{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "robodojo/swap_blocks", "suite": "robodojo", "base": "robodojo-swap-blocks-i00", "title_zh": "借空垫交换方块", "summary_zh": "经中间空垫完成两块红方块的三次交换移动及每次按钮确认，通过全部顺序阶段、全程恰计三次按压，并在最后同一动作边界保持按钮帽抬起且双臂回到起始容差内。", "embodiment_zh": "两种模式均为桌面固定的两条ARX X5六关节机械臂，左、右臂各装平行二指夹爪；无移动底盘，提供头部固定相机和两只腕部相机。", "task_class": "compositional", "analysis_level": "step", "spec": { "version": "1.2", "task": "robodojo-swap-blocks-i00", "bench": "robodojo", "progress": "live", "entities": {}, "milestones": [ { "id": "block_on_middle", "zh": "方块暂放中垫", "mode": "event", "when": null, "after": [], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "主相机可见一块红方块从左或右端浅木色圆垫移到中间圆垫，另一块仍在自身起始垫；先在动作边界满足一块仍在原垫且任一块比起始中心高出0.03米以上，再在后续边界满足任一块中心距中垫中心小于0.03米且任一块仍在原垫（阶段1、2）。中垫仍空、方块只悬在其上方或中心偏离超过该三维距离时未完成；该暂存事件通过后，第三次移动将其移走不撤销本步。", "step": { "cat": "关系", "item": "放置" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "plan": 1, "note_zh": "左臂或右臂的二指夹爪夹住任取的第一块红方块，抬离垫面并移到目标垫；不限定哪只手。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:10", "inputs/task/privileged/instruction.md:25-39", "inputs/task/privileged/instruction.md:53-56", "inputs/task/privileged/environment/instance.json:30-39", "inputs/task/privileged/environment/instance.json:84-93", "inputs/oracle/replay.mp4:0-11s" ], "conf": 6, "note_zh": "第一块由实际选择确定，可从左开始，也可从右开始；另一块相应确定。每次移动的抬升阶段属于放置的过程验收，不另列拿起节点；方块姿态、松手、速度和静置时长不另加阈值。评分器逐阶段锁存，故按已通过的事件记分；后续移走方块不会撤销已通过阶段。" }, { "id": "button_confirmed_1", "zh": "第一次按键", "mode": "event", "when": null, "after": [ "block_on_middle" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "第一次移块验收后，主相机中位于中垫前方的橙红色按钮帽被压低，在动作边界行程比例小于0.5，随后另一边界拉高到大于0.9，通过阶段3、4；帽只停在初始约0.79高度或未压过半程均未完成。计数所需的大于0.95预拉高与累计恰好3次另由全局计数验收，按钮微小位移被夹爪遮挡时结合动作前后画面和运行记录判断。", "step": { "cat": "机构", "item": "按压" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "plan": 1, "note_zh": "任一臂的二指夹爪夹住橙红色按钮帽边缘，带动帽上下运动完成按压。" }, { "who": "手指/夹爪", "how": "压/擦", "plan": 2, "note_zh": "任一臂的夹爪指面向下压橙红色按钮帽；计数前拉高和按后复位可先后通过夹住帽沿上拉完成。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:39-50", "inputs/task/privileged/instruction.md:57", "inputs/task/privileged/instruction.md:70-75", "inputs/task/privileged/instruction.md:83-86", "inputs/oracle/replay.mp4:11-24s" ], "conf": 6, "note_zh": "按下和复位属于一次按钮确认的验收，不拆成机器人抓取、拉高和松手节点。全程计数独立于阶段：一次计数须先在动作边界见行程比例大于0.95，后见小于0.5；介于阈值之间保持计数器前态，从初始0.79直接压下可过按压阶段但不计数。不把第k个按压阶段与第k次计数强行等同，累计恰好3次由总成功条件约束。" }, { "id": "other_block_on_vacated_mat", "zh": "另一块占空垫", "mode": "event", "when": null, "after": [ "button_confirmed_1" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "主相机可见中垫上的暂存块仍在中垫，另一块移到第一块腾出的端部圆垫：先在动作边界满足任一块在中垫且任一块比阶段2记录的中心高出0.03米以上，再在后续边界满足任一块在中垫且至少一块到对侧端垫，所有在垫判断均为中心三维距离小于0.03米（阶段5、6）。