robo-si：已验收的具身任务robo-si: accepted embodied tasks
robo-si 是一个面向自我建模、工具发现、负载移动与多机器人协作的机器人基准。本站整理作者已签收的任务与任务族：每个配置给出条件、任务设计、可用工具、embodiment，以及该配置的正确行为是否为拒答（不可完成，机器人应空手进入退出区并站稳）。robo-si is a robotics benchmark for self-modeling, tool discovery, loaded locomotion and multi-robot cooperation. This site lists the tasks and task families the author has signed off: for every configuration it gives the conditions, task design, available tools, embodiment, and whether the correct behaviour is refusal (the task is infeasible, so the robot should exit empty-handed into the exit zone and stand still).
15已验收任务族accepted families
158任务／配置tasks / configurations
146倍速参考视频sped-up reference videos
10拒答配置refusal cases
6机器人平台robot platforms
158/158证据已备份evidence backed up
“已验收”指作者对参考交付范围的签收（截至 2026-11-02）；不等于正式基准准入，也不代表独立第二人复现。“Accepted” means the author signed off the reference-delivery scope (as of 2026-11-02). It is not formal benchmark admission and not independent second-person reproduction.
视频是特权状态专家在物理仿真（Genesis / MuJoCo）中的连续参考执行，说明任务可解或正确退出；它们不是学习型 agent 的成绩。视频统一 8 倍速播放；原始不足 20 秒的短片段改为 4／2／1 倍速，保证至少约 2.5 秒，左上角标明实际倍速。Videos are continuous reference runs of privileged-state experts in physics simulation (Genesis / MuJoCo). They show that a task is solvable, or that exiting is correct; they are not scores of a learned agent. Videos play at 8x speed; clips shorter than 20 s play at 4x, 2x or 1x so that they last at least about 2.5 s, and the badge shows the actual speed.
任务族Task families
点击进入每个任务族，查看逐配置的视频与说明。Open a family to see per-configuration videos and details.
H1支撑辅助取物Support-assisted retrieval
A3Galaxea R1Stretch 3Unitree G1
H2推车辅助重物运输Cart-assisted heavy transport
Galaxea R1Stretch 3Unitree G1
H5杠杆辅助重物运输（H5-X 跨身体扩展）Lever-assisted heavy transport (H5-X cross-embodiment)
Galaxea R1Stretch 3Unitree G1
H6负重上下楼（H6-X 跨身体楼层运输）Loaded stair transport (H6-X cross-embodiment floor-to-floor transport)
Galaxea R1Stretch 3Unitree G1
M2长物协作搬运Cooperative long-object transport
Stretch 3Unitree G1
M3伙伴辅助取物Partner-assisted retrieval
Unitree G1X5
SKSokoban：双 G1 隐藏地图推箱清路Sokoban: two-G1 hidden-map box clearing
Unitree G1
Hanoi桌面汉诺塔：跨身体工具使用Tabletop Tower of Hanoi: cross-embodiment tool use
Unitree G1
DF圆盘翻转Disk Flip
Stretch 3Unitree G1
DR双臂桌面协同转盘Dual-arm tabletop disk rotation
F1柔顺工具使用与装配Compliant Tool Use and Assembly
Unitree G1
FT易碎烧瓶搬运：按身体选工具与能力自建模Fragile flask transport: body-specific tool choice and self-modeling
Galaxea R1Stretch 3Unitree G1
TT乒乓对打与死球判断Table-tennis rallies and dead-ball judgment
A3UR10eUnitree G1
FRG墙角冰箱移出Corner appliance extraction
Unitree G1
SLR狭缝工具取物Narrow-slot tool retrieval
Unitree G1
全部已验收配置All accepted configurations
▶ 表示有倍速视频。可按任务族、机器人平台或是否拒答筛选。▶ marks configurations with a sped-up video. Filter by family, robot platform or refusal.
| ID | 族Family | 任务Task | 平台Platform | 工具Tools | 拒答Refusal |
|---|---|---|---|---|---|
| H1S-01 ▶ | H1 | G1 原版：搬凳登高取物G1 original: carry a stool, climb and retrieve | Unitree G1 | 折叠凳（1.5 kg，可搬）、柜内 0.90 m 层板（可作中转面）Folding stool (1.5 kg, liftable), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-02 ▶ | H1 | G1 手型对照（简化）：Inspire 五指手与 Dex3-1G1 hand comparison (simplified): Inspire five-finger vs Dex3-1 | Unitree G1 | — | 否No |
| H1S-03 ▶ | H1 | 轮式 R1＋斜坡取物Wheeled R1 with a ramp | Galaxea R1 | 可拖动斜坡（带把手柱）、柜前 0.30 m 平台Draggable ramp with handle posts, 0.30 m platform at the cabinet | 否No |
| H1S-04 ▶ | H1 | A3 登高取物A3 climb and retrieve | A3 | 支撑箱 0.25 m、6 kg（可推，不可搬）Support box 0.25 m, 6 kg (pushable, not liftable) | 否No |
| H1S-05-G1 ▶ | H1 | 单层登高与连续交付示范：G1（简化）Single-tier climb and continuous delivery demo: G1 (simplified) | Unitree G1 | 支撑箱 0.44×0.42×0.221 m、5 kg（只能推）、柜内 0.90 m 层板（可作中转面）Support box 0.44 x 0.42 x 0.221 m, 5 kg (push only), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-05-A3 ▶ | H1 | 单层登高与连续交付示范：A3（简化）Single-tier climb and continuous delivery demo: A3 (simplified) | A3 | 两块台阶箱 0.25 m、6 kg（可推）Two step boxes, 0.25 m and 6 kg each (pushable) | 否No |
| H1S-06 ▶ | H1 | 封板不可解与退出Sealed compartment: infeasible, exit | Unitree G1 | — | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H1S-07.P1 ▶ | H1 | 推箱清路后取物Push an obstacle clear, then retrieve | Unitree G1 | 障碍箱 5 kg（只能推）、折叠凳（1.5 kg，可搬）、柜内 0.90 m 层板（可作中转面）Obstacle box, 5 kg (push only), Folding stool (1.5 kg, liftable), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-07.P2 ▶ | H1 | 推箱到位作平台Push a box into place as a platform | Unitree G1 | 支撑箱 0.44×0.42×0.221 m、5 kg（只能推）、柜内 0.90 m 层板（可作中转面）Support box 0.44 x 0.42 x 0.221 m, 5 kg (push only), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-07.P3 ▶ | H1 | 转角或换侧推箱Push around a corner by changing sides | Unitree G1 | 支撑箱 0.44×0.44×0.221 m、5 kg（只能推）、柜内 0.90 m 层板（可作中转面）Support box 0.44 x 0.44 x 0.221 m, 5 kg (push only), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-07.P4 ▶ | H1 | 抬不起但能推到目标区Too heavy to lift, but can be pushed into D | Unitree G1 | — | 否No |
| H1S-08 ▶ | H1 | Stretch 取有把手箱Stretch retrieves a handled box | Stretch 3 | — | 否No |
| H1S-09 ▶ | H1 | 超公开搬举限额：不可解与退出Above the public lift limit: infeasible, exit | Stretch 3 | — | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H1S-10.A ▶ | H1 | G1 多箱选择与布置G1 chooses and places one of several supports | Unitree G1 | 折叠凳（1.5 kg，可搬）、0.06 m 低踏台、0.45 m 平台、窄顶箱（顶面 0.16×0.20 m）、柜内 0.90 m 层板（可作中转面）Folding stool (1.5 kg, liftable), 0.06 m low step, 0.45 m platform, Narrow box (0.16 x 0.20 m top), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-10.B ▶ | H1 | A3 多箱选择与布置A3 chooses and places one of several boxes | A3 | 0.06 m 低箱（3 kg）、0.25 m 中箱（6 kg）、0.50 m 高箱（12 kg）、窄箱（顶面 0.20×0.25 m，2 kg）0.06 m low box (3 kg), 0.25 m mid box (6 kg), 0.50 m tall box (12 kg), Narrow box (0.20 x 0.25 m top, 2 kg) | 否No |
| H1S-10.C ▶ | H1 | 轮式平台与坡道选择Wheeled platform and ramp selection | Galaxea R1 | 多个平台（含 45 kg 可推平台、低平台、小顶面平台）、多块可拖动斜坡（不同坡度）Several platforms (incl. a 45 kg pushable one, a low one and one with a small top), Several draggable ramps of different slopes | 否No |
| H1S-10.D ▶ | H1 | Stretch 工作／中转箱选择Stretch chooses a transfer box | Stretch 3 | 五个候选中转箱（矮箱、窄顶箱、宽箱、侧把手箱、高箱）Five candidate transfer boxes (short, narrow-top, wide, side-handle, tall) | 否No |
| H1S-11.A ▶ | H1 | 直接可取场景Directly reachable target | Stretch 3 | 被动刚性钩（本场景不需要）Passive rigid hook (not needed here) | 否No |
| H1S-11.B ▶ | H1 | 工具扩展取物能力A tool makes the task solvable | Stretch 3 | 被动刚性钩（0.208 kg，0.437 m 杆、4 cm 钩头）Passive rigid hook (0.208 kg, 0.437 m shaft, 4 cm prong) | 否No |
