robo-si / FRG

FRG · 墙角冰箱移出Corner appliance extraction

自由基座 Unitree G1（Dex3 手）在 Genesis GPU 接触物理中，把卡在墙角的紧凑冰箱整体移入地面目标区。冰箱背面和两侧受墙或固定柜子限制，原地转不开，只能经正面横把手拉出、沿地面拖移后松手静置。考察受限空间中的接触选择、自由基座负载移位与全身平衡。A free-base Unitree G1 with Dex3 hands, simulated with Genesis GPU contact physics, must move a compact refrigerator wedged in a corner entirely into a floor goal zone. Walls and a fixed cabinet block its back and sides so it cannot be turned in place; it can only be pulled out by its front handle, dragged along the floor, then released to settle. The task tests contact selection in confined space, free-base load relocation and whole-body balance.

验收范围Accepted scope

只有原始已批准的 G1 参考（g1-space-extraction-0.1.0，2026-10-27 作者批准正式发布）计入验收：固定版本新运行 3/3 完整成功，原始动作回放 0/1（24.40 s 摔倒）的失败记录保留。签收记录另记扩展矩阵 11/12 工程就绪，但扩展项 FRG-02…05 不在本次验收范围内。参考解只证明名义实例存在可行解；正式 benchmark 收录与他人复现仍待完成。Only the original approved G1 reference (g1-space-extraction-0.1.0, approved by the author for formal release on 2026-10-27) is accepted: 3/3 fresh complete successes of the frozen version, with the failed raw action replay (0/1, fell at 24.40 s) kept on record. The sign-off also lists the extension matrix as 11/12 engineering-ready, but the extension items FRG-02…05 are not part of this acceptance. The reference only shows that the nominal instance is solvable; formal benchmark admission and independent-person reproduction remain open. (2026-10-27)

变化的条件轴Condition axes

已验收的只有名义场景一个 case。设计中本任务预先指定 11 个样本（5 个低层种子改变横向位置、深度与摩擦，5 个高层种子改变转运方向，1 个名义样本），只有名义实例有完整见证，其余为 unknown、不计执行分。Only one case, the nominal scene, is accepted. The design pre-specifies 11 draws for this task (5 low-level seeds varying lateral offset, depth and friction, 5 high-level seeds varying the transport direction, and 1 nominal draw); only the nominal instance has a complete witness, and the rest are unknown and receive no execution credit.

Embodiments

Unitree G1，自由基座，Dex3 三指手Unitree G1, free base, Dex3 three-finger hands

统计Counts

1 个已验收任务／配置，其中 0 个拒答；1 个有倍速视频。1 accepted tasks/configurations, 0 of them refusal cases; 1 with sped-up videos.

证据备份Evidence backup

本族 1/1 个已验收配置的参考证据已归档：17,045 个文件，11.1 GiB。Reference evidence for 1/1 accepted configurations is archived: 17,045 files, 11.1 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.

FRG-01

8×

8 倍速 · 原始 44 s，播放 5.5 s8x speed · original 44 s, plays in 5.5 s

FRG-01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执行任务Solve the task

条件Conditions: 名义配置。冰箱 8 kg、44 × 44 × 80 cm，正面一根横把手；背面与一侧贴墙、另一侧为固定柜子，间隙 35 mm；地面摩擦 0.16–0.22；目标区在开口前方地面。超时 240 s；物理 200 Hz、控制 50 Hz；参考解读取特权仿真状态。Nominal configuration. The refrigerator is 8 kg, 44 × 44 × 80 cm, with one transverse front handle; its back and one side face walls and the other side a fixed cabinet, with 35 mm gaps; floor friction 0.16–0.22; the goal zone is on the floor in front of the opening. 240 s timeout; physics at 200 Hz, control at 50 Hz; the reference reads privileged simulator state.
任务设计Task design: 冰箱整体（含把手）须进入目标区、保持直立并由地面支撑，松手后与机器人无接触并静置两秒；不得倾倒或推动墙体和柜子。原地大角度转动需要约 91 mm 侧隙，现有只有 35 mm，只能先拉出。参考专家：侧身建立双脚支撑 → 右手抓正面横把手 → 小幅拉出 → 带接触后退并修正横向位置 → 松手静置。The whole refrigerator, handle included, must end inside the goal zone, upright and floor-supported, out of contact with the robot and still for two seconds after release, without tipping it or moving the walls or cabinet. Turning it in place would need about 91 mm of side clearance against the 35 mm available, so it must be pulled out first. Reference expert: sideways double-support stance → right hand grips the front handle → short pull-out → walk backward in contact while correcting lateral position → release and settle.
工具Tools: 无None
Embodiment: Unitree G1（自由基座）＋Dex3 手Unitree G1 (free base) with Dex3 hands
是否拒答Refusal: 否No
见证结果Witness result: 选定见证 43.76 s 完整成功，成功分 100，高层 → 低层 → 轨迹三层映射独立复核通过；固定结构接触 0 N，机器人最大倾斜约 14.3°。固定版本新运行 3/3 成功；原始动作开环回放 0/1，于 24.40 s 摔倒。The selected witness succeeds completely in 43.76 s with success score 100, and its high-level → low-level → trajectory mappings pass independent audit; fixed-structure contact is 0 N and maximum robot tilt about 14.3 degrees. Fresh runs of the frozen version succeed 3/3; the open-loop raw action replay fails 0/1, falling at 24.40 s.