robo-si / DR

DR · 双臂桌面协同转盘Dual-arm tabletop disk rotation

两台固定基座 Panda 机械臂通过末端推垫与圆盘侧面的摩擦接触，把桌面上的自由圆盘转到目标朝向，并在双臂撤离后保持稳定。圆盘始终由桌面支撑，只能靠真实接触转动；考察双臂接触建立、协同推转、卸力换点与稳定释放。正式发布范围是 0.1.0 的两个确定配置。Two fixed-base Panda arms rotate a free disk on a table to a target heading through frictional contact between their pushing pads and the disk's rim, and the disk must stay stable after both arms withdraw. The disk is always table-supported and can only be turned through real contact; the task tests contact establishment, coordinated pushing, unloading and repositioning, and stable release. The released scope is the two exact configurations of version 0.1.0.

验收范围Accepted scope

作者于 2026-10-27 批准 0.1.0 正式参考发布，范围仅为两个确定配置（nominal_ccw、wrap_cw）及其评分、分层专家、实测轨迹与声明的限制：6/6 次全新运行与 2/2 次独立回放通过。之后的 DR-01–DR-09 九项扩展任务族未获验收（扩展矩阵 11/15 就绪），原始批准不延伸到扩展。第二人独立复现、敌对代码隔离沙箱与随机域泛化仍未验证，正式 benchmark 准入为 false。On 2026-10-27 the author approved the formal 0.1.0 reference release, covering only the two exact configurations (nominal_ccw, wrap_cw) with their scoring, hierarchical expert, measured trajectories and declared limits: 6/6 fresh runs and 2/2 independent replays passed. The later nine-task extension family DR-01–DR-09 is not accepted (extension matrix 11/15 ready), and the original approval does not extend to it. Independent second-person reproduction, a hostile-code sandbox and random-domain generalization remain unverified; formal benchmark admission is false. (2026-10-27)

变化的条件轴Condition axes

两个配置只改变初始朝向、目标朝向与种子：逆时针 +30°，以及跨越 ±180° 边界的顺时针 −30°；圆盘、桌面、机器人、约束与时限完全相同。The two configurations differ only in initial heading, target heading and seed: +30° counter-clockwise, and −30° clockwise across the ±180° boundary; disk, table, robots, constraints and time limit are identical.

Embodiments

两台固定基座 7 自由度 Panda 机械臂，末端为带摩擦的球形推垫Two fixed-base 7-DoF Panda arms with frictional spherical pushing pads

统计Counts

2 个已验收任务／配置，其中 0 个拒答；2 个有倍速视频。2 accepted tasks/configurations, 0 of them refusal cases; 2 with sped-up videos.

证据备份Evidence backup

本族 2/2 个已验收配置的参考证据已归档：666 个文件，0.7 GiB。Reference evidence for 2/2 accepted configurations is archived: 666 files, 0.7 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.

