| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "kinder/constrained_cupboard", |
| "suite": "kinder", |
| "base": "kinder-constrained-cupboard-i00", |
| "title_zh": "六根杆分别入柜", |
| "summary_zh": "六根棕色杆的中心同时位于各自固定配对柜的高隔间内，杆0至2在上部隔间，杆3至5在下部隔间。", |
| "embodiment_zh": "两种模式均为TidyBot++移动操作机器人：全向轮式底盘、一条Kinova Gen3七自由度机械臂，末端为Robotiq 2F-85二指夹爪；特权模式可访问仿真状态，标准模式使用底盘与腕部相机、关节编码器和里程计。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "kinder-constrained-cupboard-i00", |
| "bench": "kinder", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "rod_0_in_compartment", |
| "zh": "杆0入柜0", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "追踪初始距底盘中心第3近的棕色杆（cuboid_0），其中心须进入初始面向柜排时从左数第2柜（cupboard_0）的上部高隔间：高于该层搁板、低于上方搁板，并在宽10厘米、深30厘米的隔间范围内；俯视斜视画面中可见棕杆中点越过柜口进入对应格，杆端可以露在柜外、夹爪也可仍夹住。仅杆端探入、中心仍在柜口外或进入别柜及错误层均未完成，中心再次移出上述范围即失去；不要求整杆入柜、竖直、松手或静置。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单臂末端的二指夹爪夹住棕色杆cuboid_0并送入柜cupboard_0的指定隔间。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘在地面承重行驶，支承机械臂把棕色杆cuboid_0从地面运送到柜cupboard_0前。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4 固定配对、目标层及中心入隔间的几何验收", |
| "inputs/task/standard/instruction.md:5 按初始距离识别杆、按从左到右位置识别目标柜", |
| "inputs/oracle/run.json:1 steps[id=11].out.text goal_state: on(cuboid_0,cupboard_0_shelf_1_goal)", |
| "inputs/oracle/run.json:1 steps[id=8].out.text cupboard fixture poses（柜排左右位置）", |
| "inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155 每步直接采用 terminated；没有额外松手或保持窗口", |
| "inputs/oracle/replay.mp4:0.0-36.3 初始地面杆、无门开放柜格与入柜后的视觉外观" |
| ], |
| "conf": 6, |
| "note_zh": "此节点对应固定配对cuboid_0与cupboard_0_shelf_1_goal，不同于可任意配对的同类物计数；杆的距离排名只用于识别，不要求按距离顺序搬运。典型方案为夹爪抓握并随底盘搬运；抓取、抬起、转向与运输均属于本步过程，不拆节点。中心入格可在持物时达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "rod_1_in_compartment", |
| "zh": "杆1入柜1", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "追踪初始距底盘中心第5近的棕色杆（cuboid_1），其中心须进入初始面向柜排时从左数第4柜（cupboard_1）的上部高隔间：高于该层搁板、低于上方搁板，并在宽10厘米、深30厘米的隔间范围内；俯视斜视画面中可见棕杆中点越过柜口进入对应格，杆端可以露在柜外、夹爪也可仍夹住。仅杆端探入、中心仍在柜口外或进入别柜及错误层均未完成，中心再次移出上述范围即失去；不要求整杆入柜、竖直、松手或静置。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单臂末端的二指夹爪夹住棕色杆cuboid_1并送入柜cupboard_1的指定隔间。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘在地面承重行驶，支承机械臂把棕色杆cuboid_1从地面运送到柜cupboard_1前。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4 固定配对、目标层及中心入隔间的几何验收", |
| "inputs/task/standard/instruction.md:5 按初始距离识别杆、按从左到右位置识别目标柜", |
| "inputs/oracle/run.json:1 steps[id=11].out.text goal_state: on(cuboid_1,cupboard_1_shelf_1_goal)", |
| "inputs/oracle/run.json:1 steps[id=8].out.text cupboard fixture poses（柜排左右位置）", |
| "inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155 每步直接采用 terminated；没有额外松手或保持窗口", |
| "inputs/oracle/replay.mp4:0.0-36.3 初始地面杆、无门开放柜格与入柜后的视觉外观" |
| ], |
| "conf": 6, |
| "note_zh": "此节点对应固定配对cuboid_1与cupboard_1_shelf_1_goal，不同于可任意配对的同类物计数；杆的距离排名只用于识别，不要求按距离顺序搬运。典型方案为夹爪抓握并随底盘搬运；抓取、抬起、转向与运输均属于本步过程，不拆节点。中心入格可在持物时达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "rod_2_in_compartment", |
