robo-si / F1

F1 · 柔顺工具使用与装配Compliant Tool Use and Assembly

F1 考察借助工具与接触界面的柔顺性完成无损装配：判断何时施力、何时改变方法、何时停止。三个子任务分别是紧配合零件压入与敲合、经保护垫传力的保护性装配，以及两台机器人协作的框架装配。配合阻力由被动弹簧夹爪与摩擦产生，没有插入马达、抓取焊接或成功即锁定的机关；每项都有橡胶接触锤与刚体金属锤两个版本。F1 tests damage-free assembly that relies on compliance in tools and contact interfaces: deciding when to apply force, when to change method and when to stop. Its three subtasks are press-fit insertion and mallet seating, protected assembly through an intermediate pad, and cooperative frame assembly by two robots. Fit resistance comes from passive spring-loaded jaws and friction, with no insertion motor, grasp weld or success-triggered latch; every task has a rubber-contact and a rigid metal hammer version.

验收范围Accepted scope

2026-11-02 作者确认当前声明范围 18/18 项参考交付完成（3 个子任务 × L1–L3 × 橡胶／刚体锤），每项均有完整运行、同次录像与独立逐物理步精确回放。范围限定为固定骨盆的仓库三指 G1 与原型接触参数，参考仅为固定种子；不代表自由站立、Dex3／Inspire／Stretch 正式身体对照、真实材料校准、他人独立复现或正式准入。On 2026-11-02 the author confirmed all 18 declared reference configurations as complete (3 subtasks × L1–L3 × rubber/rigid hammer); each has a full run, a same-run video and an independent step-by-step exact physics replay. Scope is limited to the repository fixed-pelvis three-finger G1 with prototype contact parameters, fixed seed only; it does not cover free standing, formal Dex3/Inspire/Stretch body comparisons, real material calibration, independent reproduction by another person or formal admission. (2026-11-02)

变化的条件轴Condition axes

子任务（F1-01 压入敲合／F1-02 隔垫传力／F1-03 协作框架）× 难度 L1–L3 × 锤头接触（橡胶／刚体）。两种锤的几何、质量、工件、机器人与种子相同，只改锤头接触参数和颜色；难度逐级增加连接数、工具与支撑选择，以及拔出返工、垫块恢复和换支撑。F1-03 使用两台机器人。Subtask (F1-01 insertion / F1-02 pad-protected / F1-03 cooperative frame) × level L1–L3 × hammer-head contact (rubber / rigid). The two hammers share geometry, mass, workpieces, robot and seed and differ only in head contact parameters and colour; higher levels add connections, tool and support choices, extraction and rework, pad recovery and support changes. F1-03 uses two robots.

Embodiments

单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands

统计Counts

18 个已验收任务／配置，其中 0 个拒答；18 个有倍速视频。18 accepted tasks/configurations, 0 of them refusal cases; 18 with sped-up videos.

证据备份Evidence backup

本族 18/18 个已验收配置的参考证据已归档：2,721 个文件，15.8 GiB。Reference evidence for 18/18 accepted configurations is archived: 2,721 files, 15.8 GiB. 另归档非参考开发运行 8,249 个文件（18.2 GiB）。Non-reference development runs are archived as well: 8,249 files (18.2 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.

F1-01-L1-rubber F1-01-L1-rigid F1-01-L2-rubber F1-01-L2-rigid F1-01-L3-rubber F1-01-L3-rigid F1-02-L1-rubber F1-02-L1-rigid F1-02-L2-rubber F1-02-L2-rigid F1-02-L3-rubber F1-02-L3-rigid F1-03-L1-rubber F1-03-L1-rigid F1-03-L2-rubber F1-03-L2-rigid F1-03-L3-rubber F1-03-L3-rigid

8×

8 倍速 · 原始 49 s，播放 6.1 s8x speed · original 49 s, plays in 6.1 s

F1-01-L1-rubber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执行任务Solve the task

