robo-si / DF

DF · 圆盘翻转Disk Flip

Disk Flip 考察在公开的速度与接触力限制下轻柔翻转桌面盘体：取得可抓持的悬伸后夹起翻面，放回目标区域，完全撤手并稳定保持 2 秒。原版 DF-01 保留固定的推边、双手夹持流程与原评分器；扩展设置改变盘体（实心圆盘、带沿浅盘、受力敏感浅盘）和身体（G1＋Dex3、G1＋Inspire 五指手、Stretch 3＋夹爪），并接受重抓、桌面支撑与受控交接等任何合法策略。Disk Flip tests gently flipping a tabletop plate under public speed and contact-force limits: obtain a graspable overhang, pick it up and turn it over, place it in the goal area, release completely and hold still for 2 s. The original DF-01 keeps its fixed push-to-edge and bimanual-clamp sequence and original scorer; the extension settings vary the plate (solid disk, rimmed plate, load-sensitive plate) and the body (G1 with Dex3, G1 with Inspire five-finger hands, Stretch 3 with a gripper), accepting any legal strategy including regrasps, table support and controlled hand-overs.

验收范围Accepted scope

2026-11-02 作者确认 7/7 当前声明参考配置完成：6 个任务族设置（各有完整物理执行、独立回放，以及冻结后三次新运行等 10/10 项自动检查）和原版横向偏移配置。原始与扩展协议、历史失败及正式准入边界分列；人工逐视频签署与第二人复现仍待真实记录，未声称正式准入。全部参考解为固定底座的特权专家，只覆盖声明的名义初态。On 2026-11-02 the author confirmed all 7 declared reference configurations as complete: the 6 family settings (each with a full physical execution, independent replay and 10/10 automatic gates including three fresh frozen repeats) plus the original lateral-offset configuration. Original versus extension protocols, historical failures and the formal-admission boundary are kept separate; per-video human sign-off and second-person reproduction still lack real records, and no formal admission is claimed. All references are fixed-base privileged experts covering only the declared nominal starts. (2026-11-02)

变化的条件轴Condition axes

变体（DF-01 原版流程／DF-02 带沿浅盘抓取适配／DF-03 受力敏感浅盘／DF-04 自主策略）、盘体（P1 实心圆盘／P2 带沿浅盘／P3 受力敏感浅盘）、身体（G／F／S），以及原版圆盘的起始横向位置（名义与偏移 3 mm）。只登记选定组合，不铺满笛卡尔积。Variant (DF-01 original sequence / DF-02 rimmed-plate grasp adaptation / DF-03 load-limited plate / DF-04 open strategy), plate (P1 solid disk / P2 rimmed plate / P3 load-sensitive plate), body (G / F / S), and for the original task the disk start position (nominal versus a 3 mm lateral offset). Only selected combinations are registered, not the full Cartesian product.

Embodiments

固定骨盆 Unitree G1＋双 Dex3 三指手Fixed-pelvis Unitree G1 with two Dex3 three-finger hands
固定骨盆 G1＋双 Inspire 五指手Fixed-pelvis G1 with two Inspire five-finger hands
Stretch 3＋SG3 夹爪（固定底座，单臂）Stretch 3 with the SG3 gripper (fixed base, single arm)

统计Counts

7 个已验收任务／配置，其中 0 个拒答；7 个有倍速视频。7 accepted tasks/configurations, 0 of them refusal cases; 7 with sped-up videos.

证据备份Evidence backup

本族 7/7 个已验收配置的参考证据已归档：15,353 个文件，36.6 GiB。Reference evidence for 7/7 accepted configurations is archived: 15,353 files, 36.6 GiB. 另归档非参考开发运行 5,481 个文件（16.6 GiB）。Non-reference development runs are archived as well: 5,481 files (16.6 GiB). 2026-11-03 对远端逐文件核对大小与 SHA-256。Every remote file's size and SHA-256 were checked on 2026-11-03.

