{
 "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']"
  ]
 },
 "provenance": {
  "prompt": "prompts/01_task_dag.md",
  "prompt_sha256": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7",
  "engine": "codex",
  "model": "gpt-6.1-sol",
  "effort": "high",
  "created": "2026-10-29T02:13:08Z",
  "review_prompt": "prompts/02_task_dag_review.md",
  "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85",
  "reconcile_prompt": "prompts/05_reconcile.md",
  "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83",
  "calls": [
   {
    "stage": "dag",
    "round": 0,
    "ok": true,
    "space": "work/tasks/behavior-1k__loading_the_car/01_dag"
   },
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