条件Conditions: L1 基础执行；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；1 处连接；须使用提供的锤并实际轻敲；固定种子；时间预算 120 s。L1 basic execution; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 1 connection; the supplied hammer must be used with a measured light tap; fixed seed; time budget 120 s.
任务设计Task design: 桌上一个已对准、半插入的销钉零件，由被动弹簧夹爪和摩擦形成紧配合。机器人须真实抓起提供的锤、实际轻敲使零件到位，到位后停止施力并撤手，零件须稳定保持 2 秒。An aligned, partially inserted pin part sits in an interference fit formed by passive spring-loaded jaws and friction. The robot must actually grasp the supplied hammer and lightly tap the part home, stop forcing once it is seated and release; the part must then stay stable for 2 s.
工具Tools: 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)
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 48.9 s（预算 120 s），连接到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解抓锤对零件实际轻敲，再以手掌渐进压合到位并卸载撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 48.9 s simulated (budget 120 s): the connection seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference grasps the hammer and lightly taps the part, then finishes seating with gradual palm pressure, unloads and releases. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 49 s，播放 6.1 s8x speed · original 49 s, plays in 6.1 s

F1-01-L1-rigid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执行任务Solve the task

条件Conditions: L1 基础执行；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；1 处连接；须使用提供的锤并实际轻敲；固定种子；时间预算 120 s。L1 basic execution; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 1 connection; the supplied hammer must be used with a measured light tap; fixed seed; time budget 120 s.
任务设计Task design: 桌上一个已对准、半插入的销钉零件，由被动弹簧夹爪和摩擦形成紧配合。机器人须真实抓起提供的锤、实际轻敲使零件到位，到位后停止施力并撤手，零件须稳定保持 2 秒。An aligned, partially inserted pin part sits in an interference fit formed by passive spring-loaded jaws and friction. The robot must actually grasp the supplied hammer and lightly tap the part home, stop forcing once it is seated and release; the part must then stay stable for 2 s.
工具Tools: 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
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 48.9 s（预算 120 s），连接到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解抓锤对零件实际轻敲，再以手掌渐进压合到位并卸载撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 48.9 s simulated (budget 120 s): the connection seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference grasps the hammer and lightly taps the part, then finishes seating with gradual palm pressure, unloads and releases. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 148 s，播放 18 s8x speed · original 148 s, plays in 18 s

F1-01-L2-rubber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执行任务Solve the task

条件Conditions: L2 自适应选择；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；2 处连接；接受任何物理上有效的方法；固定种子；时间预算 240 s。L2 adaptive choice; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 2 connections; any physically valid method is accepted; fixed seed; time budget 240 s.
任务设计Task design: 两个零件的被动配合阻力不同，都须压入到位。可以手压、用锤或部署压具，机器人须按阻力调整方法与力度，全部到位后撤手。Two parts with different passive fit resistance must both be seated. Hand pressure, the hammer or the press may be used; the robot must adapt method and force to the resistance and release once all connections are seated.
工具Tools: 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)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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 147.8 s（预算 240 s），2 处连接全部到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解用锤依次敲合两个零件，再以手掌压合收尾并撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 147.8 s simulated (budget 240 s): both connections seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference hammers both parts in turn, finishes with palm pressure and releases. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 112 s，播放 14 s8x speed · original 112 s, plays in 14 s

F1-01-L2-rigid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执行任务Solve the task

条件Conditions: L2 自适应选择；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；2 处连接；接受任何物理上有效的方法；固定种子；时间预算 240 s。L2 adaptive choice; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 2 connections; any physically valid method is accepted; fixed seed; time budget 240 s.
任务设计Task design: 两个零件的被动配合阻力不同，都须压入到位。可以手压、用锤或部署压具，机器人须按阻力调整方法与力度，全部到位后撤手。Two parts with different passive fit resistance must both be seated. Hand pressure, the hammer or the press may be used; the robot must adapt method and force to the resistance and release once all connections are seated.
工具Tools: 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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 112.3 s（预算 240 s），2 处连接全部到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解用锤依次敲合两个零件，再以手掌压合收尾并撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 112.3 s simulated (budget 240 s): both connections seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference hammers both parts in turn, finishes with palm pressure and releases. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 186 s，播放 23 s8x speed · original 186 s, plays in 23 s

F1-01-L3-rubber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执行任务Solve the task

