robo-si / H1

H1 · 支撑辅助取物Support-assisted retrieval

机器人要利用环境中的凳子、箱子、坡道、平台或工具改变自己的工作空间，从高处或深处取出目标箱，返回地面后把它完整送入交付区 D、释放并保持稳定。22 项任务覆盖 G1＋Dex3、换装五指手的 G1、A3、轮式 R1 和 Stretch 3，包括只能推的支撑、多候选选择、钩子取物、同色替身和窄门洞。另有三项不可完成对照（H1S-06、H1S-09、H1S-11.C），正确行为是不取物、空手进入 Q 区停稳。The robot must use stools, boxes, ramps, platforms or tools in the scene to change its own workspace, take a target box from a high or deep place, come back down and deliver it wholly into zone D, released and stable. The 22 tasks cover G1 + Dex3, G1 with a five-finger hand, A3, the wheeled R1 and Stretch 3, including push-only supports, choosing among candidates, hook retrieval, same-colour decoys and a narrow doorway. Three infeasible controls (H1S-06, H1S-09, H1S-11.C) require the robot not to retrieve but to exit empty-handed into zone Q and stand still.

验收范围Accepted scope

作者于 2026-11-02 验收通过当前修订参考范围：22/22 项计完成，其中 19 项完整参考、3 项简化场景（H1S-02、H1S-05、H1S-13）。原 G1 双层登高取物与连续交付仍未通过；H1S-05 按作者授权改为 G1/A3 单层示范，复用既有完整回合。每项是一次从原始起点开始的特权专家连续物理运行，关节越限、力矩比只记录、不作门槛；不代表严格安全准入、重复成功率或正式准入。On 2026-11-02 the author accepted the current revised reference scope: 22/22 tasks counted complete, 19 as full references and 3 as simplified scenes (H1S-02, H1S-05, H1S-13). The original G1 two-tier climb with continuous delivery is still not passed; with the author's authorisation H1S-05 became a G1/A3 single-tier demonstration reusing existing complete episodes. Each task is one continuous physics run of a privileged expert from the original start; joint overrun and effort ratio are recorded, not gated. This is not strict safety admission, a repeat-success rate or formal admission. (2026-11-02)

变化的条件轴Condition axes

身体与手（G1＋Dex3、官方 G1 换 Inspire／Dex3-1、A3、轮式 R1、Stretch 3）；支撑与工具的种类和布置方式（搬凳、推箱、坡道＋平台、中转箱、钩子）；目标高度、深度与公开 2 kg 搬举限额；候选与干扰（多个支撑、同色替身）；工作区约束（固定挡块、门洞、封板）；可解与不可解的孪生对照。Body and hand (G1 + Dex3, official G1 with Inspire vs Dex3-1, A3, wheeled R1, Stretch 3); type and placement of supports and tools (carried stool, pushed box, ramp plus platform, transfer box, hook); target height and depth against the public 2 kg lift limit; candidates and distractors (several supports, same-colour decoys); workspace constraints (fixed block, doorway, sealing panels); solvable versus infeasible twins.

Embodiments

Unitree G1 29 自由度＋Dex3 三指手（原 H1 使用的历史 Menagerie 模型）Unitree G1 29-DoF with Dex3 three-finger hands (the historical Menagerie model used by the original H1)
官方 Unitree G1 rev1.0 身体，Inspire DFQ 五指手与 Dex3-1 三指手同身体对照Official Unitree G1 rev1.0 body, Inspire DFQ five-finger hands compared with Dex3-1 on the same body
智元 A3 Ultra T3.0 双足人形（五指手）Agibot A3 Ultra T3.0 biped humanoid (five-finger hands)
Galaxea R1 轮式双臂机器人（可调躯干；模型许可不完整，仅内部使用，网格不公开）Galaxea R1 wheeled dual-arm robot (adjustable torso; licence incomplete, internal use only, meshes not published)
Stretch 3（SE3，标准夹爪）：单伸缩臂装在升降柱上，轮式底盘Stretch 3 (SE3, standard gripper): one telescoping arm on a lift, wheeled base

统计Counts

23 个已验收任务／配置，其中 3 个拒答；23 个有倍速视频。23 accepted tasks/configurations, 3 of them refusal cases; 23 with sped-up videos.

证据备份Evidence backup

本族 23/23 个已验收配置的参考证据已归档：17,923 个文件，11.7 GiB。Reference evidence for 23/23 accepted configurations is archived: 17,923 files, 11.7 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.