| H1S-11.C ▶ | H1 | 工具也无法完成并退出Not even the tool helps: exit | Stretch 3 | 被动刚性钩（在此无效，不应使用）Passive rigid hook (ineffective here; should not be used) | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H1S-12 ▶ | H1 | 同色干扰Same-colour decoys | Unitree G1 | 折叠凳（1.5 kg，可搬）、红色窄支撑替身（不可用）、柜内 0.90 m 层板（可作中转面）Folding stool (1.5 kg, liftable), Red narrow support decoy (unusable), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-13 ▶ | H1 | 自主中转与安全返回（简化）Self-chosen transfer and safe return (simplified) | Unitree G1 | 折叠凳（1.5 kg，可搬）、柜内 0.90 m 层板（可作中转面）Folding stool (1.5 kg, liftable), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H1S-14 ▶ | H1 | 窄工作区身体适配Narrow workspace body adaptation | Unitree G1 | 折叠凳（1.5 kg，可搬）、柜内 0.90 m 层板（可作中转面）Folding stool (1.5 kg, liftable), Cabinet board at 0.90 m (usable as a transfer surface) | 否No |
| H2C-ORIG-L1 ▶ | H2 | 原版第 1 层：导轨装车、换侧推车过两道错位通道Original, layer 1: load via the rails, push the cart through two offset passages | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks) | 否No |
| H2C-ORIG-L2 ▶ | H2 | 原版第 2 层：加入其他身体可用的工具Original, layer 2: tools usable only by other bodies added | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 m、T06 无轮拖板Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m, T06 wheelless sled | 否No |
| H2C-ORIG-L3 ▶ | H2 | 原版第 3 层：再加无效干扰物Original, layer 3: invalid distractors added | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 m、T06 无轮拖板、T05 宽平板车（车板 1.60 m，宽于通道）、T07 未固定的装饰把手、T08 固定在地面、看似可用的车Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m, T06 wheelless sled, T05 wide flatbed cart (1.60 m deck, wider than the passages), T07 loose decorative handle, T08 cart fixed to the floor that only looks usable | 否No |
| H2C-I02 ▶ | H2 | 载货车过不了收窄通道：不可完成与退出Loaded cart cannot pass the narrowed passages: infeasible, exit | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks) | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H2C-B01-L1 ▶ | H2 | 只能推：避开死巷，第 1 层Push only: avoid the dead end, layer 1 | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks) | 否No |
| H2C-B01-L2 ▶ | H2 | 只能推：避开死巷，第 2 层Push only: avoid the dead end, layer 2 | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 m、T06 无轮拖板Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m, T06 wheelless sled | 否No |
| H2C-B01-L3 ▶ | H2 | 只能推：避开死巷，第 3 层Push only: avoid the dead end, layer 3 | Unitree G1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 m、T06 无轮拖板、T05 宽平板车（车板 1.60 m，宽于通道）、T07 未固定的装饰把手、T08 固定在地面、看似可用的车Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m, T06 wheelless sled, T05 wide flatbed cart (1.60 m deck, wider than the passages), T07 loose decorative handle, T08 cart fixed to the floor that only looks usable | 否No |
| H2C-B03-L1-Y ▶ | H2 | R1 推力够大可不用车：第 1 层，规则 Y（必须在车上交付）R1 strong enough to skip the cart: layer 1, rule Y (delivery on the cart) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks) | 否No |
| H2C-B03-L1-N ▶ | H2 | R1 推力够大可不用车：第 1 层，规则 N（任何合规稳定支撑）R1 strong enough to skip the cart: layer 1, rule N (any compliant stable support) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks) | 否No |
| H2C-B03-L2-Y ▶ | H2 | R1 推力够大可不用车：第 2 层，规则 Y（必须在车上交付）R1 strong enough to skip the cart: layer 2, rule Y (delivery on the cart) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 mRoller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m | 否No |
| H2C-B03-L2-N ▶ | H2 | R1 推力够大可不用车：第 2 层，规则 N（任何合规稳定支撑）R1 strong enough to skip the cart: layer 2, rule N (any compliant stable support) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 mRoller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m | 否No |
| H2C-B03-L3-Y ▶ | H2 | R1 推力够大可不用车：第 3 层，规则 Y（必须在车上交付）R1 strong enough to skip the cart: layer 3, rule Y (delivery on the cart) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 m、T05 宽平板车（车板 1.60 m，宽于通道）、T07 未固定的装饰把手、T08 固定在地面、看似可用的车Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m, T05 wide flatbed cart (1.60 m deck, wider than the passages), T07 loose decorative handle, T08 cart fixed to the floor that only looks usable | 否No |
| H2C-B03-L3-N ▶ | H2 | R1 推力够大可不用车：第 3 层，规则 N（任何合规稳定支撑）R1 strong enough to skip the cart: layer 3, rule N (any compliant stable support) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T03 车头牵引杆，只能拉，握把约 0.35 m、T05 宽平板车（车板 1.60 m，宽于通道）、T07 未固定的装饰把手、T08 固定在地面、看似可用的车Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T03 tow bar on the cart front, pull only, grip about 0.35 m, T05 wide flatbed cart (1.60 m deck, wider than the passages), T07 loose decorative handle, T08 cart fixed to the floor that only looks usable | 否No |
| H2C-B03-R0-L1-N ▶ | H2 | R1 不用车的地面推送路线（第 1 层，规则 N）R1 cart-free floor-push route (layer 1, rule N) | Galaxea R1 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks) | 否No |
| H2C-B04 ▶ | H2 | Stretch 3 低位短行程分段推送：第 1 层Stretch 3 low, short-stroke segmented pushing: layer 1 | Stretch 3 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 mRoller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m | 否No |
| H2C-B04-L3 ▶ | H2 | Stretch 3 分段推送：第 3 层Stretch 3 segmented pushing: layer 3 | Stretch 3 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 m、T05 宽平板车（车板 1.60 m，宽于通道）、T07 未固定的装饰把手、T08 固定在地面、看似可用的车Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m, T05 wide flatbed cart (1.60 m deck, wider than the passages), T07 loose decorative handle, T08 cart fixed to the floor that only looks usable | 否No |
| H2C-B04-T02 ▶ | H2 | Stretch 3 用 T02 低推杆的完整路线（第 1 层）Stretch 3 full route using the T02 low push bar (layer 1) | Stretch 3 | 滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）、T02 车尾低位推杆，0.45 mRoller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks), T02 low push bar on the cart, 0.45 m | 否No |
| H5S-01 ▶ | H5 | 原任务：踏台杠杆抬升与托架推运Original task: platform-lever lift and skate transport | Unitree G1 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-02 ▶ | H5 | 高摩擦底脚：杠杆路线与拖运必要性High-friction feet: lever route and drag necessity | Unitree G1 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-03 ▶ | H5 | Stretch 3 锁止手压杠杆Stretch 3 latching hand lever | Stretch 3 | MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-04 ▶ | H5 | R1 楔形鼻托架R1 wedge-nose skate | Galaxea R1 | 楔形鼻托架（托板加滚轮，带两根抓取立柱）、固定路缘（挡住货箱不被侧推走）、一台普通双轮托架（垫在远端下）Wedge-nose skate (plate with rollers and two grasp posts), Fixed curb (keeps the cargo from being pushed sideways), One plain two-wheel skate (under the far end) | 否No |