条件Conditions: L3 长程执行与恢复；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；2 处连接；接受任何物理上有效的方法；固定种子；时间预算 420 s。L3 long-horizon execution and recovery; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 2 connections; any physically valid method is accepted; fixed seed; time budget 420 s.
任务设计Task design: 两处连接，其中一个零件初始错位插入。机器人须先实际拔出错位零件、重新对准装回，再完成两处压入并撤手；到位后继续敲击仍受冲量限制。Two connections, one part starts misaligned. The robot must physically extract it, realign and reinsert it, then seat both parts and release; further strikes after seating remain impulse-limited.
工具Tools: 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)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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 186.4 s（预算 420 s），2 处连接全部到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解先抓住错位零件拔出、重新对准装回，再用锤敲合两处并以手掌压合收尾。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 186.4 s simulated (budget 420 s): both connections seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference first grasps and extracts the misaligned part, realigns and reinserts it, then hammers both connections and finishes with palm pressure. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 163 s，播放 20 s8x speed · original 163 s, plays in 20 s

F1-01-L3-rigid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执行任务Solve the task

条件Conditions: L3 长程执行与恢复；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；2 处连接；接受任何物理上有效的方法；固定种子；时间预算 420 s。L3 long-horizon execution and recovery; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 2 connections; any physically valid method is accepted; fixed seed; time budget 420 s.
任务设计Task design: 两处连接，其中一个零件初始错位插入。机器人须先实际拔出错位零件、重新对准装回，再完成两处压入并撤手；到位后继续敲击仍受冲量限制。Two connections, one part starts misaligned. The robot must physically extract it, realign and reinsert it, then seat both parts and release; further strikes after seating remain impulse-limited.
工具Tools: 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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 162.8 s（预算 420 s），2 处连接全部到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解先抓住错位零件拔出、重新对准装回，再用锤敲合两处并以手掌压合收尾。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 162.8 s simulated (budget 420 s): both connections seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference first grasps and extracts the misaligned part, realigns and reinserts it, then hammers both connections and finishes with palm pressure. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 54 s，播放 6.8 s8x speed · original 54 s, plays in 6.8 s

F1-02-L1-rubber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执行任务Solve the task

条件Conditions: L1 基础执行；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；1 处连接；须使用提供的锤与预置软垫；固定种子；时间预算 120 s。L1 basic execution; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 1 connection; the supplied hammer and preplaced pad must be used; fixed seed; time budget 120 s.
任务设计Task design: 零件顶面是受保护的敏感表面，上方已预置一块软垫。机器人须抓锤隔着垫块传力完成压入，再取走垫块与工具并撤手，敏感面须满足载荷约束。The top face of the part is a protected, load-sensitive surface with a soft pad already on it. The robot must seat the part by striking through the pad, then remove pad and tool and release while the sensitive face stays within its load limit.
工具Tools: 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)已预置在零件上的软垫Soft pad already placed on the part
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 54.1 s（预算 120 s），连接到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解隔着预置软垫轻敲压合，按到位反馈停止敲击，再取走软垫。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 54.1 s simulated (budget 120 s): the connection seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference taps through the preplaced soft pad, stops on seating feedback and then removes the pad. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 53 s，播放 6.6 s8x speed · original 53 s, plays in 6.6 s

F1-02-L1-rigid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执行任务Solve the task

条件Conditions: L1 基础执行；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；1 处连接；须使用提供的锤与预置软垫；固定种子；时间预算 120 s。L1 basic execution; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 1 connection; the supplied hammer and preplaced pad must be used; fixed seed; time budget 120 s.
任务设计Task design: 零件顶面是受保护的敏感表面，上方已预置一块软垫。机器人须抓锤隔着垫块传力完成压入，再取走垫块与工具并撤手，敏感面须满足载荷约束。The top face of the part is a protected, load-sensitive surface with a soft pad already on it. The robot must seat the part by striking through the pad, then remove pad and tool and release while the sensitive face stays within its load limit.
工具Tools: 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已预置在零件上的软垫Soft pad already placed on the part
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 53.1 s（预算 120 s），连接到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解隔着预置软垫轻敲压合，按到位反馈停止敲击，再取走软垫。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 53.1 s simulated (budget 120 s): the connection seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference taps through the preplaced soft pad, stops on seating feedback and then removes the pad. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

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8 倍速 · 原始 94 s，播放 12 s8x speed · original 94 s, plays in 12 s

F1-02-L2-rubber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执行任务Solve the task