| "zh": "杆2入柜2", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "追踪初始距底盘中心第2近的棕色杆（cuboid_2），其中心须进入初始面向柜排时从左数第5柜（cupboard_2）的上部高隔间：高于该层搁板、低于上方搁板，并在宽10厘米、深30厘米的隔间范围内；俯视斜视画面中可见棕杆中点越过柜口进入对应格，杆端可以露在柜外、夹爪也可仍夹住。仅杆端探入、中心仍在柜口外或进入别柜及错误层均未完成，中心再次移出上述范围即失去；不要求整杆入柜、竖直、松手或静置。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单臂末端的二指夹爪夹住棕色杆cuboid_2并送入柜cupboard_2的指定隔间。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘在地面承重行驶，支承机械臂把棕色杆cuboid_2从地面运送到柜cupboard_2前。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4 固定配对、目标层及中心入隔间的几何验收", |
| "inputs/task/standard/instruction.md:5 按初始距离识别杆、按从左到右位置识别目标柜", |
| "inputs/oracle/run.json:1 steps[id=11].out.text goal_state: on(cuboid_2,cupboard_2_shelf_1_goal)", |
| "inputs/oracle/run.json:1 steps[id=8].out.text cupboard fixture poses（柜排左右位置）", |
| "inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155 每步直接采用 terminated；没有额外松手或保持窗口", |
| "inputs/oracle/replay.mp4:0.0-36.3 初始地面杆、无门开放柜格与入柜后的视觉外观" |
| ], |
| "conf": 6, |
| "note_zh": "此节点对应固定配对cuboid_2与cupboard_2_shelf_1_goal，不同于可任意配对的同类物计数；杆的距离排名只用于识别，不要求按距离顺序搬运。典型方案为夹爪抓握并随底盘搬运；抓取、抬起、转向与运输均属于本步过程，不拆节点。中心入格可在持物时达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "rod_3_in_compartment", |
| "zh": "杆3入柜3", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "追踪初始距底盘中心第6近的棕色杆（cuboid_3），其中心须进入初始面向柜排时从左数第1柜（cupboard_3）的下部高隔间：高于该层搁板、低于上方搁板，并在宽10厘米、深30厘米的隔间范围内；俯视斜视画面中可见棕杆中点越过柜口进入对应格，杆端可以露在柜外、夹爪也可仍夹住。仅杆端探入、中心仍在柜口外或进入别柜及错误层均未完成，中心再次移出上述范围即失去；不要求整杆入柜、竖直、松手或静置。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单臂末端的二指夹爪夹住棕色杆cuboid_3并送入柜cupboard_3的指定隔间。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘在地面承重行驶，支承机械臂把棕色杆cuboid_3从地面运送到柜cupboard_3前。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4 固定配对、目标层及中心入隔间的几何验收", |
| "inputs/task/standard/instruction.md:5 按初始距离识别杆、按从左到右位置识别目标柜", |
| "inputs/oracle/run.json:1 steps[id=11].out.text goal_state: on(cuboid_3,cupboard_3_shelf_0_goal)", |
| "inputs/oracle/run.json:1 steps[id=8].out.text cupboard fixture poses（柜排左右位置）", |
| "inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155 每步直接采用 terminated；没有额外松手或保持窗口", |
| "inputs/oracle/replay.mp4:0.0-36.3 初始地面杆、无门开放柜格与入柜后的视觉外观" |
| ], |
| "conf": 6, |
| "note_zh": "此节点对应固定配对cuboid_3与cupboard_3_shelf_0_goal，不同于可任意配对的同类物计数；杆的距离排名只用于识别，不要求按距离顺序搬运。典型方案为夹爪抓握并随底盘搬运；抓取、抬起、转向与运输均属于本步过程，不拆节点。中心入格可在持物时达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "rod_4_in_compartment", |
| "zh": "杆4入柜4", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "追踪初始距底盘中心第1近的棕色杆（cuboid_4），其中心须进入初始面向柜排时从左数第11柜（cupboard_4）的下部高隔间：高于该层搁板、低于上方搁板，并在宽10厘米、深30厘米的隔间范围内；俯视斜视画面中可见棕杆中点越过柜口进入对应格，杆端可以露在柜外、夹爪也可仍夹住。仅杆端探入、中心仍在柜口外或进入别柜及错误层均未完成，中心再次移出上述范围即失去；不要求整杆入柜、竖直、松手或静置。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单臂末端的二指夹爪夹住棕色杆cuboid_4并送入柜cupboard_4的指定隔间。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘在地面承重行驶，支承机械臂把棕色杆cuboid_4从地面运送到柜cupboard_4前。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4 固定配对、目标层及中心入隔间的几何验收", |