| H5S-05.G1 ▶ | H5 | 工具类别对照（v8）· G1Tool-family comparison (v8) · G1 | Unitree G1 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）、MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）、楔形鼻托架（托板加滚轮，带两根抓取立柱）、刚性牵引杆、固定路缘（挡住货箱不被侧推走）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Two two-wheel skates (8 kg each; one starts under the cargo's far end), MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it), Wedge-nose skate (plate with rollers and two grasp posts), Rigid tow bar, Fixed curb (keeps the cargo from being pushed sideways) | 否No |
| H5S-05.R1 ▶ | H5 | 工具类别对照（v8）· R1Tool-family comparison (v8) · R1 | Galaxea R1 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）、MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）、楔形鼻托架（托板加滚轮，带两根抓取立柱）、刚性牵引杆、固定路缘（挡住货箱不被侧推走）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Two two-wheel skates (8 kg each; one starts under the cargo's far end), MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it), Wedge-nose skate (plate with rollers and two grasp posts), Rigid tow bar, Fixed curb (keeps the cargo from being pushed sideways) | 否No |
| H5S-05.S3 ▶ | H5 | 工具类别对照（v8）· Stretch 3Tool-family comparison (v8) · Stretch 3 | Stretch 3 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）、MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）、楔形鼻托架（托板加滚轮，带两根抓取立柱）、刚性牵引杆、固定路缘（挡住货箱不被侧推走）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Two two-wheel skates (8 kg each; one starts under the cargo's far end), MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it), Wedge-nose skate (plate with rollers and two grasp posts), Rigid tow bar, Fixed curb (keeps the cargo from being pushed sideways) | 否No |
| H5S-06.A ▶ | H5 | 摩擦边界对照 A：普通支点 μ 0.85Friction-boundary pair A: plain fulcrum μ 0.85 | Unitree G1 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、槽形支点（1.8 kg，停放在远处）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Channel fulcrum (1.8 kg, parked away from the route), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-06.B ▶ | H5 | 摩擦边界负对照 B：普通支点 μ 0.2Friction-boundary negative control B: plain fulcrum μ 0.2 | Unitree G1 | 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）、普通支点（1.8 kg）、槽形支点（1.8 kg，停放在远处）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried), Plain fulcrum (1.8 kg), Channel fulcrum (1.8 kg, parked away from the route), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-07.A ▶ | H5 | 机械优势对照 A：升降柱力限 ±100 NMechanical-advantage pair A: lift force ±100 N | Stretch 3 | 双按压点锁止手压杠杆（MA 10 与 MA 12 两个按压点）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Dual-pad latching hand lever (MA 10 and MA 12 press points), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-07.B ▶ | H5 | 受限下压力 B：改用 MA 12Limited press force B: switch to MA 12 | Stretch 3 | 双按压点锁止手压杠杆（MA 10 与 MA 12 两个按压点）、两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Dual-pad latching hand lever (MA 10 and MA 12 press points), Two two-wheel skates (8 kg each; one starts under the cargo's far end) | 否No |
| H5S-08.A ▶ | H5 | 轮子力矩对照 A：15 N·mWheel-torque pair A: 15 N·m | Galaxea R1 | 楔形鼻托架（托板加滚轮，带两根抓取立柱）、MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）、一台普通双轮托架（垫在远端下）、固定路缘（挡住货箱不被侧推走）Wedge-nose skate (plate with rollers and two grasp posts), MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it), One plain two-wheel skate (under the far end), Fixed curb (keeps the cargo from being pushed sideways) | 否No |
| H5S-08.B ▶ | H5 | 轮子力矩受限 B：6 N·m，改用手压杠杆Limited wheel torque B: 6 N·m, switch to the hand lever | Galaxea R1 | 楔形鼻托架（托板加滚轮，带两根抓取立柱）、MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）、一台普通双轮托架（垫在远端下）、固定路缘（挡住货箱不被侧推走）Wedge-nose skate (plate with rollers and two grasp posts), MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it), One plain two-wheel skate (under the far end), Fixed curb (keeps the cargo from being pushed sideways) | 否No |
| H5S-09 ▶ | H5 | 不可完成：识别并退出Infeasible: recognise and exit | Stretch 3 | MA 4 锁止手压杠杆、两台普通双轮托架MA 4 latching hand lever, Two plain two-wheel skates | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H6-ORIG.G ▶ | H6 | 原任务：抱箱上下楼Original task: carry the box up and down the stairs | Unitree G1 | — | 否No |
| H6-L1.W ▶ | H6 | R1 走坡道上下平台R1 takes the ramp | Galaxea R1 | 12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side) | 否No |
| H6-L1.S ▶ | H6 | Stretch 3 乘小升降梯上下平台Stretch 3 rides the small lift | Stretch 3 | 小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1) | 否No |
| H6-I01.W ▶ | H6 | 不可完成：R1 面对只有楼梯的场景Infeasible: R1 with stairs only | Galaxea R1 | — | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H6-I01.S ▶ | H6 | 不可完成：Stretch 3 面对只有楼梯的场景Infeasible: Stretch 3 with stairs only | Stretch 3 | — | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| H6-L2.G ▶ | H6 | 预装货井协调 · G1（1.4 kg，revision4）Preloaded freight coordination · G1 (1.4 kg, revision4) | Unitree G1 | 送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）、12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）、小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）、0.6 kg 带提手托盘（低前沿长 150 mm）及托盘挡块Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons), Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side), Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1), 0.6 kg handled tray (150 mm low front lip) with a tray backstop | 否No |
| H6-L2.W ▶ | H6 | 托盘＋坡道 · R1（revision3）Tray and ramp · R1 (revision3) | Galaxea R1 | 0.6 kg 带提手托盘（低前沿长 150 mm）及托盘挡块、12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）、小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）、送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）0.6 kg handled tray (150 mm low front lip) with a tray backstop, Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side), Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1), Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons) | 否No |
| H6-L2.S ▶ | H6 | 托盘＋小升降梯 · Stretch 3Tray and small lift · Stretch 3 | Stretch 3 | 0.6 kg 带提手托盘（低前沿长 150 mm）及托盘挡块、小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）、12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）、送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）0.6 kg handled tray (150 mm low front lip) with a tray backstop, Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1), Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side), Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons) | 否No |
| H6-P01.G.A ▶ | H6 | 隐藏质量对照 A · G1（预装 2.0 kg，revision4）Hidden-mass pair A · G1 (preloaded 2.0 kg, revision4) | Unitree G1 | 送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons) | 否No |
| H6-P01.G.B ▶ | H6 | 隐藏质量对照 B · G1（预装 3.0 kg，revision4）Hidden-mass pair B · G1 (preloaded 3.0 kg, revision4) | Unitree G1 | 送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons) | 否No |