H1S-01 H1S-02 H1S-03 H1S-04 H1S-05-G1 H1S-05-A3 H1S-06 H1S-07.P1 H1S-07.P2 H1S-07.P3 H1S-07.P4 H1S-08 H1S-09 H1S-10.A H1S-10.B H1S-10.C H1S-10.D H1S-11.A H1S-11.B H1S-11.C H1S-12 H1S-13 H1S-14

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8 倍速 · 原始 16.7 min，播放 125 s8x speed · original 16.7 min, plays in 125 s

H1S-01G1 原版：搬凳登高取物G1 original: carry a stool, climb and retrieve

Unitree G1执行任务Solve the task

条件Conditions: 原 H1 冻结配置，单一固定场景，从原始起点运行；目标红箱放在 1.25 m 层板上，地面够不到；公开搬举限额 2 kg；交付区 D 在地面（0.6×0.6 m）。特权专家读取仿真真值，机器人自碰撞关闭（同原 H1）；仿真预算 1200 s。Unmodified frozen configuration of the original H1, one fixed scene, run from the original start; the red target box sits on the 1.25 m shelf, out of reach from the floor; public lift limit 2 kg; delivery zone D on the floor (0.6 x 0.6 m). Privileged expert reading simulator state, robot self-collision off (as in the original H1); simulation budget 1200 s.
任务设计Task design: 折叠凳停在离柜约 1 m 处。机器人要把凳子搬到柜前放稳，登凳取下目标，放到 0.90 m 层板上中转，空手下凳，再从地面重新抓起目标送入 D。The folding stool starts about 1 m from the cabinet. The robot carries it to the cabinet front and sets it down, climbs it and takes the target, places the target on the 0.90 m board, steps down empty-handed, then re-grasps the target from the floor and delivers it into D.
工具Tools: 折叠凳（1.5 kg，可搬）Folding stool (1.5 kg, liftable)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 1003.1 s，原冻结评分 1.0，链条完整、无安全事件。按原评分规则在约 0.72 m 高处松手，箱子侧躺落定于 D。新运行 3 次中 2 次通过，另一次在放凳阶段规划失败。Success: one continuous run of 1003.1 s, original frozen rubric score 1.0, chain complete, no safety events. As the original rubric allows, the box is released from about 0.72 m and settles on its side in D. 2 of 3 fresh runs passed; the other failed when the stool set-down plan was infeasible.

8×

8 倍速 · 原始 164 s，播放 21 s8x speed · original 164 s, plays in 21 s

H1S-02G1 手型对照（简化）：Inspire 五指手与 Dex3-1G1 hand comparison (simplified): Inspire five-finger vs Dex3-1

Unitree G1执行任务Solve the task

条件Conditions: 简化场景。同一官方 G1 rev1.0 身体、同一世界、载荷、观测和预算，只换手（Inspire DFQ 与 Dex3-1），各手可用自己的抓持控制器。无把手宽箱 0.24×0.50×0.18 m、2.0 kg，放在合适臂高（0.73 m）的窄台座上；D 是较低的 0.60 m 平台。特权专家；仿真预算 180 s。Simplified scene. Same official G1 rev1.0 body, world, payload, sensing and budget; only the hand changes (Inspire DFQ vs Dex3-1), each with its own grasp controller. A wide handleless box, 0.24 x 0.50 x 0.18 m and 2.0 kg, rests on a narrow pedestal at good arm height (0.73 m); D is a lower slab at 0.60 m. Privileged expert; simulation budget 180 s.
任务设计Task design: 双手从两侧夹住宽箱，手指勾住伸出的底边，取下后后退约 1 m，沿 1 m 半径弧线搬运，下蹲把箱子放到 D 平台上，松手、后退站稳。原设计中的支撑布置和登高不在本场景内。Both hands squeeze the box sides with the fingers hooked under the overhanging bottom edge; the robot backs out about 1 m, carries the box along a 1 m-radius arc, squats to place it on the D slab, releases and steps back to stand. The support placement and climbing of the original design are not part of this scene.
工具Tools: 无None
Embodiment: 官方 Unitree G1 rev1.0＋Inspire 五指手（对照 Dex3-1）Official Unitree G1 rev1.0 + Inspire five-finger hands (vs Dex3-1)
是否拒答Refusal: 否No
见证结果Witness result: 简化完成（Inspire）：164.3 s，箱子完整在 D 平台上、已释放，机器人站稳。Inspire 四次运行轨迹逐位相同；同一控制器下 Dex3-1 四次仅一次完成，同条件对照运行中箱子在停步时滑落。Inspire 手指速度按官方规格审计最高 1.03 倍，按 URDF 的 0.5 rad/s 计为 5.5 倍；仅取放宽箱，无支撑布置或登高。Simplified completion (Inspire): 164.3 s, box wholly on the D slab, released, robot standing still. The four Inspire runs are bitwise identical; with the same controller the Dex3-1 completed 1 of 4 runs, and in the matched run the box slipped out at the walking stop. Inspire finger speeds peak at 1.03x the official spec (5.5x against the URDF value of 0.5 rad/s); pick-and-place of the wide box only, no support placement or climbing.