| "inputs/task/standard/instruction.md:5 按初始距离识别杆、按从左到右位置识别目标柜", |
| "inputs/oracle/run.json:1 steps[id=11].out.text goal_state: on(cuboid_4,cupboard_4_shelf_0_goal)", |
| "inputs/oracle/run.json:1 steps[id=8].out.text cupboard fixture poses（柜排左右位置）", |
| "inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155 每步直接采用 terminated；没有额外松手或保持窗口", |
| "inputs/oracle/replay.mp4:0.0-36.3 初始地面杆、无门开放柜格与入柜后的视觉外观" |
| ], |
| "conf": 6, |
| "note_zh": "此节点对应固定配对cuboid_4与cupboard_4_shelf_0_goal，不同于可任意配对的同类物计数；杆的距离排名只用于识别，不要求按距离顺序搬运。典型方案为夹爪抓握并随底盘搬运；抓取、抬起、转向与运输均属于本步过程，不拆节点。中心入格可在持物时达成，故关闭持物冻结。" |
| }, |
| { |
| "id": "rod_5_in_compartment", |
| "zh": "杆5入柜5", |
| "mode": "state", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "freeze_held": false, |
| "goal": true, |
| "criterion_zh": "追踪初始距底盘中心第4近的棕色杆（cuboid_5），其中心须进入初始面向柜排时从左数第8柜（cupboard_5）的下部高隔间：高于该层搁板、低于上方搁板，并在宽10厘米、深30厘米的隔间范围内；俯视斜视画面中可见棕杆中点越过柜口进入对应格，杆端可以露在柜外、夹爪也可仍夹住。仅杆端探入、中心仍在柜口外或进入别柜及错误层均未完成，中心再次移出上述范围即失去；不要求整杆入柜、竖直、松手或静置。", |
| "step": { |
| "cat": "关系", |
| "item": "放入" |
| }, |
| "contact": [ |
| { |
| "who": "手指/夹爪", |
| "how": "抓握", |
| "note_zh": "单臂末端的二指夹爪夹住棕色杆cuboid_5并送入柜cupboard_5的指定隔间。", |
| "plan": 1 |
| }, |
| { |
| "who": "底盘", |
| "how": "支撑", |
| "note_zh": "移动底盘在地面承重行驶，支承机械臂把棕色杆cuboid_5从地面运送到柜cupboard_5前。", |
| "plan": 1 |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4 固定配对、目标层及中心入隔间的几何验收", |
| "inputs/task/standard/instruction.md:5 按初始距离识别杆、按从左到右位置识别目标柜", |
| "inputs/oracle/run.json:1 steps[id=11].out.text goal_state: on(cuboid_5,cupboard_5_shelf_0_goal)", |
| "inputs/oracle/run.json:1 steps[id=8].out.text cupboard fixture poses（柜排左右位置）", |
| "inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155 每步直接采用 terminated；没有额外松手或保持窗口", |
| "inputs/oracle/replay.mp4:0.0-36.3 初始地面杆、无门开放柜格与入柜后的视觉外观" |
| ], |
| "conf": 6, |
| "note_zh": "此节点对应固定配对cuboid_5与cupboard_5_shelf_0_goal，不同于可任意配对的同类物计数；杆的距离排名只用于识别，不要求按距离顺序搬运。典型方案为夹爪抓握并随底盘搬运；抓取、抬起、转向与运输均属于本步过程，不拆节点。中心入格可在持物时达成，故关闭持物冻结。" |
| } |
| ], |
| "constraints": [], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "cuboid_0_in_compartment", |
| "level": "new_code", |
| "source": "inputs/oracle/run.json:1 steps[id=11].out.text goal_state; add per-frame field dyn.cuboid_0_in_compartment from native on(cuboid_0,cupboard_0_shelf_1_goal); no state log is supplied" |
| }, |
| { |
| "atom": "cuboid_1_in_compartment", |
| "level": "new_code", |
| "source": "inputs/oracle/run.json:1 steps[id=11].out.text goal_state; add per-frame field dyn.cuboid_1_in_compartment from native on(cuboid_1,cupboard_1_shelf_1_goal); no state log is supplied" |
| }, |
| { |
| "atom": "cuboid_2_in_compartment", |
| "level": "new_code", |