条件Conditions: L2 自适应选择；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；1 处连接；接受任何物理上有效的方法，但须经保护垫传力；固定种子；时间预算 240 s。L2 adaptive choice; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 1 connection; any physically valid method is accepted, but force must pass through a pad; fixed seed; time budget 240 s.
任务设计Task design: 敏感零件上方没有预置垫块，供料区有三种可移动的候选保护垫。机器人须选择、抓取并放置保护垫，经垫块压合到位，最后撤出垫块与工具。No pad is preplaced on the sensitive part; three movable candidate pads wait in the supply area. The robot must choose, grasp and place a pad, seat the part through it and finally remove pad and tools.
工具Tools: 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)三种可移动保护垫：软垫、薄垫与厚垫块Three movable pads: a soft pad, a thin pad and a thick block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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 93.9 s（预算 240 s），连接到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解选用软垫放到零件上，隔垫敲击并压合到位后取走软垫。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 93.9 s simulated (budget 240 s): the connection seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference picks the soft pad, places it on the part, seats the part through it and then removes the pad. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 94 s，播放 12 s8x speed · original 94 s, plays in 12 s

F1-02-L2-rigid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执行任务Solve the task

条件Conditions: L2 自适应选择；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；1 处连接；接受任何物理上有效的方法，但须经保护垫传力；固定种子；时间预算 240 s。L2 adaptive choice; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 1 connection; any physically valid method is accepted, but force must pass through a pad; fixed seed; time budget 240 s.
任务设计Task design: 敏感零件上方没有预置垫块，供料区有三种可移动的候选保护垫。机器人须选择、抓取并放置保护垫，经垫块压合到位，最后撤出垫块与工具。No pad is preplaced on the sensitive part; three movable candidate pads wait in the supply area. The robot must choose, grasp and place a pad, seat the part through it and finally remove pad and tools.
工具Tools: 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三种可移动保护垫：软垫、薄垫与厚垫块Three movable pads: a soft pad, a thin pad and a thick block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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 93.8 s（预算 240 s），连接到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解选用软垫放到零件上，隔垫敲击并压合到位后取走软垫。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 93.8 s simulated (budget 240 s): the connection seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference picks the soft pad, places it on the part, seats the part through it and then removes the pad. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 183 s，播放 23 s8x speed · original 183 s, plays in 23 s

F1-02-L3-rubber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执行任务Solve the task

条件Conditions: L3 长程执行与恢复；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；2 处连接；接受任何物理上有效的方法，但须经保护垫传力；固定种子；时间预算 420 s。L3 long-horizon execution and recovery; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 2 connections; any physically valid method is accepted, but force must pass through a pad; fixed seed; time budget 420 s.
任务设计Task design: 两个敏感零件；软垫初始已在第二个零件上滑移偏转，零件上方另有一根限制接近方向的横杆。机器人须先减载并摆正垫块，绕开障碍完成压合，再把同一垫块移到另一个零件复用，最后撤出。Two sensitive parts; the soft pad starts slipped and rotated on the second part, and an overhead rail restricts the approach. The robot must unload and recentre the pad, seat the part around the obstacle, reuse the same pad on the other part, and finally remove it.
工具Tools: 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)三种可移动保护垫：软垫、薄垫与厚垫块Three movable pads: a soft pad, a thin pad and a thick block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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 182.7 s（预算 420 s），2 处连接全部到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解先摆正滑移的软垫并完成第二个零件，再把同一软垫移到第一个零件复用，最后取走软垫。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 182.7 s simulated (budget 420 s): both connections seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference recentres the slipped soft pad and seats the second part, moves the same pad to the first part for reuse, and finally removes it. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 185 s，播放 23 s8x speed · original 185 s, plays in 23 s

F1-02-L3-rigid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执行任务Solve the task