目标端垫仍空或方块仅悬在其上方未到距离容差内时未完成；成功视频中是右起始块落到左端垫，反向选择同样成立。", "step": { "cat": "关系", "item": "放置" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "plan": 1, "note_zh": "左臂或右臂的二指夹爪夹住尚未移动的另一块红方块，抬离垫面并移到目标垫；不限定哪只手。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:35-39", "inputs/task/privileged/instruction.md:58-60", "inputs/task/privileged/instruction.md:92-101", "inputs/oracle/replay.mp4:25-40s" ], "conf": 6, "note_zh": "每次移动的抬升阶段属于放置的过程验收，不另列拿起节点；方块姿态、松手、速度和静置时长不另加阈值。评分器逐阶段锁存，故按已通过的事件记分；后续移走方块不会撤销已通过阶段。" }, { "id": "button_confirmed_2", "zh": "第二次按键", "mode": "event", "when": null, "after": [ "other_block_on_vacated_mat" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "第二次移块验收后，橙红色按钮帽再次先在动作边界低于0.5行程比例，再在后续边界高于0.9，依次通过阶段7、8；画面上对应夹爪在圆垫前方压低按钮后把帽拉高。只有夹爪靠近、帽未过半程或只回到约0.79静止高度都未完成，累计计数仍按先大于0.95再小于0.5的独立规则验收。", "step": { "cat": "机构", "item": "按压" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "plan": 1, "note_zh": "任一臂的二指夹爪夹住橙红色按钮帽边缘，带动帽上下运动完成按压。" }, { "who": "手指/夹爪", "how": "压/擦", "plan": 2, "note_zh": "任一臂的夹爪指面向下压橙红色按钮帽；计数前拉高和按后复位可先后通过夹住帽沿上拉完成。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:39-50", "inputs/task/privileged/instruction.md:61", "inputs/task/privileged/instruction.md:70-75", "inputs/task/privileged/instruction.md:83-86", "inputs/oracle/replay.mp4:40-54s" ], "conf": 6, "note_zh": "按下和复位属于一次按钮确认的验收，不拆成机器人抓取、拉高和松手节点。全程计数独立于阶段：一次计数须先在动作边界见行程比例大于0.95，后见小于0.5；介于阈值之间保持计数器前态，从初始0.79直接压下可过按压阶段但不计数。不把第k个按压阶段与第k次计数强行等同，累计恰好3次由总成功条件约束。" }, { "id": "parked_block_on_other_mat", "zh": "暂存块归对垫", "mode": "event", "when": null, "after": [ "button_confirmed_2" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "主相机可见暂存块离开中垫，落到另一块腾出的端垫，中垫重新空出，两块相对起始身份已交换：先在动作边界满足至少一块已在对侧端垫且任一块比阶段6记录的中心高出0.03米以上，再在后续边界同时满足左起始块中心距右垫、右起始块中心距左垫均小于0.03米（阶段9、10）。只看到左右各有一块还不足以证明交换，须跟踪此前移块；中垫仍有暂存块或任一目标关系尚未满足即未完成。", "step": { "cat": "关系", "item": "放置" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "plan": 1, "note_zh": "左臂或右臂的二指夹爪夹住中垫上的暂存红方块，抬离垫面并移到目标垫；不限定哪只手。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:35-39", "inputs/task/privileged/instruction.md:62-64", "inputs/task/privileged/instruction.md:92-101", "inputs/oracle/replay.mp4:55-66s" ], "conf": 6, "note_zh": "左右起始身份与目标垫固定配对，按第一次选择后的角色定义两次目标放置，不给相同红块指定任意的先后身份。每次移动的抬升阶段属于放置的过程验收，不另列拿起节点；方块姿态、松手、速度和静置时长不另加阈值。评分器逐阶段锁存，故按已通过的事件记分；后续移走方块不会撤销已通过阶段。" }, { "id": "button_pressed_3", "zh": "第三次按键", "mode": "event", "when": null, "after": [ "parked_block_on_other_mat" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "交换阶段通过后，主相机中夹爪第三次把中垫前的橙红色按钮帽压到动作边界行程比例小于0.5，通过阶段11；未压过半程不算本步完成。