DF-01-G DF-02-G DF-02-F DF-03-G DF-04-G DF-04-S DF-01-G-offset

8×

8 倍速 · 原始 478 s，播放 60 s8x speed · original 478 s, plays in 60 s

DF-01-G原版轻柔翻圆盘（名义配置）Original gentle disk flip (nominal configuration)

Unitree G1执行任务Solve the task

条件Conditions: 原版冻结协议与评分器（Genesis，400 Hz 物理、50 Hz 控制）；P1 圆盘起点与目标均为 (0.50, 0) m，固定种子；公开限制：关节目标速度 ≤0.50 rad/s，盘平移 ≤0.12 m/s、转速 ≤0.65 rad/s，机器人对盘接触力之和 ≤18 N、桌面对盘 ≤8 N；时间预算 600 s。Original frozen protocol and scorer (Genesis, 400 Hz physics, 50 Hz control); P1 disk start and goal at (0.50, 0) m, fixed seed; public limits: joint-target speed ≤0.50 rad/s, disk speed ≤0.12 m/s and ≤0.65 rad/s, summed robot contact force on the disk ≤18 N and table force ≤8 N; time budget 600 s.
任务设计Task design: 固定骨盆 G1 先把橙面朝上的圆盘轻推到近身桌边，使盘沿悬伸 55–95 mm，再用双手夹住两面抬起、翻成蓝面朝上，放回目标区域并完全松手，静止保持 2 秒。抬起和翻面期间必须保持双手夹持并留出 20 mm 桌面净空，不得抛掷、拍打或借桌面撞击翻转。The fixed-pelvis G1 gently pushes the orange-up disk to the near table edge until it overhangs by 55–95 mm, clamps both faces with two hands, lifts and turns it blue side up, places it in the goal area and fully releases it for 2 still seconds. A bimanual grasp and 20 mm table clearance must be kept during lift and inversion; throwing, slapping or flipping by striking the table is forbidden.
工具Tools: 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P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, orange face up at the start and blue on the other face0.86 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
Embodiment: 固定骨盆 Unitree G1＋双 Dex3 三指手Fixed-pelvis Unitree G1 with two Dex3 three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：修订专家 a03 仿真 478.26 s（预算 600 s），5 个高层目标展开为 26 个低层段，独立动作回放通过；冻结队列 cohort-v2 三次新运行与独立回放均通过，10/10 项自动检查通过。早先 cohort-v1 三次执行成功但独立回放失败，保留为未通过。限制：固定骨盆、特权状态专家，只覆盖名义初态。Full success: revised expert a03 finished in 478.26 s simulated (budget 600 s), with 5 high-level goals expanded into 26 low-level segments, and its independent action replay passed; the frozen cohort-v2 passed three fresh runs plus independent replay, and all 10 automatic gates passed. The earlier cohort-v1 succeeded three times but failed independent replay and remains recorded as failed. Limits: fixed pelvis, privileged-state expert, nominal start only.