DR-nominal_ccw DR-wrap_cw

8×

8 倍速 · 原始 43 s，播放 5.4 s8x speed · original 43 s, plays in 5.4 s

DR-nominal_ccw标称配置：逆时针转 30°Nominal configuration: 30° counter-clockwise

执行任务Solve the task

条件Conditions: 0.1.0 指定配置 nominal_ccw：初始朝向 0°，目标 30°（逆时针），固定种子。圆盘直径 200 mm、厚 20 mm、质量 0.2 kg，置于 0.35 m 高的桌面；每臂 7 个绝对关节目标（共 14 维），50 Hz 控制；可用两路 RGB、关节状态与公开目标朝向；时限 120 s；参考专家读取仿真真值。0.1.0 configuration nominal_ccw: initial heading 0°, target 30° (counter-clockwise), fixed seed. The disk is 200 mm across, 20 mm thick and 0.2 kg, on a 0.35 m table; each arm takes 7 absolute joint targets (14 in total) at 50 Hz; observations are two RGB cameras, joint states and the public target heading; 120 s limit; the reference expert reads privileged simulator state.
任务设计Task design: 两臂用推垫从圆盘两侧建立接触并协同推转，到位前卸力、撤离、换接触点再推，最后精调、释放并静置 2 秒。圆盘须始终由桌面支撑，不能抬起、翻面、吸附或直接设置位姿；全过程限制圆心漂移、盘速、倾斜与接触力，禁止非预期碰撞。The arms make contact on opposite sides of the disk with their pads and push it round together, unloading, withdrawing and repositioning between pushes, then fine-tune, release and let it settle for 2 s. The disk must stay table-supported and may not be lifted, flipped, attached or posed directly; center drift, disk speed, tilt and contact force are limited throughout, and unplanned collisions are forbidden.
工具Tools: 无None
Embodiment: 两台固定基座 7 自由度 Panda 机械臂，末端为带摩擦的球形推垫Two fixed-base 7-DoF Panda arms with frictional spherical pushing pads
是否拒答Refusal: 否No
见证结果Witness result: 成功：3/3 次全新进程均在 43.48 s 完成，终态角度误差 0.979°、圆心误差 0.0074 mm，共 16 段动作、2 次换点；独立动作回放误差为零。固定接触消融 18.52 s 也成功，因此不证明换点必要；单臂对照失败只说明该控制器未完成。Success: all 3/3 fresh processes finished at 43.48 s with a final heading error of 0.979° and a center error of 0.0074 mm, using 16 action segments and 2 contact changes; the independent action replay matched with zero error. A fixed-contact ablation also succeeded in 18.52 s, so contact changes are not shown to be necessary; the failed single-arm control only shows that controller did not finish.

8×

8 倍速 · 原始 44 s，播放 5.4 s8x speed · original 44 s, plays in 5.4 s

DR-wrap_cw跨角度边界：顺时针转 30°Wrap-around configuration: 30° clockwise

执行任务Solve the task

条件Conditions: 0.1.0 指定配置 wrap_cw：初始朝向 −170°，目标 160°，按最短有符号角差为顺时针 −30°，并跨越 ±180° 边界，固定种子。圆盘直径 200 mm、厚 20 mm、质量 0.2 kg，置于 0.35 m 高的桌面；每臂 7 个绝对关节目标（共 14 维），50 Hz 控制；可用两路 RGB、关节状态与公开目标朝向；时限 120 s；参考专家读取仿真真值。0.1.0 configuration wrap_cw: initial heading −170°, target 160°, i.e. a −30° clockwise turn by the shortest signed angle that crosses the ±180° boundary, fixed seed. The disk is 200 mm across, 20 mm thick and 0.2 kg, on a 0.35 m table; each arm takes 7 absolute joint targets (14 in total) at 50 Hz; observations are two RGB cameras, joint states and the public target heading; 120 s limit; the reference expert reads privileged simulator state.
任务设计Task design: 两臂用推垫从圆盘两侧建立接触并协同推转，到位前卸力、撤离、换接触点再推，最后精调、释放并静置 2 秒。圆盘须始终由桌面支撑，不能抬起、翻面、吸附或直接设置位姿；全过程限制圆心漂移、盘速、倾斜与接触力，禁止非预期碰撞。The arms make contact on opposite sides of the disk with their pads and push it round together, unloading, withdrawing and repositioning between pushes, then fine-tune, release and let it settle for 2 s. The disk must stay table-supported and may not be lifted, flipped, attached or posed directly; center drift, disk speed, tilt and contact force are limited throughout, and unplanned collisions are forbidden.
工具Tools: 无None
Embodiment: 两台固定基座 7 自由度 Panda 机械臂，末端为带摩擦的球形推垫Two fixed-base 7-DoF Panda arms with frictional spherical pushing pads
是否拒答Refusal: 否No
见证结果Witness result: 成功：3/3 次全新进程均在 43.56 s 完成，终态角度误差 0.972°、圆心误差 0.0114 mm；独立动作回放误差为零。消融对照只在标称配置上运行。Success: all 3/3 fresh processes finished at 43.56 s with a final heading error of 0.972° and a center error of 0.0114 mm; the independent action replay matched with zero error. Ablation controls were run only on the nominal configuration.