条件Conditions: L3 长程执行与恢复；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；单台机器人；2 处连接；接受任何物理上有效的方法，但须经保护垫传力；固定种子；时间预算 420 s。L3 long-horizon execution and recovery; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); one robot; 2 connections; any physically valid method is accepted, but force must pass through a pad; fixed seed; time budget 420 s.
任务设计Task design: 两个敏感零件；软垫初始已在第二个零件上滑移偏转，零件上方另有一根限制接近方向的横杆。机器人须先减载并摆正垫块，绕开障碍完成压合，再把同一垫块移到另一个零件复用，最后撤出。Two sensitive parts; the soft pad starts slipped and rotated on the second part, and an overhead rail restricts the approach. The robot must unload and recentre the pad, seat the part around the obstacle, reuse the same pad on the other part, and finally remove it.
工具Tools: 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三种可移动保护垫：软垫、薄垫与厚垫块Three movable pads: a soft pad, a thin pad and a thick block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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 单台固定骨盆 Unitree G1，仓库三指 MJCF 手One fixed-pelvis Unitree G1 with the repository three-finger MJCF hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 184.6 s（预算 420 s），2 处连接全部到位并撤手稳定 2 秒；同次录像与独立逐物理步回放完全一致。参考解先摆正滑移的软垫并完成第二个零件，再把同一软垫移到第一个零件复用，最后取走软垫。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 184.6 s simulated (budget 420 s): both connections seated and stable for 2 s after release; the same-run video and an independent step-by-step physics replay match exactly. The reference recentres the slipped soft pad and seats the second part, moves the same pad to the first part for reuse, and finally removes it. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 82 s，播放 10 s8x speed · original 82 s, plays in 10 s

F1-03-L1-rubber协作框架敲合装配 · L1 · 橡胶锤Cooperative frame seating and assembly · L1 · rubber hammer

Unitree G1执行任务Solve the task

条件Conditions: L1 基础执行；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；两台机器人；2 处连接；须使用提供的锤并实际轻敲；固定种子；时间预算 120 s。L1 basic execution; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); two robots; 2 connections; the supplied hammer must be used with a measured light tap; fixed seed; time budget 120 s.
任务设计Task design: 两台固定骨盆 G1 面对由桌面支撑的两侧框架，横梁已预插在两侧接口上方。一台须实际接触扶持横梁，另一台完成两处销接，随后撤掉临时支撑，框架须独立稳定并通过公开的短时向下承载测试。Two fixed-pelvis G1s face two table-supported side frames with the crossbar pre-inserted above both sockets. One robot must physically support the crossbar while the other seats both pin joints; temporary support is then removed and the frame must stand on its own and pass the publicly declared short downward load test.
工具Tools: 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)伙伴 G1：可实际接触扶持横梁Partner G1 that can physically support the crossbar可移动的临时支架（可代替伙伴扶持）Movable temporary cradle (an alternative to partner support)
Embodiment: 两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 82.1 s（预算 120 s），2 处连接全部到位并撤手稳定 2 秒，框架通过公开短时承载测试；同次录像与独立逐物理步回放完全一致。参考解由伙伴 G1 从上方扶住横梁，另一台轻敲并以手掌压合两处销接，伙伴随后卸载撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 82.1 s simulated (budget 120 s): both connections seated and stable for 2 s after release, and the frame passed the declared load test; the same-run video and an independent step-by-step physics replay match exactly. In the reference the partner G1 holds the crossbar from above while the other robot taps and palm-presses both pin joints; the partner then unloads and withdraws. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 99 s，播放 12 s8x speed · original 99 s, plays in 12 s

F1-03-L1-rigid协作框架敲合装配 · L1 · 刚体锤Cooperative frame seating and assembly · L1 · rigid hammer

Unitree G1执行任务Solve the task

条件Conditions: L1 基础执行；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；两台机器人；2 处连接；须使用提供的锤并实际轻敲；固定种子；时间预算 120 s。L1 basic execution; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); two robots; 2 connections; the supplied hammer must be used with a measured light tap; fixed seed; time budget 120 s.
任务设计Task design: 两台固定骨盆 G1 面对由桌面支撑的两侧框架，横梁已预插在两侧接口上方。一台须实际接触扶持横梁，另一台完成两处销接，随后撤掉临时支撑，框架须独立稳定并通过公开的短时向下承载测试。Two fixed-pelvis G1s face two table-supported side frames with the crossbar pre-inserted above both sockets. One robot must physically support the crossbar while the other seats both pin joints; temporary support is then removed and the frame must stand on its own and pass the publicly declared short downward load test.
工具Tools: 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伙伴 G1：可实际接触扶持横梁Partner G1 that can physically support the crossbar可移动的临时支架（可代替伙伴扶持）Movable temporary cradle (an alternative to partner support)
Embodiment: 两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 99.3 s（预算 120 s），2 处连接全部到位并撤手稳定 2 秒，框架通过公开短时承载测试；同次录像与独立逐物理步回放完全一致。参考解由伙伴 G1 从上方扶住横梁，另一台轻敲并以手掌压合两处销接，伙伴随后卸载撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 99.3 s simulated (budget 120 s): both connections seated and stable for 2 s after release, and the frame passed the declared load test; the same-run video and an independent step-by-step physics replay match exactly. In the reference the partner G1 holds the crossbar from above while the other robot taps and palm-presses both pin joints; the partner then unloads and withdraws. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 127 s，播放 16 s8x speed · original 127 s, plays in 16 s