总任务还须全程计数恰好3次，并在随后同一动作边界使帽高于0.9且双臂末端相对起始位置每轴误差不超过0.15米、姿态差不超过20度（阶段12）；主相机可见左臂退回、右臂低位侧向抬帽后外移，第三次按下本身不代表总成功。", "step": { "cat": "机构", "item": "按压" }, "contact": [ { "who": "手指/夹爪", "how": "抓握", "plan": 1, "note_zh": "任一臂的二指夹爪夹住橙红色按钮帽边缘，带动帽上下运动完成按压。" }, { "who": "手指/夹爪", "how": "压/擦", "plan": 2, "note_zh": "任一臂的夹爪指面向下压橙红色按钮帽；计数前拉高和按后复位可先后通过夹住帽沿上拉完成。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:44-50", "inputs/task/privileged/instruction.md:65-75", "inputs/task/privileged/instruction.md:83-90", "inputs/oracle/replay.mp4:66-94.5s" ], "conf": 6, "note_zh": "按下和复位属于一次按钮确认的验收，不拆成机器人抓取、拉高和松手节点。全程计数独立于阶段：一次计数须先在动作边界见行程比例大于0.95，后见小于0.5；介于阈值之间保持计数器前态，从初始0.79直接压下可过按压阶段但不计数。不把第k个按压阶段与第k次计数强行等同，累计恰好3次由总成功条件约束。阶段12的按钮抬起与双臂归位是总成功的联合验收；依S4(b)，机器人归位不另计节点。" } ], "constraints": [ { "id": "button_overpressed", "zh": "按钮超次", "never": null, "criterion_zh": "全程计数器出现第4次有效按压：某动作边界按钮帽行程比例大于0.95，后来另一边界低于0.5，累计超过3次；单纯从约0.79静止位压下不计入次数。", "consequence": "立即终止", "sources": [ "inputs/task/privileged/instruction.md:44-50", "inputs/task/privileged/instruction.md:70-75" ] } ], "success": null, "atoms": [ { "atom": "swap_stage_ge_2", "level": "new_code", "source": "dyn.swap_stage_completed >= 2; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "swap_stage_ge_4", "level": "new_code", "source": "dyn.swap_stage_completed >= 4; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "swap_stage_ge_6", "level": "new_code", "source": "dyn.swap_stage_completed >= 6; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "swap_stage_ge_8", "level": "new_code", "source": "dyn.swap_stage_completed >= 8; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "swap_stage_ge_10", "level": "new_code", "source": "dyn.swap_stage_completed >= 10; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "swap_stage_ge_11", "level": "new_code", "source": "dyn.swap_stage_completed >= 11; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "swap_stage_ge_12", "level": "new_code", "source": "dyn.swap_stage_completed >= 12; log the native ordered stage count after each action from reward_manager.check_list[0] (12 initial stages minus remaining); inputs/task/privileged/instruction.md:52-75" }, { "atom": "button_count_eq_3", "level": "new_code", "source": "dyn.button_press_count == 3; log the native above-0.95 to below-0.5 transition counter, including its remembered state; inputs/task/privileged/instruction.md:44-50" }, { "atom": "button_count_gt_3", "level": "new_code", "source": "dyn.button_press_count > 3; same native transition counter; inputs/task/privileged/instruction.md:49-50,70-75" } ] }, "native_metrics": [ { "name": "cube_mat_center_distance", "unit": "m", "threshold": 