| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "embodied-olympics-fun/dunk", |
| "suite": "embodied-olympics-fun", |
| "base": "embodied-olympics-fun-dunk-i00", |
| "title_zh": "双手扣篮并站稳", |
| "summary_zh": "篮球由双手从上方向下压过篮圈，机器人松球后以脚着地连续站稳一秒，进圈前不失球，全程不走步、过久触篮架或跌倒。", |
| "embodiment_zh": "两种模式均为 Unitree H1-2 人形机器人，27 个本体关节、身高 1.78 米、质量约 67 千克；左右各一条七关节手臂，末端各为 Inspire RH56DFX 五指灵巧手（每手六个驱动、一个闭合命令），双腿和足部支撑及运动，无轮式底盘。", |
| "task_class": "atomic", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "embodied-olympics-fun-dunk-i00", |
| "bench": "embodied-olympics-fun", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "dunk_landed", |
| "zh": "双手扣篮站稳", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": true, |
| "criterion_zh": "场边固定视角可见机器人持橙色篮球起跳，双手随球升到篮圈上方并将球压下：球心向下穿过高 2.39 米的圈平面时距圈轴小于 0.225 米且双手均在球上（每手接触间隙不超过 0.03 秒），随后球心继续向下穿过高 2.151 米的平面、该穿越点距圈轴小于 0.3445 米，中途未向上穿回上平面。完成扣篮且已出现双手同时离球后，机器人以脚着地、躯干竖直且基本静止连续 100 个控制步（0.01 秒/步，名义 1.0 秒，首末采样跨度 0.99 秒；躯干倾斜余弦至少 0.94、骨盆速度不超过 0.35 米/秒，地面接触部位为左右脚的非空子集），同时未触犯规则才完成；只把球举到框旁、球进框却未穿出、或穿圈后仍未站稳均未完成。", |
| "step": { |
| "cat": "动态", |
| "item": "抛/投" |
| }, |
| "contact": [ |
| { |
| "who": "双臂协作", |
| "how": "其他", |
| "plan": 1, |
| "note_zh": "候选：夹持；左手与右手的张开手掌及拇指从两侧相向夹持篮球，靠双臂内压和摩擦携球压入篮圈，单手未合拢包握；现有抓握、托/舀均不能准确表达这种夹持。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 1, |
| "note_zh": "左右脚在地面支承持球的机器人并蹬地起跳，与双手夹球同时发生；球离手后的落地支撑在节点说明中记录。" |
| }, |
| { |
| "who": "双臂协作", |
| "how": "抓握", |
| "plan": 2, |
| "note_zh": "左手与右手的拇指、其余手指适度闭合包住篮球两侧，双手共同控制球压入篮圈；规则允许闭合手指，不限定开掌夹持。" |
| }, |
| { |
| "who": "腿/躯干", |
| "how": "支撑", |
| "plan": 2, |
| "note_zh": "左右脚在地面支承双手握球的机器人并蹬地起跳；随后依次落脚站稳。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:3-31", |
| "inputs/task/standard/instruction.md:3-28", |
| "inputs/task/privileged/environment/rfo_task.py:232-260", |
| "inputs/task/privileged/environment/rfo_task.py:298-305", |
| "inputs/task/privileged/environment/rfo_task.py:367-386", |
| "inputs/task/privileged/environment/rfo_task.py:391-444", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:292-301", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:429-458", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/scene.py:50-51", |
| "inputs/oracle/replay.mp4 @ 0.00, 1.32, 1.56, 1.68, 1.76, 1.84, 2.00, 2.88 s", |
| "inputs/oracle/run.json:1 steps[id=254].out.text (dunk=1.793 s; stand=2.91 s)", |
| "inputs/task/privileged/environment/instance.json:53 control_dt=0.01 s" |
| ], |
| "conf": 6, |
| "note_zh": "按 S10，起跳、扣球与落地站稳没有可暂停再继续的中间态，合并为一步；裁判 dunk、stand 是验收阶段。按送球入篮动作使用动态·抛/投，球心入圈时的双手接触仍是必要验收，不要求球在入圈前离手。起跳前双手持球与双脚支撑同时存在，腾空中只保留持球接触，之后松球并以脚落地支撑；这些依次变化不另建节点。原生 stand 计数已包含时窗，hold_s=0 不再追加保持。裁判仅锁存曾松手；站稳期间不重新检查球是否在手中。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "ball_lost_before_entry", |
| "zh": "进圈前失球", |
| "never": null, |
| "criterion_zh": "球心尚未从上向下进入篮圈时，左右手都不再接触篮球；每只手最后一次接触后的 0.03 秒以内仍视为在球上，手包含手掌、手指和手腕。此时裁判以 the ball left the hands before the dunk 终止。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:383-386", |
| "inputs/task/privileged/environment/rfo_task.py:427-430" |
| ] |
| }, |
| { |
| "id": "ball_ground_before_through", |