| H6-P02.W.A ▶ | H6 | 轮子力矩对照 A · R1（15 N·m）Wheel-torque pair A · R1 (15 N·m) | Galaxea R1 | 12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）、大轿厢升降梯（R1 可进入，按钮触发，公开额定载重 150 kg）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side), Large-car lift (fits the R1, button-triggered, public rated load 150 kg) | 否No |
| H6-P02.W.B ▶ | H6 | 轮子力矩受限 B · R1（4 N·m，改乘大升降梯）Limited wheel torque B · R1 (4 N·m, take the large lift) | Galaxea R1 | 12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）、大轿厢升降梯（R1 可进入，按钮触发，公开额定载重 150 kg）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side), Large-car lift (fits the R1, button-triggered, public rated load 150 kg) | 否No |
| H6-P03.S.A ▶ | H6 | 隐藏质量对照 A · Stretch 3（1.8 kg）Hidden-mass pair A · Stretch 3 (1.8 kg) | Stretch 3 | 小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）、送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1), Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons) | 否No |
| H6-P03.S.B ▶ | H6 | 隐藏质量对照 B · Stretch 3（2.6 kg，改用送货井）Hidden-mass pair B · Stretch 3 (2.6 kg, use the dumbwaiter) | Stretch 3 | 送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）、小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons), Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1) | 否No |
| M2-1 ▶ | M2 | 双 G1 轻载通过 L 型通道Two G1s carry the light box through the L-shaped corridor | Unitree G1 | — | 否No |
| M2-2 ▶ | M2 | G1 + Stretch 3 轻载接收架交接G1 + Stretch 3 deliver the light box onto a receiving rack | Unitree G1Stretch 3 | 接收架：两个固定、可碰撞的接收支点（公开环境设施，不是隐藏承托或运输工具）Receiving rack: two fixed, collidable supports (a public environment fixture, not hidden support or a transport tool) | 否No |
| M2-3 ▶ | M2 | 双 G1 加重适应Two G1s with the heavier box | Unitree G1 | — | 否No |
| M2-4 ▶ | M2 | G1 + Stretch 3 加重接收架交接G1 + Stretch 3 deliver the heavier box onto the receiving rack | Unitree G1Stretch 3 | 接收架：两个固定、可碰撞的接收支点（公开环境设施，不是隐藏承托或运输工具）Receiving rack: two fixed, collidable supports (a public environment fixture, not hidden support or a transport tool) | 否No |
| M2-5 ▶ | M2 | 双 G1 先清障再搬运Two G1s clear an obstacle, then carry | Unitree G1 | 可移动障碍（0.35 × 0.35 × 0.45 m，0.6 kg，不是固定墙）、地面暂存区（0.50 × 0.55 m），清障后障碍须稳定留在其中Movable obstacle (0.35 × 0.35 × 0.45 m, 0.6 kg; not a fixed wall), Floor staging area (0.50 × 0.55 m) where the cleared obstacle must come to rest | 否No |
| M2-6 ▶ | M2 | 三台 G1 分工清障与搬运Three G1s split clearing and carrying | Unitree G1 | 可移动障碍（0.35 × 0.35 × 0.45 m，0.6 kg，不是固定墙）、地面暂存区（0.50 × 0.55 m），清障后障碍须稳定留在其中Movable obstacle (0.35 × 0.35 × 0.45 m, 0.6 kg; not a fixed wall), Floor staging area (0.50 × 0.55 m) where the cleared obstacle must come to rest | 否No |
| M3C-ORIG ▶ | M3 | 原始协作取物Original cooperative retrieval | Unitree G1X5 | 靠书架的 0.18 m 低箱（支撑台）、另一只 32 cm 高可移动箱、X5 伙伴及其承托钩杆、地面目标托盘 D（带边沿）The 0.18 m box against the shelf (support), A second movable box, 32 cm tall, The X5 partner and its carry hook bar, Ground goal tray D (rimmed) | 否No |
| M3C-B01 ▶ | M3 | 预置平台独立取物Independent retrieval from a preset platform | Unitree G1 | 预置的 38 cm 高、3 kg 平台、另一只 32 cm 高可移动箱、伙伴的承托横杆／钩杆接口、地面目标托盘 D（带边沿）Preset 38 cm, 3 kg platform, A second movable box, 32 cm tall, The partner's carry rung / hook interface, Ground goal tray D (rimmed) | 否No |
| M3C-B02 ▶ | M3 | 推移工作台后协作取物Cooperative retrieval after pushing a workstation into place | Unitree G1 | 可移动平台 65×50×35 cm、3 kg（需推移）、另一只 32 cm 高可移动箱、伙伴的承托横杆／钩杆接口、地面目标托盘 D（带边沿）Movable 65x50x35 cm, 3 kg platform (must be pushed), A second movable box, 32 cm tall, The partner's carry rung / hook interface, Ground goal tray D (rimmed) | 否No |
| M3C-B03 ▶ | M3 | 接触辅助坡道取物Contact-assisted ramp retrieval | Unitree G1X5 | 固定的 2 m 曲线坡道、柜前 0.18 m 平台箱、另一只 32 cm 高可移动箱、X5 自身的轮式驱动、地面目标托盘 D（带边沿）Fixed 2 m curved ramp, 0.18 m platform box at the cabinet, A second movable box, 32 cm tall, The X5's own wheeled drive, Ground goal tray D (rimmed) | 否No |
| M3C-B04 ▶ | M3 | 坡道环境下协作搬运Cooperative lift with a ramp present | Unitree G1 | 通向平台的固定实体坡道、预置的 38 cm 高、3 kg 平台、另一只 32 cm 高可移动箱、伙伴的承托横杆／钩杆接口、地面目标托盘 D（带边沿）Fixed physical ramp to the platform, Preset 38 cm, 3 kg platform, A second movable box, 32 cm tall, The partner's carry rung / hook interface, Ground goal tray D (rimmed) | 否No |
| M3C-I01 ▶ | M3 | 闭盖证书与空手退出Sealed-bin certificate and empty-handed exit | Unitree G1X5 | 与 B03 相同的坡道、平台箱与 32 cm 箱、封闭容器的固定刚性盖板、地面目标托盘 D（带边沿）、两台机器人各自的 Q 退出位The same ramp, platform box and 32 cm box as B03, Fixed rigid lid sealing the bin, Ground goal tray D (rimmed), A Q exit bay for each robot | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| SK-L1 ▶ | SK | L1 · 固定四箱开发图L1 · Fixed four-crate development map | Unitree G1 | 4 个可推动箱子（0.65×0.65×0.55 m，4 kg，摩擦系数 0.4），只能推，不能抓、拉、抬、同伴 G1 与受限显式消息通道、可选：在私有沙盒内自行编写建图、地图融合与规划程序Four pushable crates (0.65 × 0.65 × 0.55 m, 4 kg, friction 0.4); push only, no grasping, pulling or lifting, The peer G1 and a bounded explicit message channel, Optional: self-written mapping, map-fusion and planning programs in a private sandbox | 否No |
| SK-L2-INF ▶ | SK | L2 · 信息互补L2 · Complementary information | Unitree G1 | 4 个可推动箱子（0.65×0.65×0.55 m，4 kg，摩擦系数 0.4），只能推，不能抓、拉、抬、同伴 G1 与受限显式消息通道、可选：在私有沙盒内自行编写建图、地图融合与规划程序Four pushable crates (0.65 × 0.65 × 0.55 m, 4 kg, friction 0.4); push only, no grasping, pulling or lifting, The peer G1 and a bounded explicit message channel, Optional: self-written mapping, map-fusion and planning programs in a private sandbox | 否No |
| SK-L2-BTL ▶ | SK | L2 · 共享瓶颈L2 · Shared bottleneck | Unitree G1 | 4 个可推动箱子（0.65×0.65×0.55 m，4 kg，摩擦系数 0.4），只能推，不能抓、拉、抬、同伴 G1 与受限显式消息通道、可选：在私有沙盒内自行编写建图、地图融合与规划程序Four pushable crates (0.65 × 0.65 × 0.55 m, 4 kg, friction 0.4); push only, no grasping, pulling or lifting, The peer G1 and a bounded explicit message channel, Optional: self-written mapping, map-fusion and planning programs in a private sandbox | 否No |
| SK-L2-UPD ▶ | SK | L2 · 动态更新L2 · Dynamic map update | Unitree G1 | 4 个可推动箱子（0.65×0.65×0.55 m，4 kg，摩擦系数 0.4），只能推，不能抓、拉、抬、同伴 G1 与受限显式消息通道、可选：在私有沙盒内自行编写建图、地图融合与规划程序Four pushable crates (0.65 × 0.65 × 0.55 m, 4 kg, friction 0.4); push only, no grasping, pulling or lifting, The peer G1 and a bounded explicit message channel, Optional: self-written mapping, map-fusion and planning programs in a private sandbox | 否No |