0.03, "direction": "lower_better" }, { "name": "cube_rise_from_recorded_pose", "unit": "m", "threshold": 0.03, "direction": "higher_better" }, { "name": "button_pressed_ratio", "unit": "1", "threshold": 0.5, "direction": "lower_better" }, { "name": "button_up_ratio", "unit": "1", "threshold": 0.9, "direction": "higher_better" }, { "name": "button_count_arming_ratio", "unit": "1", "threshold": 0.95, "direction": "higher_better" }, { "name": "arm_return_max_axis_error", "unit": "m", "threshold": 0.15, "direction": "lower_better" }, { "name": "arm_return_orientation_error", "unit": "deg", "threshold": 20, "direction": "lower_better" } ], "open_questions_zh": [ "inputs/states/index.json的logs为空；按P8所有节点when、约束never和success均为null，无法运行状态级通过率核验。atoms仅列建议新增的阶段与计数字段，不假定它们已经存在。按钮毫米级运动、计数滞回和最终位姿容差常被夹爪遮挡，视频不能独立精确量出；需补充原生阶段、计数和关节状态后才能自动验收。", "所供grader和bench_src只有包装器与服务端，没有实际被导入的swap_blocks任务模块及完整reward_manager/func_parser。阈值与12阶段细节依据instruction.md:35-101，另有oracle/run.json步骤7、10、11、12、15、19的截断源码或运行记录旁证；未虚构缺失源码行号，不能完成逐项源码独立复核。", "按S1、S2、S8，将三次移动各含的抬升检测合入对应放置验收，将前两次按压后的抬帽合入对应按钮确认；最后抬帽和双臂归位进入总成功条件，依S4(b)不另计归位。按钮计数在阶段之外独立运行，不强制第k次阶段按下时计数恰等于k；总成功精确定义为全部12阶段通过且计数恰为3。", "评分器锁存每个已通过阶段，阶段10的交换位置不会在阶段11、12重新验收（instruction.md:64-74及oracle/run.json步骤15的检查列表弹出逻辑摘录）；因此六个节点均用event，而不额外施加最终方块持续在垫上的state要求。初始两块在自身原垫只服务于移动阶段，最终目标是互换，不存在可从零时刻计分的原垫保持节点。", "两种模式物理检查相同，评分对象不同：privileged/tests/grade.py:129-178采用从固定初态开始的一次新进程回放，standard/tests/grade.py:1-15,39-42采用服务记录的单次实时回合。DAG只刻画共同世界状态和原生阶段，不把轨迹文件格式、实例哈希或服务交付有效性当语义步骤。", "按钮静止比例约0.79，低于复位0.9和计数预备0.95，必须主动抬帽；这已在完整说明中明确（instruction.md:83-90），不是由成功视频推导的新节点。最后抬帽需和双臂归位同时满足，不能把按钮回到普通弹簧静止位当成功。" ], "conf": 6, "conf_reason_zh": "六个步骤直接来自三次移块及三次按键要求，所有边由原生阶段顺序决定，初态与成功视频一致；但没有状态日志，完整原生检查模块也未提供，毫米级按钮判据及阶段计数只能依据说明和截断代码、运行记录核对。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "节点与任务文本一致：三次移动（暂放中垫、补到空出端垫、暂存块移到对侧端垫）各接一次按键，共6步；归位并入success（S4(b)），按钮超次为立即终止约束；边线为评分器阶段顺序，无习惯边；无状态日志故when/success为null并已在open_questions_zh说明。未发现需修改之处。", "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：['block_on_middle', 'button_confirmed_1', 'other_block_on_vacated_mat', 'button_confirmed_2', 'parked_block_on_other_mat', 'button_pressed_3']" ] }, "provenance": { "prompt": "prompts/01_task_dag.md", "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T09:15:52Z", "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/robodojo__swap_blocks/01_dag" }, { "stage": "dag_review", "round": 1, "ok": true, "space": "work/tasks/robodojo__swap_blocks/02_review_r1" } ], "review_engine": "claude", "review_model": "claude-sonnet-5-5", "inputs_manifest_sha256": "5e9b402784bdbea718d967cd21eb9c53c4c7be36ad09cb5ea700a821db4b021b", "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" } }