F1-03-L2-rubber协作框架敲合装配 · L2 · 橡胶锤Cooperative frame seating and assembly · L2 · rubber hammer

Unitree G1执行任务Solve the task

条件Conditions: L2 自适应选择；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；两台机器人；2 处连接；接受任何物理上有效的方法；固定种子；时间预算 240 s。L2 adaptive choice; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); two robots; 2 connections; any physically valid method is accepted; fixed seed; time budget 240 s.
任务设计Task design: 横梁初始放在供料台上，场景另有可代替伙伴扶持的可移动支架和被动压具。机器人须选择支撑方式并分配扶持与敲击角色，取横梁对位装配两处连接，撤手后框架通过承载测试。The crossbar starts on the supply table; a movable cradle (an alternative to partner support) and a passive press are also available. The robots must choose the support method and split supporting and striking roles, fetch and seat the crossbar at both connections, and release so that the frame passes the load test.
工具Tools: 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)伙伴 G1：可实际接触扶持横梁Partner G1 that can physically support the crossbar可移动的临时支架（可代替伙伴扶持）Movable temporary cradle (an alternative to partner support)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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 126.7 s（预算 240 s），2 处连接全部到位并撤手稳定 2 秒，框架通过公开短时承载测试；同次录像与独立逐物理步回放完全一致。参考解从供料台抓起横梁预插，伙伴 G1 从上方扶持（未使用支架），敲合并压合到位后双方撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 126.7 s simulated (budget 240 s): both connections seated and stable for 2 s after release, and the frame passed the declared load test; the same-run video and an independent step-by-step physics replay match exactly. The reference picks the crossbar from the supply table and pre-inserts it; the partner G1 supports it from above (the cradle is not used), and both robots release after seating. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 126 s，播放 16 s8x speed · original 126 s, plays in 16 s

F1-03-L2-rigid协作框架敲合装配 · L2 · 刚体锤Cooperative frame seating and assembly · L2 · rigid hammer

Unitree G1执行任务Solve the task

条件Conditions: L2 自适应选择；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；两台机器人；2 处连接；接受任何物理上有效的方法；固定种子；时间预算 240 s。L2 adaptive choice; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); two robots; 2 connections; any physically valid method is accepted; fixed seed; time budget 240 s.
任务设计Task design: 横梁初始放在供料台上，场景另有可代替伙伴扶持的可移动支架和被动压具。机器人须选择支撑方式并分配扶持与敲击角色，取横梁对位装配两处连接，撤手后框架通过承载测试。The crossbar starts on the supply table; a movable cradle (an alternative to partner support) and a passive press are also available. The robots must choose the support method and split supporting and striking roles, fetch and seat the crossbar at both connections, and release so that the frame passes the load test.
工具Tools: 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伙伴 G1：可实际接触扶持横梁Partner G1 that can physically support the crossbar可移动的临时支架（可代替伙伴扶持）Movable temporary cradle (an alternative to partner support)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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 126.3 s（预算 240 s），2 处连接全部到位并撤手稳定 2 秒，框架通过公开短时承载测试；同次录像与独立逐物理步回放完全一致。参考解从供料台抓起横梁预插，伙伴 G1 从上方扶持（未使用支架），敲合并压合到位后双方撤手。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 126.3 s simulated (budget 240 s): both connections seated and stable for 2 s after release, and the frame passed the declared load test; the same-run video and an independent step-by-step physics replay match exactly. The reference picks the crossbar from the supply table and pre-inserts it; the partner G1 supports it from above (the cradle is not used), and both robots release after seating. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

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8 倍速 · 原始 345 s，播放 43 s8x speed · original 345 s, plays in 43 s