8×

8 倍速 · 原始 581 s，播放 73 s8x speed · original 581 s, plays in 73 s

DF-02-G带沿浅盘：三指抓取适配Rimmed plate: three-finger grasp adaptation

Unitree G1执行任务Solve the task

条件Conditions: 扩展协议（MuJoCo，2,000 Hz 物理、50 Hz 控制，官方 G1／Stretch 资产）；盘心起点 (0.40, 0) m（已悬伸 50 mm）、目标 (0.50, 0) m；P2 带沿浅盘；速度与接触力上限同原版，另限机器人自接触与机器人—桌面载荷，失去全部支撑超过 0.10 s 即失败；接受任何满足目标和公开约束的策略；时间预算 600 s。Extension protocol (MuJoCo, 2,000 Hz physics, 50 Hz control, official G1/Stretch assets); plate centre starts at (0.40, 0) m with 50 mm overhang, goal (0.50, 0) m; P2 rimmed plate; speed and contact-force limits as in the original, plus limits on robot self-contact and robot-table load; losing all support for more than 0.10 s fails; any strategy meeting the goal and public constraints is accepted; time budget 600 s.
任务设计Task design: 盘体换成带薄沿和底部支撑圈的浅盘，平盘的高度与接触判据不再适用。G1＋Dex3 须根据盘沿净空与手指几何选择夹沿、托底或上下夹持，翻面后让倒扣盘稳定支撑在桌面，推入目标区、撤手并稳定保持 2 秒。The disk is replaced by a shallow plate with a thin rim and an underside support ring, so flat-disk heights and contact cues no longer apply. The G1 with Dex3 hands must choose rim pinching, underside support or an opposing-face grasp from the rim clearance and finger geometry, rest the inverted plate stably on the table, push it into the goal, release and hold still for 2 s.
工具Tools: 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 mmP2 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 clearance0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed
Embodiment: 固定骨盆 Unitree G1＋双 Dex3 三指手Fixed-pelvis Unitree G1 with two Dex3 three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：a33 仿真 581.22 s（预算 600 s），独立物理回放状态差为零；冻结后三次新运行、紧凑回放、隔离执行与便携执行均通过，10/10 项自动检查通过。专家为固定标称关节参考前缀，再以实测反馈完成支撑交接、食指推盘与撤手；只覆盖声明的名义初态，不是可泛化的闭环策略。Full success: a33 finished in 581.22 s simulated (budget 600 s); the independent physics replay shows zero state difference; after freezing, three fresh repeats, compact replay, isolated execution and portable execution all passed (10/10 automatic gates). The expert is a fixed nominal joint-reference prefix followed by measured-feedback support transfer, index-finger pushing and release; it covers only the declared nominal start and is not a generalizing closed-loop policy.

8×

8 倍速 · 原始 591 s，播放 74 s8x speed · original 591 s, plays in 74 s

DF-02-F带沿浅盘：五指抓取适配Rimmed plate: five-finger grasp adaptation

Unitree G1执行任务Solve the task

条件Conditions: 扩展协议（MuJoCo，2,000 Hz 物理、50 Hz 控制，官方 G1／Stretch 资产）；盘心起点 (0.40, 0) m（已悬伸 50 mm）、目标 (0.50, 0) m；P2 带沿浅盘，与 DF-02-G 同场景，只更换手及必要的控制映射；速度与接触力上限同原版，另限机器人自接触与机器人—桌面载荷，失去全部支撑超过 0.10 s 即失败；时间预算 600 s。Extension protocol (MuJoCo, 2,000 Hz physics, 50 Hz control, official G1/Stretch assets); plate centre starts at (0.40, 0) m with 50 mm overhang, goal (0.50, 0) m; P2 rimmed plate in the same world as DF-02-G, changing only the hand and the required control mapping; speed and contact-force limits as in the original, plus limits on robot self-contact and robot-table load; losing all support for more than 0.10 s fails; time budget 600 s.
任务设计Task design: 同一 G1 身体与基座约束下换成 Inspire 五指手，检验抓取策略是否随手型改变；不预设五指更强。目标同 DF-02-G：翻面放回、撤手并稳定保持 2 秒。The same G1 body and base constraints with Inspire five-finger hands instead, testing whether the grasp strategy changes with the hand; five fingers are not presumed stronger. The goal matches DF-02-G: flip, place, release and hold still for 2 s.
工具Tools: 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 mmP2 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 clearance0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed
Embodiment: 固定骨盆 G1＋双 Inspire 五指手Fixed-pelvis G1 with two Inspire five-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：a42 仿真 590.82 s，接近 600 s 预算；独立物理回放状态差为零；冻结后三次新运行、紧凑回放、隔离执行与便携执行均通过，10/10 项自动检查通过。专家双手夹持受控翻面后由左手接管下放，右手食指推倒扣盘的足圈，减速越过桌边后推入目标并撤手。机器人—桌面载荷峰值约 19.8 N，贴近 20 N 上限，不能据此宣称鲁棒裕量。Full success: a42 finished in 590.82 s simulated, close to the 600 s budget; the independent physics replay shows zero state difference; after freezing, three fresh repeats, compact replay, isolated execution and portable execution all passed (10/10 automatic gates). After a bimanual controlled flip the left hand takes over and lowers the plate, the right index finger pushes on the inverted foot ring, slowing as the rim crosses the table edge, then pushes it into the goal and releases. Peak robot-table load was about 19.8 N, just under the 20 N limit, so no robustness margin is claimed.