| SK-L3-A ▶ | SK | L3 · 能力反转 A（g1_a 手臂力矩降低）L3 · Capability reversal A (reduced arm effort on g1_a) | Unitree G1 | 4 个可推动箱子（0.65×0.65×0.55 m，4 kg，摩擦系数 0.4），只能推，不能抓、拉、抬、同伴 G1 与受限显式消息通道、可选：在私有沙盒内自行编写建图、地图融合与规划程序Four pushable crates (0.65 × 0.65 × 0.55 m, 4 kg, friction 0.4); push only, no grasping, pulling or lifting, The peer G1 and a bounded explicit message channel, Optional: self-written mapping, map-fusion and planning programs in a private sandbox | 否No |
| SK-L3-B ▶ | SK | L3 · 能力反转 B（g1_b 手臂力矩降低）L3 · Capability reversal B (reduced arm effort on g1_b) | Unitree G1 | 4 个可推动箱子（0.65×0.65×0.55 m，4 kg，摩擦系数 0.4），只能推，不能抓、拉、抬、同伴 G1 与受限显式消息通道、可选：在私有沙盒内自行编写建图、地图融合与规划程序Four pushable crates (0.65 × 0.65 × 0.55 m, 4 kg, friction 0.4); push only, no grasping, pulling or lifting, The peer G1 and a bounded explicit message channel, Optional: self-written mapping, map-fusion and planning programs in a private sandbox | 否No |
| Hanoi-01 ▶ | Hanoi | Dex3·三盘整塔·能力公开Dex3, three-disk full tower, capability disclosed | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-02 ▶ | Hanoi | 平行夹爪·三盘整塔·能力公开Parallel gripper, three-disk full tower, capability disclosed | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-03 ▶ | Hanoi | Dex3·三盘整塔·能力隐藏Dex3, three-disk full tower, capability hidden | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-04 ▶ | Hanoi | 平行夹爪·三盘整塔·能力隐藏Parallel gripper, three-disk full tower, capability hidden | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-05 ▶ | Hanoi | Dex3·夹持边界·单次完整转移Dex3, grip boundary, single complete transfer | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-06 ▶ | Hanoi | 平行夹爪·腕力矩边界·三盘整塔Parallel gripper, wrist-torque boundary, three-disk full tower | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-07 ▶ | Hanoi | Dex3·四盘·完整规划＋前三步物理执行Dex3, four disks, full plan plus first three physical transfers | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-08 ▶ | Hanoi | Dex3·五盘·完整规划＋前三步物理执行Dex3, five disks, full plan plus first three physical transfers | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-09 ▶ | Hanoi | 五指手·单次转移·能力公开Five-finger hand, single transfer, capability disclosed | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| Hanoi-10 ▶ | Hanoi | 五指手·单次转移·能力隐藏Five-finger hand, single transfer, capability hidden | Unitree G1 | T1 侧夹钳：被动侧向夹持工具、T2 底部托叉：从盘下支撑的托具（当前参考解使用）T1 tongs: passive side-clamping tool, T2 fork: under-disk support tool (used by the current reference) | 否No |
| DF-01-G ▶ | DF | 原版轻柔翻圆盘（名义配置）Original gentle disk flip (nominal configuration) | Unitree G1 | P1 实心圆盘：直径 200 mm、厚 12 mm、120 g，初始橙面朝上，另一面为蓝色、0.86 m 高桌面：双手翻面后允许换手支撑、把重量交给桌面再推回目标区P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, orange face up at the start and blue on the other face, 0.86 m table: after the bimanual flip the robot may switch support, hand the weight to the table and push the disk back to the goal | 否No |
| DF-02-G ▶ | DF | 带沿浅盘：三指抓取适配Rimmed plate: three-finger grasp adaptation | Unitree G1 | P2 带沿浅盘：外径 200 mm、总高 20 mm、120 g；浅凹盘面、薄外沿与底部支撑圈，沿下净空 14 mm、0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接P2 rimmed shallow plate: 200 mm diameter, 20 mm total height, 120 g; shallow concavity, thin rim and underside support ring with 14 mm under-rim clearance, 0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed | 否No |
| DF-02-F ▶ | DF | 带沿浅盘：五指抓取适配Rimmed plate: five-finger grasp adaptation | Unitree G1 | P2 带沿浅盘：外径 200 mm、总高 20 mm、120 g；浅凹盘面、薄外沿与底部支撑圈，沿下净空 14 mm、0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接P2 rimmed shallow plate: 200 mm diameter, 20 mm total height, 120 g; shallow concavity, thin rim and underside support ring with 14 mm under-rim clearance, 0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed | 否No |
| DF-03-G ▶ | DF | 受力敏感浅盘翻面Contact-load-limited plate flip | Unitree G1 | P3 受力敏感浅盘：几何与质量同 P2，另加局部接触载荷上限（刚体损伤代理，不模拟真实破碎）、0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接P3 load-sensitive plate: same geometry and mass as P2 plus a local contact-load limit (a rigid-body damage proxy, not simulated fracture), 0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed | 否No |
| DF-04-G ▶ | DF | 自主翻面：双臂配置Open-strategy flip: dual-arm configuration | Unitree G1 | P1 实心圆盘：直径 200 mm、厚 12 mm、120 g，两面平整、质量均匀、0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, flat faces and uniform mass, 0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed | 否No |
| DF-04-S ▶ | DF | 自主翻面：单臂配置Open-strategy flip: single-arm configuration | Stretch 3 | P1 实心圆盘：直径 200 mm、厚 12 mm、120 g，两面平整、质量均匀、0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, flat faces and uniform mass, 0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed | 否No |
| DF-01-G-offset ▶ | DF | 原版轻柔翻圆盘（横向偏移配置）Original gentle disk flip (lateral-offset configuration) | Unitree G1 | P1 实心圆盘：直径 200 mm、厚 12 mm、120 g，初始橙面朝上，另一面为蓝色、0.86 m 高桌面：双手翻面后允许换手支撑、把重量交给桌面再推回目标区P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, orange face up at the start and blue on the other face, 0.86 m table: after the bimanual flip the robot may switch support, hand the weight to the table and push the disk back to the goal | 否No |
| DR-nominal_ccw ▶ | DR | 标称配置：逆时针转 30°Nominal configuration: 30° counter-clockwise | — | 否No | |
| DR-wrap_cw ▶ | DR | 跨角度边界：顺时针转 30°Wrap-around configuration: 30° clockwise | — | 否No | |
| F1-01-L1-rubber ▶ | F1 | 紧配合零件压入与敲合 · L1 · 橡胶锤Press-fit insertion and mallet seating · L1 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation) | 否No |
| F1-01-L1-rigid ▶ | F1 | 紧配合零件压入与敲合 · L1 · 刚体锤Press-fit insertion and mallet seating · L1 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings | 否No |
| F1-01-L2-rubber ▶ | F1 | 紧配合零件压入与敲合 · L2 · 橡胶锤Press-fit insertion and mallet seating · L2 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-01-L2-rigid ▶ | F1 | 紧配合零件压入与敲合 · L2 · 刚体锤Press-fit insertion and mallet seating · L2 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-01-L3-rubber ▶ | F1 | 紧配合零件压入与敲合 · L3 · 橡胶锤Press-fit insertion and mallet seating · L3 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-01-L3-rigid ▶ | F1 | 紧配合零件压入与敲合 · L3 · 刚体锤Press-fit insertion and mallet seating · L3 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-02-L1-rubber ▶ | F1 | 隔垫传力与保护性装配 · L1 · 橡胶锤Protected assembly through an intermediate pad · L1 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、已预置在零件上的软垫Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Soft pad already placed on the part | 否No |
| F1-02-L1-rigid ▶ | F1 | 隔垫传力与保护性装配 · L1 · 刚体锤Protected assembly through an intermediate pad · L1 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、已预置在零件上的软垫Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Soft pad already placed on the part | 否No |