| "zh": "穿圈前触地", |
| "never": null, |
| "criterion_zh": "篮球在完成向下穿圈之前接触地面，包括球在圈内离手后未穿圈便触地；两种情况分别记录 the ball touched the floor before the dunk 或 the ball did not go through the ring。扣篮完成后的球触地不违规。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:403-406", |
| "inputs/task/privileged/environment/rfo_task.py:417-434" |
| ] |
| }, |
| { |
| "id": "invalid_entry_hands", |
| "zh": "进圈非双手", |
| "never": null, |
| "criterion_zh": "球虽穿圈，但球心从上向下进入篮圈平面的瞬间，左右手未同时在球上（按各手接触间隙不超过 0.03 秒判定）；一手扣球、点拨和提前离手的投球均不合格。裁判在球穿到下平面时终止。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:383-386", |
| "inputs/task/privileged/environment/rfo_task.py:415-420" |
| ] |
| }, |
| { |
| "id": "ball_up_through_ring", |
| "zh": "球从下穿圈", |
| "never": null, |
| "criterion_zh": "尚无有效向下入圈时，球心从篮圈下方向上穿过 z=2.39 米平面，且插值穿越点距圈轴小于 0.225 米。视频表现为橙球先由网下穿进圈内。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:302-305", |
| "inputs/task/privileged/environment/rfo_task.py:409-414", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:400-423" |
| ] |
| }, |
| { |
| "id": "travelling", |
| "zh": "走步", |
| "never": null, |
| "criterion_zh": "从开局至篮球完成穿圈，脚落地事件累计超过两步、同一脚连续两次落地，或已着地的脚相对该次着地点水平滑移超过 0.20 米，即为走步；脚离地至少 0.03 秒后再接触才计新步，两脚在 0.03 秒内先后落地合计一步。即使球已在圈内离手，计步仍持续到穿圈完成。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:112-130", |
| "inputs/task/privileged/environment/rfo_task.py:154-174", |
| "inputs/task/privileged/environment/rfo_task.py:176-213", |
| "inputs/task/privileged/environment/rfo_task.py:376-377", |
| "inputs/task/privileged/environment/rfo_task.py:402-424" |
| ] |
| }, |
| { |
| "id": "basket_hanging", |
| "zh": "过久触篮架", |
| "never": null, |
| "criterion_zh": "机器人任意身体部位与篮圈、连接板或篮板接触的累计时间超过 0.30 秒（离散实现允许到 0.300 秒）即违规；扣篮完成后至站稳验收结束的接触也累计。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:375", |
| "inputs/task/privileged/environment/rfo_task.py:397-406" |
| ] |
| }, |
| { |
| "id": "fell", |
| "zh": "跌倒", |
| "never": null, |
| "criterion_zh": "骨盆高度低于 0.35 米，或除左右脚外任何机器人部位接触地面，即判跌倒；包括扣篮后的落地和站稳时窗。裁判在每个 0.01 秒控制步末检查此规则。", |
| "consequence": "立即终止", |
| "sources": [ |
| "inputs/task/privileged/environment/rfo_task.py:301-305", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/task.py:21-23", |
| "inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "dunk_landed", |
| "level": "new_code", |
| "source": "Log world.ref.stages (dunk then stand), world.ref._hold[stand], world.task.trackers[released], world.ref.failed; inputs/task/privileged/environment/rfo_task.py:417-444; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:149-184. No state log is supplied." |
| }, |
| { |
| "atom": "ball_lost_before_entry", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/task/privileged/environment/rfo_task.py:427-430. No state log is supplied." |
| }, |
| { |
| "atom": "ball_ground_before_through", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/task/privileged/environment/rfo_task.py:417-434. No state log is supplied." |
| }, |
| { |
| "atom": "invalid_entry_hands", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/task/privileged/environment/rfo_task.py:415-420. No state log is supplied." |