8×

8 倍速 · 原始 574 s，播放 72 s8x speed · original 574 s, plays in 72 s

DF-03-G受力敏感浅盘翻面Contact-load-limited plate flip

Unitree G1执行任务Solve the task

条件Conditions: 扩展协议（MuJoCo，2,000 Hz 物理、50 Hz 控制，官方 G1／Stretch 资产）；盘心起点 (0.40, 0) m（已悬伸 50 mm）、目标 (0.50, 0) m；P3 浅盘：每个接触刚体对盘的载荷模长之和 ≤4 N（刚体损伤代理）；速度与接触力上限同原版，另限机器人自接触与机器人—桌面载荷，失去全部支撑超过 0.10 s 即失败；时间预算 600 s。Extension protocol (MuJoCo, 2,000 Hz physics, 50 Hz control, official G1/Stretch assets); plate centre starts at (0.40, 0) m with 50 mm overhang, goal (0.50, 0) m; P3 plate: the summed load magnitude from each contacting rigid body on the plate must stay ≤4 N (a rigid-body damage proxy); speed and contact-force limits as in the original, plus limits on robot self-contact and robot-table load; losing all support for more than 0.10 s fails; time budget 600 s.
任务设计Task design: 盘体几何同 P2，但局部接触载荷受限。G1＋Dex3 须在抗滑与局部载荷之间选择安全抓法，必要时分担载荷或借助桌面支撑，完成翻面、放回、撤手与 2 秒稳定保持；不能用相互抵消后的合力代替夹持挤压力。The plate has P2 geometry but a local contact-load limit. The G1 with Dex3 hands must trade slip resistance against local load, sharing load or using table support where needed, to flip, place, release and hold still for 2 s; squeezing force cannot hide behind a cancelled-out net force.
工具Tools: 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）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 高桌面：明确允许重抓、桌面支撑与受控交接0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed
Embodiment: 固定骨盆 Unitree G1＋双 Dex3 三指手Fixed-pelvis Unitree G1 with two Dex3 three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：a23 仿真 573.56 s（预算 600 s），局部载荷峰值 3.806 N，贴近 4 N 上限；独立物理回放状态差为零；冻结后三次新运行、紧凑回放、隔离执行与便携执行均通过，10/10 项自动检查通过。专家为固定标称参考前缀加在线支撑交接、食指推盘与撤手，只覆盖名义初态，不代表鲁棒裕量。Full success: a23 finished in 573.56 s simulated (budget 600 s) with a peak local load of 3.806 N, just under the 4 N cap; the independent physics replay shows zero state difference; after freezing, three fresh repeats, compact replay, isolated execution and portable execution all passed (10/10 automatic gates). The expert is a fixed nominal reference prefix plus online support transfer, index-finger pushing and release, covering only the nominal start with no claimed robustness margin.