| F1-02-L2-rubber ▶ | F1 | 隔垫传力与保护性装配 · L2 · 橡胶锤Protected assembly through an intermediate pad · L2 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、三种可移动保护垫：软垫、薄垫与厚垫块、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Three movable pads: a soft pad, a thin pad and a thick block, Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-02-L2-rigid ▶ | F1 | 隔垫传力与保护性装配 · L2 · 刚体锤Protected assembly through an intermediate pad · L2 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、三种可移动保护垫：软垫、薄垫与厚垫块、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Three movable pads: a soft pad, a thin pad and a thick block, Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-02-L3-rubber ▶ | F1 | 隔垫传力与保护性装配 · L3 · 橡胶锤Protected assembly through an intermediate pad · L3 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、三种可移动保护垫：软垫、薄垫与厚垫块、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Three movable pads: a soft pad, a thin pad and a thick block, Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-02-L3-rigid ▶ | F1 | 隔垫传力与保护性装配 · L3 · 刚体锤Protected assembly through an intermediate pad · L3 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、三种可移动保护垫：软垫、薄垫与厚垫块、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Three movable pads: a soft pad, a thin pad and a thick block, Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-03-L1-rubber ▶ | F1 | 协作框架敲合装配 · L1 · 橡胶锤Cooperative frame seating and assembly · L1 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、伙伴 G1：可实际接触扶持横梁、可移动的临时支架（可代替伙伴扶持）Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Partner G1 that can physically support the crossbar, Movable temporary cradle (an alternative to partner support) | 否No |
| F1-03-L1-rigid ▶ | F1 | 协作框架敲合装配 · L1 · 刚体锤Cooperative frame seating and assembly · L1 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、伙伴 G1：可实际接触扶持横梁、可移动的临时支架（可代替伙伴扶持）Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Partner G1 that can physically support the crossbar, Movable temporary cradle (an alternative to partner support) | 否No |
| F1-03-L2-rubber ▶ | F1 | 协作框架敲合装配 · L2 · 橡胶锤Cooperative frame seating and assembly · L2 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、伙伴 G1：可实际接触扶持横梁、可移动的临时支架（可代替伙伴扶持）、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Partner G1 that can physically support the crossbar, Movable temporary cradle (an alternative to partner support), Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-03-L2-rigid ▶ | F1 | 协作框架敲合装配 · L2 · 刚体锤Cooperative frame seating and assembly · L2 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、伙伴 G1：可实际接触扶持横梁、可移动的临时支架（可代替伙伴扶持）、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Partner G1 that can physically support the crossbar, Movable temporary cradle (an alternative to partner support), Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-03-L3-rubber ▶ | F1 | 协作框架敲合装配 · L3 · 橡胶锤Cooperative frame seating and assembly · L3 · rubber hammer | Unitree G1 | 橡胶接触锤：锤头 0.30 kg＋锤柄 0.10 kg 的单一刚体，锤头采用较软的接触参数（柔顺接触近似，不模拟橡胶实体变形）、伙伴 G1：可实际接触扶持横梁、可移动的临时支架（可代替伙伴扶持）、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rubber-contact hammer: one rigid body with a 0.30 kg head and 0.10 kg handle; the head uses softer contact settings (a compliant-contact approximation, not simulated rubber deformation), Partner G1 that can physically support the crossbar, Movable temporary cradle (an alternative to partner support), Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| F1-03-L3-rigid ▶ | F1 | 协作框架敲合装配 · L3 · 刚体锤Cooperative frame seating and assembly · L3 · rigid hammer | Unitree G1 | 刚体金属锤：与橡胶锤几何、质量相同，锤头为硬接触参数、伙伴 G1：可实际接触扶持横梁、可移动的临时支架（可代替伙伴扶持）、被动压具：可移动的反力框与被动压杆，只能靠实际接触驱动Rigid metal hammer: same geometry and mass as the rubber hammer, with hard head contact settings, Partner G1 that can physically support the crossbar, Movable temporary cradle (an alternative to partner support), Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact | 否No |
| FT-ORIG.G ▶ | FT | 原版：固定骨盆 G1 运输三瓶Original: fixed-pelvis G1 three-flask transport | Unitree G1 | T1 弹簧阻尼运输盒：三座、双侧开放把手、0.425 kgT1 spring-damper carrier: three seats, two open handles, 0.425 kg | 否No |
| FT-L1.F ▶ | FT | 换五指手：Inspire 直接逐瓶搬运Five-finger hand: Inspire direct per-flask transfer | Unitree G1 | T1 弹簧阻尼运输盒（在场，参考解未使用）T1 spring-damper carrier (present, unused by the reference) | 否No |
| FT-L1.W ▶ | FT | R1 轮式双臂短距转运R1 wheeled dual-arm short transfer | Galaxea R1 | T1 弹簧阻尼运输盒（在场，参考解未使用）T1 spring-damper carrier (present, unused by the reference) | 否No |
| FT-L1.S ▶ | FT | Stretch 单臂逐瓶转运Stretch single-arm per-flask transfer | Stretch 3 | T1 弹簧阻尼运输盒（在场，参考解未使用）、T2 单瓶防震套 ×3、T4-S 车载托架（Stretch 接口）T1 spring-damper carrier (present, unused by the reference), T2 single-flask cushioned sleeve ×3, T4-S base rack (Stretch interface) | 否No |
| FT-A.G ▶ | FT | 平坦短程·固定骨盆 G1（工具发现）Flat short route, fixed-pelvis G1 (tool discovery) | Unitree G1 | T1 弹簧阻尼运输盒（未使用）、T2 单瓶防震套、T3 推车、T4-W 车载托架（R1 接口）、T4-S 车载托架（Stretch 接口）、T5 马蹄形领圈：从颈环下方托起烧瓶T1 spring-damper carrier (unused), T2 single-flask cushioned sleeve, T3 cart, T4-W base rack (R1 interface), T4-S base rack (Stretch interface), T5 horseshoe collar: lifts a flask under its neck ring | 否No |
| FT-A.S ▶ | FT | 平坦短程·Stretch（工具发现）Flat short route, Stretch (tool discovery) | Stretch 3 | T1 弹簧阻尼运输盒（未使用）、T2 单瓶防震套 ×3、T4-S 车载托架（Stretch 接口）、T4-W 车载托架（R1 接口）、T3 推车、T5 马蹄形领圈：从颈环下方托起烧瓶T1 spring-damper carrier (unused), T2 single-flask cushioned sleeve ×3, T4-S base rack (Stretch interface), T4-W base rack (R1 interface), T3 cart, T5 horseshoe collar: lifts a flask under its neck ring | 否No |
| FT-B.G ▶ | FT | 长程转运·行走 G1（整批预装修订版）Long route, walking G1 (prepacked-shipment revision) | Unitree G1 | T1 运输盒（预装三瓶，短金属立柱把手）、T2 单瓶防震套 ×3、T3 推车、T4-W 车载托架（R1 接口）、T4-S 车载托架（Stretch 接口）T1 carrier (prepacked with three flasks, short metal post handles), T2 single-flask cushioned sleeve ×3, T3 cart, T4-W base rack (R1 interface), T4-S base rack (Stretch interface) | 否No |
| FT-B.W ▶ | FT | 长程转运·R1（T1 双臂搬运）Long route, R1 (two-arm T1 carry) | Galaxea R1 | T1 弹簧阻尼运输盒：三座、双侧开放把手、T2 单瓶防震套、T4-W 车载托架（R1 接口）、T3 推车、T5 马蹄形领圈：从颈环下方托起烧瓶T1 spring-damper carrier: three seats, two open handles, T2 single-flask cushioned sleeve, T4-W base rack (R1 interface), T3 cart, T5 horseshoe collar: lifts a flask under its neck ring | 否No |
| FT-B.S ▶ | FT | 长程转运·Stretch（托架加手持一趟运完）Long route, Stretch (rack plus hand carry in one trip) | Stretch 3 | T1 弹簧阻尼运输盒：三座、双侧开放把手、T2 单瓶防震套 ×3、T4-S 车载托架（Stretch 接口）T1 spring-damper carrier: three seats, two open handles, T2 single-flask cushioned sleeve ×3, T4-S base rack (Stretch interface) | 否No |