| "source": "inputs/oracle/run.json:1 steps[id=11].out.text goal_state; add per-frame field dyn.cuboid_2_in_compartment from native on(cuboid_2,cupboard_2_shelf_1_goal); no state log is supplied" |
| }, |
| { |
| "atom": "cuboid_3_in_compartment", |
| "level": "new_code", |
| "source": "inputs/oracle/run.json:1 steps[id=11].out.text goal_state; add per-frame field dyn.cuboid_3_in_compartment from native on(cuboid_3,cupboard_3_shelf_0_goal); no state log is supplied" |
| }, |
| { |
| "atom": "cuboid_4_in_compartment", |
| "level": "new_code", |
| "source": "inputs/oracle/run.json:1 steps[id=11].out.text goal_state; add per-frame field dyn.cuboid_4_in_compartment from native on(cuboid_4,cupboard_4_shelf_0_goal); no state log is supplied" |
| }, |
| { |
| "atom": "cuboid_5_in_compartment", |
| "level": "new_code", |
| "source": "inputs/oracle/run.json:1 steps[id=11].out.text goal_state; add per-frame field dyn.cuboid_5_in_compartment from native on(cuboid_5,cupboard_5_shelf_0_goal); no state log is supplied" |
| } |
| ] |
| }, |
| "native_metrics": [], |
| "open_questions_zh": [ |
| "inputs/states/index.json中的logs为空；依DECISIONS.md P8，六个节点的when及整体success均为null，不能进行状态回放达成率或成功判据一致性验证。atoms列出应补充记录的六个原生目标谓词结果，并未假定这些字段已存在。", |
| "随附评分代码只把KinDER的terminated作为成功返回（inputs/grader/efe_kinder-files/privileged/environment/rcb_kinder.py:147-155）；底层KinDER目标谓词、场景生成及隔间边界比较代码未随inputs/bench_src提供。固定目标由inputs/oracle/run.json:1步骤11打印的goal_state交叉确认；宽10厘米、深30厘米、高40厘米及中心判定依据两模式instruction.md，未另估世界坐标阈值，精确边界是否含等号仍待底层源码核实。", |
| "两模式共用同一场景标识、种子与scene_sha，几何目标相同，但评分交付规则不同：特权模式要求两次完整轨迹重放均成功且最终状态哈希相同（inputs/grader/efe_kinder-files/privileged/tests/grade.py:53-57）；标准模式采用现场单回合成功且无基础设施错误（inputs/grader/efe_standard-files/v2_1/grade.py:93-99）。这些重放有效性与交付检查不是世界状态节点，不能由本文件的无日志success表达。", |
| "固定配对依DECISIONS.md N4保留按实例区分的六步；柜子从左数的位置由成功记录步骤8的柜体坐标与标准文本相互对应。记录中地面杆的完整初始坐标被截断，无法独立重算六根杆的距离排名，视觉身份按标准文本的距离顺序及全过程追踪确定。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "六步直接来自任务文本，固定配对可由成功记录中的目标列表确认；初始录像显示杆在地面、柜口无门，六步无必需顺序。评分入口与成功录像支持中心入格即完成、持物也可达成；但没有状态日志且缺少底层几何谓词源码，绑定与精确边界不能验证。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "六根杆各一步，固定配对、左数柜序（按成功记录步骤8的y坐标核对：cupboard_3第1、0第2、1第4、2第5、5第8、4第11）与标准文本距离顺序（cuboid_4,2,0,5,1,3）均一致；无状态日志故when/success为null符合P8；无多余节点、无习惯边、freeze_held均为false，标签合理。", |
| "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：['rod_0_in_compartment', 'rod_1_in_compartment', 'rod_2_in_compartment', 'rod_3_in_compartment', 'rod_4_in_compartment', 'rod_5_in_compartment']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T09:38:37Z", |
| "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/kinder__constrained_cupboard/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/kinder__constrained_cupboard/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "e6e527d97db9fe5744c7ba1137e067d887900e875be72a9a8bbab1a57dd5b4dc", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