F1-03-L3-rubber协作框架敲合装配 · L3 · 橡胶锤Cooperative frame seating and assembly · L3 · rubber hammer

Unitree G1执行任务Solve the task

条件Conditions: L3 长程执行与恢复；橡胶接触锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；两台机器人；4 处连接；接受任何物理上有效的方法；固定种子；时间预算 420 s。L3 long-horizon execution and recovery; rubber-contact hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); two robots; 4 connections; any physically valid method is accepted; fixed seed; time budget 420 s.
任务设计Task design: 两根横梁、四处连接。装配中须切换支撑，并对横梁实际拆出后重新装回；拆装与换支撑按实测轨迹判定，只记录阶段名称不能通过。最后撤掉全部支撑与工具，框架通过承载测试。Two crossbars and four connections. Support must be switched during assembly and a crossbar must actually be extracted and reinstalled; extraction and support changes are judged from the measured trajectory, not from phase labels. Finally all supports and tools are removed and the frame must pass the load test.
工具Tools: 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)伙伴 G1：可实际接触扶持横梁Partner G1 that can physically support the crossbar可移动的临时支架（可代替伙伴扶持）Movable temporary cradle (an alternative to partner support)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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 345.4 s（预算 420 s），4 处连接全部到位并撤手稳定 2 秒，框架通过公开短时承载测试；同次录像与独立逐物理步回放完全一致。参考解依次装配两根横梁，伙伴在两根横梁之间切换支撑，并把第二根横梁实测拔出后重新装回。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 345.4 s simulated (budget 420 s): all 4 connections seated and stable for 2 s after release, and the frame passed the declared load test; the same-run video and an independent step-by-step physics replay match exactly. The reference assembles both crossbars, the partner switches support between them, and the second crossbar is measurably extracted and reinstalled. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.

8×

8 倍速 · 原始 378 s，播放 47 s8x speed · original 378 s, plays in 47 s

F1-03-L3-rigid协作框架敲合装配 · L3 · 刚体锤Cooperative frame seating and assembly · L3 · rigid hammer

Unitree G1执行任务Solve the task

条件Conditions: L3 长程执行与恢复；刚体金属锤（与对照版本同几何、同质量，只改锤头接触参数与颜色）；两台机器人；4 处连接；接受任何物理上有效的方法；固定种子；时间预算 420 s。L3 long-horizon execution and recovery; rigid metal hammer (same geometry and mass as its paired variant, only head contact parameters and colour differ); two robots; 4 connections; any physically valid method is accepted; fixed seed; time budget 420 s.
任务设计Task design: 两根横梁、四处连接。装配中须切换支撑，并对横梁实际拆出后重新装回；拆装与换支撑按实测轨迹判定，只记录阶段名称不能通过。最后撤掉全部支撑与工具，框架通过承载测试。Two crossbars and four connections. Support must be switched during assembly and a crossbar must actually be extracted and reinstalled; extraction and support changes are judged from the measured trajectory, not from phase labels. Finally all supports and tools are removed and the frame must pass the load test.
工具Tools: 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伙伴 G1：可实际接触扶持横梁Partner G1 that can physically support the crossbar可移动的临时支架（可代替伙伴扶持）Movable temporary cradle (an alternative to partner support)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Passive press: a movable reaction frame with a passive plunger that can only be driven by physical contact
Embodiment: 两台独立控制的固定骨盆 G1（三指手）Two independently actuated fixed-pelvis G1s with three-finger hands
是否拒答Refusal: 否No
见证结果Witness result: 完整成功（得分 1.0），仿真 378.2 s（预算 420 s），4 处连接全部到位并撤手稳定 2 秒，框架通过公开短时承载测试；同次录像与独立逐物理步回放完全一致。参考解依次装配两根横梁，伙伴在两根横梁之间切换支撑，并把第二根横梁实测拔出后重新装回。仅固定种子、固定骨盆与原型接触参数，非他人独立复现。Full success (score 1.0) in 378.2 s simulated (budget 420 s): all 4 connections seated and stable for 2 s after release, and the frame passed the declared load test; the same-run video and an independent step-by-step physics replay match exactly. The reference assembles both crossbars, the partner switches support between them, and the second crossbar is measurably extracted and reinstalled. Fixed seed only, fixed pelvis and prototype contact parameters, not an independent reproduction.