| FT-C.W ▶ | FT | 托架接口不匹配·R1Rack interface mismatch, R1 | Galaxea R1 | T1 弹簧阻尼运输盒：三座、双侧开放把手、T2 单瓶防震套、T4-S 车载托架（Stretch 接口）、T3 推车、T5 马蹄形领圈：从颈环下方托起烧瓶T1 spring-damper carrier: three seats, two open handles, T2 single-flask cushioned sleeve, T4-S base rack (Stretch interface), T3 cart, T5 horseshoe collar: lifts a flask under its neck ring | 否No |
| FT-C.S ▶ | FT | 双把手盒单臂不可用·Stretch（分段计时修订版）Two-handle carrier unusable with one arm, Stretch (phase-budget revision) | Stretch 3 | T1 弹簧阻尼运输盒：三座、双侧开放把手、T2 单瓶防震套 ×3、T4-S 车载托架（Stretch 接口）T1 spring-damper carrier: three seats, two open handles, T2 single-flask cushioned sleeve ×3, T4-S base rack (Stretch interface) | 否No |
| FT-L3-1.G ▶ | FT | 湿滑烧瓶抓取标定·G1（共轴 T5 修订版）Slippery-flask grasp calibration, G1 (coaxial T5 revision) | Unitree G1 | T5 共轴领圈（修订版，0.12 kg）、T1 弹簧阻尼运输盒、T2 单瓶防震套、T3 推车、T4-W 车载托架（R1 接口）、T4-S 车载托架（Stretch 接口）、不计分试验瓶（公开自身峰值冲量与是否破损）T5 coaxial collar (revised, 0.12 kg), T1 spring-damper carrier, T2 single-flask cushioned sleeve, T3 cart, T4-W base rack (R1 interface), T4-S base rack (Stretch interface), Unscored test flask (reports its own peak impulse and breakage) | 否No |
| FT-L3-1.F ▶ | FT | 湿滑烧瓶抓取标定·Inspire 五指手Slippery-flask grasp calibration, Inspire five-finger hand | Unitree G1 | T1 弹簧阻尼运输盒（在场，参考解未使用）、不计分试验瓶（公开自身峰值冲量与是否破损）T1 spring-damper carrier (present, unused by the reference), Unscored test flask (reports its own peak impulse and breakage) | 否No |
| FT-L3-2.W ▶ | FT | 运输盒缓冲老化·R1Aged carrier cushioning, R1 | Galaxea R1 | T1 弹簧阻尼运输盒（座位已老化）、T2 单瓶防震套、T4-W 车载托架（R1 接口）、T3 推车、T5 马蹄形领圈：从颈环下方托起烧瓶、不计分试验瓶（公开自身峰值冲量与是否破损）T1 spring-damper carrier (aged seats), T2 single-flask cushioned sleeve, T4-W base rack (R1 interface), T3 cart, T5 horseshoe collar: lifts a flask under its neck ring, Unscored test flask (reports its own peak impulse and breakage) | 否No |
| FT-L3-3.S ▶ | FT | 老化托架整批运输评估·Stretch（替代修订版）Aged-rack packed shipment assessment, Stretch (replacement revision) | Stretch 3 | T4-S v2 托架（预装三瓶，座位已老化）、T1 弹簧阻尼运输盒：三座、双侧开放把手、T2 单瓶防震套 ×3T4-S v2 rack (prepacked with three flasks, aged seats), T1 spring-damper carrier: three seats, two open handles, T2 single-flask cushioned sleeve ×3 | 否No |
| FT-L3-4.G ▶ | FT | 路线阻断探测与安全返回·行走 G1（子任务修订版）Blocked-route probe and safe return, walking G1 (component revision) | Unitree G1 | T3 推车（载试验瓶）、T2 单瓶防震套 ×3、T4-W 车载托架（R1 接口）、T4-S 车载托架（Stretch 接口）、不计分试验瓶（公开自身峰值冲量与是否破损）T3 cart (carrying the test flask), T2 single-flask cushioned sleeve ×3, T4-W base rack (R1 interface), T4-S base rack (Stretch interface), Unscored test flask (reports its own peak impulse and breakage) | 否No |
| FT-I01.W ▶ | FT | 全路线不可行对照·R1（正确退出）All-routes-infeasible control, R1 (correct exit) | Galaxea R1 | T1 弹簧阻尼运输盒（唯一工具）T1 spring-damper carrier (only tool) | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| FT-I01.S ▶ | FT | 全路线不可行对照·Stretch（正确退出）All-routes-infeasible control, Stretch (correct exit) | Stretch 3 | T1 弹簧阻尼运输盒（在场，参考解未使用）、T2 单瓶防震套 ×3、T4-S 车载托架（Stretch 接口）T1 spring-damper carrier (present, unused by the reference), T2 single-flask cushioned sleeve ×3, T4-S base rack (Stretch interface) | 拒答：正确行为是退出Refusal: correct outcome is to exit |
| TT-ORIG-U ▶ | TT | UR10e 单次目标回球UR10e single target return | UR10e | 法兰固连球拍、发球机Flange-mounted racket, Ball launcher | 否No |
| TT-ORIG-G ▶ | TT | G1 自由站立回球与稳定恢复G1 free-standing return and stable recovery | Unitree G1 | 右腕被动固连球拍（120 g）、发球机Racket passively mounted on the right wrist (120 g), Ball launcher | 否No |
| TT-R-U-ref | TT | UR10e 对参考对手连续对打UR10e rally against the reference opponent | UR10e | 法兰固连球拍、参考对手（龙门球拍）Flange-mounted racket, Reference opponent (gantry paddle) | 否No |
| TT-R-G-ref | TT | G1 对参考对手连续对打G1 rally against the reference opponent | Unitree G1 | 右腕被动固连球拍、参考对手（龙门球拍）Racket passively mounted on the right wrist, Reference opponent (gantry paddle) | 否No |
| TT-R-A-ref | TT | A3 对参考对手连续对打A3 rally against the reference opponent | A3 | 腕部固连球拍、参考对手（龙门球拍）Wrist-mounted racket, Reference opponent (gantry paddle) | 否No |
| TT-R-U-U | TT | UR10e 对 UR10e 对打UR10e versus UR10e rally | UR10e | 法兰固连球拍、UR10e 专家对手Flange-mounted racket, UR10e expert opponent | 否No |
| TT-R-G-G | TT | G1 对 G1 对打G1 versus G1 rally | Unitree G1 | 右腕被动固连球拍、G1 专家对手Racket passively mounted on the right wrist, G1 expert opponent | 否No |
| TT-R-U-G | TT | UR10e 对 G1 专家对打UR10e versus G1 expert rally | UR10e | 法兰固连球拍、G1 专家对手Flange-mounted racket, G1 expert opponent | 否No |
| TT-R-G-U | TT | G1 对 UR10e 专家对打G1 versus UR10e expert rally | Unitree G1 | 右腕被动固连球拍、UR10e 专家对手Racket passively mounted on the right wrist, UR10e expert opponent | 否No |
| TT-R-A-G | TT | A3 对 G1 专家对打A3 versus G1 expert rally | A3 | 腕部固连球拍、G1 专家对手Wrist-mounted racket, G1 expert opponent | 否No |
| TT-R-G-A | TT | G1 对 A3 专家对打G1 versus A3 expert rally | Unitree G1 | 右腕被动固连球拍、A3 专家对手Racket passively mounted on the right wrist, A3 expert opponent | 否No |
| TT-D-U | TT | UR10e 死球判断UR10e dead-ball judgment | UR10e | 法兰固连球拍、发球机（6 球弹匣）Flange-mounted racket, Ball launcher (6-ball magazine) | 否No |
| TT-D-G | TT | G1 死球判断与躯干避让G1 dead-ball judgment with body avoidance | Unitree G1 | 右腕被动固连球拍、发球机（6 球弹匣）Racket passively mounted on the right wrist, Ball launcher (6-ball magazine) | 否No |
| TT-D-A ▶ | TT | A3 死球判断与躯干避让A3 dead-ball judgment with body avoidance | A3 | 腕部固连球拍、发球机（6 球弹匣）Wrist-mounted racket, Ball launcher (6-ball magazine) | 否No |
| TT-R-GH-ref | TT | G1 五指手持拍连续对打G1 hand-held racket rally | Unitree G1 | 手持球拍（独立刚体，不焊接）、参考对手（龙门球拍）、发球机与拍架Hand-held racket (free rigid body, not welded), Reference opponent (gantry paddle), Ball launcher and racket rest | 否No |
| FRG-01 ▶ | FRG | 原版：经正面把手拉出墙角冰箱Original: pull the corner refrigerator out by its front handle | Unitree G1 | — | 否No |
| SLR-01 ▶ | SLR | 原版：钩杆三段短拉取物Original: hook retrieval in three short pulls | Unitree G1 | 0.46 m 自由钩杆（钩头高 50 mm，约 0.24 kg）Free 0.46 m hook tool (50 mm hook head, about 0.24 kg) | 否No |
证据备份Evidence backup
158/158 个已验收配置的完整参考证据（计划、轨迹、物理日志、回放与视频）已归档至私有 Hugging Face 数据集，并于 2026-11-03 对远端逐文件核对大小与 SHA-256。数据集需授权访问；各族均附恢复工具。跨族共享的文件在各族中重复计数。Full reference evidence (plans, trajectories, physics logs, replays and videos) for 158/158 accepted configurations is archived in a private Hugging Face dataset; every remote file's size and SHA-256 were checked on 2026-11-03. Access to the dataset requires authorisation; each family ships with a restore tool. Files shared across families count in each family.