| }, |
| { |
| "atom": "ball_up_through_ring", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:400-423. No state log is supplied." |
| }, |
| { |
| "atom": "travelling", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/task/privileged/environment/rfo_task.py:402-424. No state log is supplied." |
| }, |
| { |
| "atom": "basket_hanging", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/task/privileged/environment/rfo_task.py:397-406. No state log is supplied." |
| }, |
| { |
| "atom": "fell", |
| "level": "new_code", |
| "source": "Log world.ref.failed and world.ref.events with rule-specific failure, contacts and travel trackers; inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:272-289. No state log is supplied." |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "basket_touch_s", |
| "unit": "s", |
| "threshold": 0.3, |
| "direction": "lower_better", |
| "note_zh": "累计接触篮圈、连接板及篮板的时间；仅大于阈值违规，来源 inputs/task/privileged/environment/rfo_task.py:397-401,438-439。" |
| }, |
| { |
| "name": "ball_height_m", |
| "unit": "m", |
| "threshold": null, |
| "direction": null, |
| "note_zh": "球心当前高度是诊断量，无独立单调优化方向或单一成功阈值；由穿越历史决定扣篮，来源 inputs/task/privileged/environment/rfo_task.py:438。" |
| } |
| ], |
| "open_questions_zh": [ |
| "无状态日志：inputs/states/index.json 的 logs 为空；按暂行 P8，所有 when、never 及 success 均为 null，atoms 列出需补录的原生裁判状态；视频可以确认整体动作，但不能精确复核毫秒级接触间隙和几何阈值。", |
| "文本要求起跳并落地，但裁判未显式检查腾空或落地事件：inputs/task/privileged/environment/rfo_task.py:391-444 只检查球的双手入圈、穿圈与随后站稳。起跳仍保留在合并动作的视频判据中，不另建机器人动作节点（S10、N1）；任务设计问题：仅凭代码不能排除未腾空却完成扣篮的行为被接受。", |
| "文本要求松球后站稳；inputs/task/privileged/environment/rfo_task.py:427-441 仅锁存一次 released 非空，站稳时窗内不持续核验双手离球，重新接球也不清除该标记。inputs/grader/efe_embodied-olympics-fun-files/rfo/referee.py:297-301 允许仅一脚接地，并采用速度 <=0.35 米/秒，文字则写双脚落地和速度慢于 0.35 米/秒；判据按代码验收说明这些边界（N1）。", |
| "走步的实际检查一直持续到穿圈完成，即便已在圈内松球（inputs/task/privileged/environment/rfo_task.py:402-424）；文字先说持球时计步，后又说穿圈前不得再触地，两句边界不完全一致，此处以代码持续计步规则为准。", |
| "两种模式物理规则相同，rfo_task.py 和 instance.json 的对应副本逐字一致；特权模式额外要求轨迹在两次新进程重放中均成功且终态哈希相同（特权 grade.py:106-115），标准模式以最后一次实时模拟回合裁判结果评分（standard/server.py:157-178；标准 grade.py:93-99）。文件有效性、重放一致性和服务交付不是世界状态，未写入语义条件。", |
| "接触 how 的夹持尚无正式条目：开掌双臂相向夹住篮球记其他并给候选夹持；手指闭合包握是另一可行方案，分别用 plan 1、2（暂行 D12、P14）。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "单一连续动作、裁判时序和阈值均有代码依据，成功视频显示举球、扣球、落地及站稳；但没有状态日志，全部条件无法绑定，且起跳和松球后的持续无接触与代码验收存在差异。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "任务文字是一个连续动作（双手持球起跳、压球过圈、松球落地站稳），与 backflip 同理按 S10 合为一个节点；无状态日志，按 P8 when/success 为 null，七条约束均为裁判的失败条件且为立即终止，阈值与代码一致；步骤类型 动态·抛/投 与 catch_and_shoot 先例一致，open_questions_zh 已列出文字与代码差异。未发现需改内容的错误。", |
| "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：['dunk_landed']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:45:39Z", |
| "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/embodied-olympics-fun__dunk/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/embodied-olympics-fun__dunk/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "baeee1a88a31adc4daabf23f5bd56c2e9cba3ea3fc9147fc086475ad9a564700", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
