb_behavior.py:1393-1396",
"grader/efe_behavior-files/rcb_behavior.py:1483-1489"
]
},
{
"id": "simulator_breakdown",
"zh": "模拟状态崩溃",
"never": null,
"criterion_zh": "机器人位置、姿态、线速度或关节位置出现非有限值,基座任一坐标绝对值大于10000米,或基座线速度大于100米/秒,触发崩溃;每30步还检查目标物的位置非有限或任一坐标绝对值大于10000米。检查读值异常本身不判崩溃;触发后立即失败。",
"consequence": "立即终止",
"sources": [
"grader/efe_behavior-files/rcb_behavior.py:110-112",
"grader/efe_behavior-files/rcb_behavior.py:1437-1471"
]
}
],
"success": null,
"atoms": [
{
"atom": "inside(folder.n.02_1,carryall.n.01_1)",
"level": "new_code",
"source": "Log flags.lit:(inside folder.n.02_1 carryall.n.01_1); BDDL goal at bddl/organizing_school_stuff.bddl:32; no state logs supplied."
},
{
"atom": "inside(book.n.02_1,carryall.n.01_1)",
"level": "new_code",
"source": "Log flags.lit:(inside book.n.02_1 carryall.n.01_1); BDDL goal at bddl/organizing_school_stuff.bddl:33; no state logs supplied."
},
{
"atom": "inside(pencil.n.01_1,carryall.n.01_1)",
"level": "new_code",
"source": "Log flags.lit:(inside pencil.n.01_1 carryall.n.01_1); BDDL goal at bddl/organizing_school_stuff.bddl:34; no state logs supplied."
},
{
"atom": "inside(pen.n.01_1,carryall.n.01_1)",
"level": "new_code",
"source": "Log flags.lit:(inside pen.n.01_1 carryall.n.01_1); BDDL goal at bddl/organizing_school_stuff.bddl:35; no state logs supplied."
},
{
"atom": "inside(calculator.n.02_1,carryall.n.01_1)",
"level": "new_code",
"source": "Log flags.lit:(inside calculator.n.02_1 carryall.n.01_1); BDDL goal at bddl/organizing_school_stuff.bddl:36; no state logs supplied."
},
{
"atom": "ontop(carryall.n.01_1,bed.n.01_1)",
"level": "new_code",
"source": "Log flags.lit:(ontop carryall.n.01_1 bed.n.01_1); bddl/organizing_school_stuff.bddl:37; no state logs supplied."
},
{
"atom": "goal_release_rest_30_steps",
"level": "new_code",
"source": "Log Session.succeeded as flags.success_rule and status goal_held_steps, goal_objects_held, goal_objects_moving; grader/efe_behavior-files/rcb_behavior.py:1414-1434,1540-1546; no state logs supplied."
},
{
"atom": "robot_fallen",
"level": "new_code",
"source": "Log Session.status fallen / FallWatch.fallen; grader/efe_behavior-files/rcb_behavior.py:124-144,1483-1489; no state logs supplied."
},
{
"atom": "simulator_breakdown",
"level": "new_code",
"source": "Log Session.status breakdown and end_reason; grader/efe_behavior-files/rcb_behavior.py:1437-1471; no state logs supplied."
}
]
},
"native_metrics": [
{
"name": "q_score",
"unit": "fraction",
"threshold": 1.0,
"direction": "higher_better"
},
{
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"unit": "control_step",
"threshold": 30,
"direction": "higher_better"
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],
"open_questions_zh": [
"inputs/states/index.json的logs为空:依暂行DECISIONS.md P8,六个节点when、两项约束never和success均为null;需要补记六个原生目标literal、离手静止连续计数及失败标志,当前只能用视频判定,不能进行状态日志的reach-all或success==grader核验。",
"评分核心在两模式中相同;privileged另要求两次新进程回放都成功、state_sha一致且冻结实例匹配(grader/efe_behavior-files/privileged/grade.py:154-174),standard评判实时单局并检查终结记录及基础设施状态(grader/efe_behavior-files/standard/grade.py:29-35)。这些交付或回放有效性要求不作为世界状态步骤。",
"参考成功运行的reward和最终状态记录只提供success、q_score等旧式字段,未提供30步离手静止计数;录像可确认装包和提包上床,但无法据此核实当前版本全部数值验收条件。按当前提供的instruction和评分源码写联合验收,历史成功不因缺少新字段而被改判(暂行DECISIONS.md P19)。",
"提包未列为可开合机构,初始和参考录像均为可直接装物的敞口双提手包;机器人、床、地板及物品同在卧室,无必经跨房门节点。没有完整场景机器人初始姿态字段,房间判定由BDDL的agent在卧室地板上及参考录像首帧共同支持。"
],
"conf": 6,
"conf_reason_zh": "六个步骤直接来自文字,目标和初态有BDDL支持,评分器阈值及两模式共同核心明确,成功录像支持敞口提包及目标外观;缺少状态日志,无法绑定条件或核实联合验收的数值过程,参考运行还存在评分版本字段差异。",
"review": {
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"rounds": 2,
"reviewers": [
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 1,
"verdict": "fix",
"conf": 7,
"summary_zh": "节点集合(五件入包+提包上床)、无边、when=null(无状态日志,P8)、跌倒/崩溃两项立即终止约束均与指令和评分一致;唯一问题是六个state节点都没有设置freeze_held=false。",
"n_issues": 1,
"n_major": 1
},
{
"engine": "claude",
"model": "claude-sonnet-5-5",
"round": 2,
"verdict": "agree",
"conf": 7,
"summary_zh": "六个目标节点(五件物品入提包、提包上床)与文字和BDDL目标一致,无习惯边,无多余节点,约束为评分器失败条件;无状态日志,when/success为null符合P8,已在open_questions_zh说明。",
"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:['folder_in_carryall', 'book_in_carryall', 'pencil_in_carryall', 'pen_in_carryall', 'calculator_in_carryall', 'carryall_on_bed']"
]
},
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"model": "gpt-6.1-sol",
"effort": "high",
"created": "2026-10-29T02:57:06Z",
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"reconcile_prompt": "prompts/05_reconcile.md",
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"calls": [
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"round": 0,
"ok": true,
"space": "work/tasks/behavior-1k__organizing_school_stuff/01_dag"
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"ok": true,
"space": "work/tasks/behavior-1k__organizing_school_stuff/02_review_r1"
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"space": "work/tasks/behavior-1k__organizing_school_stuff/05_reconcile_r1"
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"review_model": "claude-sonnet-5-5",
"inputs_manifest_sha256": "d4bc7dd4d0ee7a9ef316f1991478fdc374a718a44b20e53cac0630e7b6b25a7a",
"repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e"
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