| 族Family | 已备份配置Configs backed up | 参考证据文件Evidence files | GiB | 备注Note |
|---|---|---|---|---|
| H1 | 23/23 | 17,923 | 11.7 | |
| H2 | 17/17 | 11,456 | 9.1 | |
| H5 | 14/14 | 4,731 | 2.5 | |
| H6 | 14/14 | 3,164 | 2.2 | |
| M2 | 6/6 | 21,739 | 19.4 | 另含开发运行 42.0 GiBplus 42.0 GiB of development runs |
| M3 | 6/6 | 6,963 | 3.9 | |
| SK | 6/6 | 308 | 2.0 | |
| Hanoi | 10/10 | 13,148 | 26.1 | |
| DF | 7/7 | 15,353 | 36.6 | 另含开发运行 16.6 GiBplus 16.6 GiB of development runs |
| DR | 2/2 | 666 | 0.7 | |
| F1 | 18/18 | 2,721 | 15.8 | 另含开发运行 18.2 GiBplus 18.2 GiB of development runs |
| FT | 18/18 | 7,110 | 10.0 | |
| TT | 15/15 | 5,524 | 4.2 | |
| FRG | 1/1 | 17,045 | 11.1 | |
| SLR | 1/1 | 17,045 | 11.1 |
尚未验收Not yet accepted
以下任务族或扩展仍在开发或等待签收，本站不展示其视频。These families or extensions are still in development or awaiting sign-off; the site shows no videos for them.
| ID | 任务族Family | 当前状态Status |
|---|---|---|
| H3 | 协作扶门与递送Cooperative door holding and delivery | 2/6 当前口径就绪；03～06 有原生完整交付，但隔离专家、配对公平性或起始状态语义仍未闭合。2/6 ready under the current scope; 03-06 have native full deliveries, but isolated experts, paired fairness or start-state semantics remain open. |
| H4 | 搭板过缺口Ramp and bridge construction | 交付已标完成；技术见证 10/17，7 个不可行对照改为拒答任务后仍待验证。Delivery marked complete; technical witnesses 10/17. The 7 infeasible controls were converted to refusal tasks and still await verification. |
| M1 | 双机货架取物Two-robot shelf retrieval | 4/25 配置就绪；其他身体不继承已成功身体的结果。4/25 configurations ready; other bodies do not inherit the result of the body that succeeded. |
| M4 | 双四足协同拖运Dual-quadruped cooperative towing | 网页交付已标完成；8 个限定参考／机制结果，6 个主自主任务与正式隔离验收未闭合。Website delivery marked complete; 8 scoped reference/mechanism results. The 6 main autonomous tasks and formal isolated acceptance remain open. |
| ASM | 装配Tool-assisted assembly | 8/9 配置就绪；ASM-04.S 尚缺。8/9 configurations ready; ASM-04.S missing. |
| GEAR | 齿轮装配Gear assembly | 5/7 就绪；GEAR-02.G、GEAR-03.F 尚缺。5/7 ready; GEAR-02.G and GEAR-03.F missing. |
| REF | 参考物装配Reference-conditioned assembly | 3/7 就绪；REF-01.G、02.G、03.G、03.S 尚缺，八件整架不是已通过目标。3/7 ready; REF-01.G, 02.G, 03.G and 03.S missing. The full eight-part shelf is not a passed goal. |
| DR-X | 圆盘旋转扩展矩阵Disk rotation extension matrix | 扩展矩阵 11/15 就绪；原始批准不扩至扩展。Extension matrix 11/15 ready; the original approval does not extend to it. |
| FRG-X | 家电脱困扩展Appliance extraction extensions | 11/12 工程就绪；原 FRG-01 动作回放失败记录保留。11/12 engineering-ready; the original FRG-01 action-replay failure is retained. |
| SLR-X | 受限空间取物扩展Narrow-slot retrieval extensions | 14/15 工程就绪。14/15 engineering-ready. |
| SBE | 支撑块抽取Support-assisted block extraction | 原参考版已发布；扩展 9/13 就绪，05.A/B、07.A/B 尚缺；06 为证书支持的正确退出。Original reference published; extension 9/13 ready, 05.A/B and 07.A/B missing; 06 is a certificate-backed correct exit. |
| JNG | 叠塔拆块Low-tower Jenga | 原参考版已发布；扩展 13/16 就绪，04.B、06.B、07 尚缺。Original reference published; extension 13/16 ready, 04.B, 06.B and 07 missing. |
| SC | 单机器人顺序烹饪Single-robot sequential cooking | 0/25 配置有完整物理专家验收。0/25 configurations have an accepted full physical expert. |
| PC | 双机器人协作出餐Two-robot cooperative serving | 0/28 配置有完整物理专家验收。0/28 configurations have an accepted full physical expert. |
| F2 | 衣物整理与收纳Garment folding and storage | 1/6：F2-01-L1 原生 Stretch 3 目标就绪。1/6: the native Stretch 3 goal F2-01-L1 is ready. |
| F3 | 协作穿衣Cooperative dressing | 0/6；局部／原型成功不覆盖完整协作穿衣。0/6; local and prototype successes do not cover full cooperative dressing. |
| F4 | 大幅布料展开与覆盖Large cloth unfolding and covering | 0/6；局部／平面原型不覆盖原生全任务。0/6; local and planar prototypes do not cover the native full task. |
| F5 | 半柔性大物体搬运Semi-flexible large-object transport | 0/6；只有部分身体几何等证据。0/6; only partial evidence such as body geometry. |
| F6 | 线缆与软管布设Cable and hose routing | 4/6：两个任务的 L1/L2 就绪，L3 尚缺。4/6: L1/L2 of two tasks ready, L3 missing. |
| F7 | 弹性绑带固定Elastic strap fastening | 3/6：01-L1/L2、02-L1 就绪。3/6: 01-L1/L2 and 02-L1 ready. |