8×

8 倍速 · 原始 538 s，播放 67 s8x speed · original 538 s, plays in 67 s

DF-04-G自主翻面：双臂配置Open-strategy flip: dual-arm configuration

Unitree G1执行任务Solve the task

条件Conditions: 扩展协议（MuJoCo，2,000 Hz 物理、50 Hz 控制，官方 G1／Stretch 资产）；盘心起点 (0.40, 0) m（已悬伸 50 mm）、目标 (0.50, 0) m；P1 实心圆盘；不强制原版动作顺序；起始站位经验证、执行中基座固定；速度与接触力上限同原版，另限机器人自接触与机器人—桌面载荷，失去全部支撑超过 0.10 s 即失败；时间预算 600 s。Extension protocol (MuJoCo, 2,000 Hz physics, 50 Hz control, official G1/Stretch assets); plate centre starts at (0.40, 0) m with 50 mm overhang, goal (0.50, 0) m; P1 solid disk; the original action sequence is not required; validated start stance with the base fixed during execution; speed and contact-force limits as in the original, plus limits on robot self-contact and robot-table load; losing all support for more than 0.10 s fails; time budget 600 s.
任务设计Task design: 与原版同一圆盘，但自主选择单手或双手抓持、重抓与支撑交接，不必沿用推边、双手夹持的原顺序；须翻面放回目标区、撤手并稳定保持 2 秒。与 DF-04-S 共用物体、桌面、目标与评分。The original disk, but the robot freely chooses one- or two-hand grasps, regrasps and support transfers instead of the original push-and-clamp sequence; it must flip the disk, place it in the goal, release and hold still for 2 s. Object, table, goal and scoring are shared with DF-04-S.
工具Tools: P1 实心圆盘：直径 200 mm、厚 12 mm、120 g，两面平整、质量均匀P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, flat faces and uniform mass0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed
Embodiment: 固定骨盆 Unitree G1＋双 Dex3 三指手Fixed-pelvis Unitree G1 with two Dex3 three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：a27 仿真 538.00 s（预算 600 s），撤手后稳定保持超过 12 s；独立物理回放状态差为零；冻结后三次新运行、紧凑回放、隔离执行与便携执行均通过，10/10 项自动检查通过。专家先执行 321.88 s 的固定标称指令前缀，再按实测状态完成转向、桌面共同支撑、食指接触、载荷转移与撤手，不代表随机初态泛化。Full success: a27 finished in 538.00 s simulated (budget 600 s) with more than 12 s of stable released goal state; the independent physics replay shows zero state difference; after freezing, three fresh repeats, compact replay, isolated execution and portable execution all passed (10/10 automatic gates). The expert runs a fixed 321.88 s nominal command prefix, then uses measured state for yaw, shared table support, index contact, load transfer and withdrawal; it does not show generalization to random starts.

8×

8 倍速 · 原始 545 s，播放 68 s8x speed · original 545 s, plays in 68 s

DF-04-S自主翻面：单臂配置Open-strategy flip: single-arm configuration

Stretch 3执行任务Solve the task

条件Conditions: 扩展协议（MuJoCo，2,000 Hz 物理、50 Hz 控制，官方 G1／Stretch 资产）；盘心起点 (0.40, 0) m（已悬伸 50 mm）、目标 (0.50, 0) m；与 DF-04-G 同一 P1 圆盘、桌面、目标与评分；Stretch 3＋SG3 起始站位经验证、执行中底座固定；速度与接触力上限同原版，另限机器人自接触与机器人—桌面载荷，失去全部支撑超过 0.10 s 即失败；时间预算 600 s。Extension protocol (MuJoCo, 2,000 Hz physics, 50 Hz control, official G1/Stretch assets); plate centre starts at (0.40, 0) m with 50 mm overhang, goal (0.50, 0) m; same P1 disk, table, goal and scoring as DF-04-G; validated Stretch 3 + SG3 start pose with the base fixed during execution; speed and contact-force limits as in the original, plus limits on robot self-contact and robot-table load; losing all support for more than 0.10 s fails; time budget 600 s.
任务设计Task design: 只有一条手臂与腕部可用，须按单臂能力自行设计完整的翻面与释放策略：夹取、沿桌边滑移、松开重抓、抬起翻面、放回撤手，再把盘推入目标区稳定保持 2 秒。With only one arm and wrist, the robot must devise a complete flip-and-release strategy suited to a single arm: grasp, slide along the edge, release and regrasp, lift and flip, place and withdraw, then push the disk into the goal and hold still for 2 s.
工具Tools: P1 实心圆盘：直径 200 mm、厚 12 mm、120 g，两面平整、质量均匀P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, flat faces and uniform mass0.86 m 高桌面：明确允许重抓、桌面支撑与受控交接0.86 m table: regrasping, table support and controlled hand-overs are explicitly allowed
Embodiment: Stretch 3＋SG3 夹爪（固定底座，单臂）Stretch 3 with the SG3 gripper (fixed base, single arm)
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：a28 仿真 545.00 s（预算 600 s）；独立物理回放状态差为零；冻结后三次新运行、紧凑回放、隔离执行与便携执行均通过，10/10 项自动检查通过。a28 为固定标称前缀加在线末段撤手；另有在线专家 a27（546.06 s）的完整见证与独立回放通过。结果不构成身体性能排名。Full success: a28 finished in 545.00 s simulated (budget 600 s); the independent physics replay shows zero state difference; after freezing, three fresh repeats, compact replay, isolated execution and portable execution all passed (10/10 automatic gates). a28 is a fixed nominal prefix plus online terminal withdrawal; a separate fully online expert, a27 (546.06 s), also has a complete witness with a passing independent replay. The results are not a ranking of bodies.

8×

8 倍速 · 原始 479 s，播放 60 s8x speed · original 479 s, plays in 60 s

DF-01-G-offset原版轻柔翻圆盘（横向偏移配置）Original gentle disk flip (lateral-offset configuration)

Unitree G1执行任务Solve the task

条件Conditions: 原版任务发布协议（Genesis，400 Hz 物理、50 Hz 控制）；圆盘起点与目标均为 (0.50, 0.003) m，即比名义配置横向偏移 3 mm，固定种子；公开限制：关节目标速度 ≤0.50 rad/s，盘平移 ≤0.12 m/s、转速 ≤0.65 rad/s，机器人对盘接触力之和 ≤18 N、桌面对盘 ≤8 N；时间预算 600 s。Original task release protocol (Genesis, 400 Hz physics, 50 Hz control); disk start and goal at (0.50, 0.003) m, a 3 mm lateral offset from nominal, fixed seed; public limits: joint-target speed ≤0.50 rad/s, disk speed ≤0.12 m/s and ≤0.65 rad/s, summed robot contact force on the disk ≤18 N and table force ≤8 N; time budget 600 s.
任务设计Task design: 与 DF-01-G 相同的固定骨盆 G1＋双 Dex3 轻柔翻盘任务，仅圆盘起始横向位置不同。偏移配置比名义配置多一个闭环接触调节段（共 27 个低层段），仍使用原限制；名义与偏移是两个已验证的观测点，不代表连续适用区间。The same fixed-pelvis G1 with two Dex3 hands and the same gentle flip as DF-01-G; only the disk start position is shifted sideways. The offset run adds a closed-loop contact-adjustment segment (27 low-level segments in total) under the original limits; nominal and offset are two verified points, not a validated continuous range.
工具Tools: 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P1 solid disk: 200 mm diameter, 12 mm thick, 120 g, orange face up at the start and blue on the other face0.86 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
Embodiment: 固定骨盆 Unitree G1＋双 Dex3 三指手Fixed-pelvis Unitree G1 with two Dex3 three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功：三次新运行均成功，各 478.925 s（预算 600 s），独立动作回放通过；作者签收范围注明这是单独声明的原版偏移配置，名义配置由 DF-01-G 代表。人工录像签审仍为待完成，正式准入为 false。Full success: three fresh runs all succeeded in 478.925 s each (budget 600 s), and the independent action replay passed; the sign-off lists this as a separately declared original offset configuration, with nominal represented by DF-01-G. Human video review is still pending and formal admission is false.