8×

8 倍速 · 原始 175 s，播放 22 s8x speed · original 175 s, plays in 22 s

H1S-03轮式 R1＋斜坡取物Wheeled R1 with a ramp

Galaxea R1执行任务Solve the task

条件Conditions: Galaxea R1。斜坡起始未就位（偏短 0.5 m、横向偏 0.25 m，朝向已对齐）；0.5 kg 目标在约 2.2 m 高的柜顶，证书表明从地面任何站姿都够不到；D 在 0.90 m 桌面上。URDF 没有轮子力矩／速度限值，由轨道声明。特权专家；仿真预算 400 s。Galaxea R1. The ramp starts out of place (0.5 m short, 0.25 m to the side, already yaw-aligned); the 0.5 kg target sits on top of a cabinet at about 2.2 m and a certificate shows it cannot be reached from any floor pose; D is on a 0.90 m table. The URDF has no wheel effort/velocity limits, so the track declared them. Privileged expert; simulation budget 400 s.
任务设计Task design: 机器人用两只夹爪抓住斜坡的把手柱，把斜坡拖到 0.30 m 平台前搭接好，沿 12° 坡道驶上平台，伸高手臂水平抓取目标，再带载倒车下坡，把目标放入桌面 D 并松手。The robot grips the ramp by its two handle posts, drags it to the 0.30 m platform and docks it, drives up the 12-degree ramp, raises the arm and grasps the target horizontally, reverses down loaded and places the target in D on the table.
工具Tools: 可拖动斜坡（带把手柱）Draggable ramp with handle posts柜前 0.30 m 平台0.30 m platform at the cabinet
Embodiment: Galaxea R1 轮式双臂Galaxea R1 wheeled dual-arm
是否拒答Refusal: 否No
见证结果Witness result: 成功：175.3 s，目标在桌面 D 内、已释放，机器人与目标静止 10.6 s，无跌倒。所有关节在 URDF 速度限值内（靠指令限幅并实测确认）；轮子与 arm_joint1 力矩达到限幅上限。R1 模型许可不完整，仅内部使用。Success: 175.3 s, target in D on the table, released, robot and target still for 10.6 s, no fall. All joints stay within the URDF velocity limits (slew-limited commands, measured); the wheels and arm_joint1 run at their clipped effort limits. The R1 model licence is incomplete; internal use only.

8×

8 倍速 · 原始 343 s，播放 43 s8x speed · original 343 s, plays in 43 s

H1S-04A3 登高取物A3 climb and retrieve

A3执行任务Solve the task

条件Conditions: 智元 A3 Ultra T3.0，已声明的 A3 提手轻箱场景：0.35 kg 带提手目标放在 1.69 m 高的柜顶；支撑箱 0.25 m 高、6 kg、顶面 0.45×0.60 m，起始未就位；公开搬举限额 2 kg；D 在地面（0.6×0.8 m）。骨盆／躯干碰撞保持开启；仿真预算 480 s。Agibot A3 Ultra T3.0 in the declared A3 light handle-box scene: a 0.35 kg target with a handle sits on top of a 1.69 m cabinet; the support box is 0.25 m tall, 6 kg, with a 0.45 x 0.60 m top, not yet in place; public lift limit 2 kg; D on the floor (0.6 x 0.8 m). Pelvis/torso collision stays enabled; simulation budget 480 s.
任务设计Task design: 机器人用脚把支撑箱沿地面推到柜前，双脚登上箱顶并调整站位，用右手钩住提手取下目标，带载后退下箱，再退步走回把目标放入 D、松手站稳。The robot foot-pushes the support box along the floor to the cabinet, steps up with both feet and adjusts its stance, hooks the target handle with the right hand and lifts it off, steps down backward while loaded, then walks back, lowers the target into D, releases and stands still.
工具Tools: 支撑箱 0.25 m、6 kg（可推，不可搬）Support box 0.25 m, 6 kg (pushable, not liftable)
Embodiment: 智元 A3 Ultra T3.0Agibot A3 Ultra T3.0
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 343.1 s，目标完整在地面 D 内、已释放，机器人直立静止，无跌倒。专家采用低腰俯仰规划与横向站位调整，未修改机器人或执行器。Success: one continuous run of 343.1 s, target wholly in D on the floor, released, robot upright and still, no fall. The expert uses low-waist planning and a lateral stance adjustment; robot and actuators unchanged.

8×

8 倍速 · 原始 586 s，播放 73 s8x speed · original 586 s, plays in 73 s

H1S-05-G1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执行任务Solve the task

条件Conditions: 按作者授权的 r10 修订，原“G1 两层阶梯、A3 一层”改为两机型各自的单层示范。G1＋Dex3；5 kg、0.221 m 支撑箱按 2 kg 搬举限额只能推；目标在 1.25 m 层板；D 在地面（0.6×0.6 m）。允许中转、空手下降和地面再抓取。柜高、载荷与 A3 场景不同，不作同场景比较。Under the author-authorised r10 revision, the original "G1 two tiers, A3 one tier" task became a single-tier demonstration for each body. G1 + Dex3; the 5 kg, 0.221 m support may only be pushed under the 2 kg lift limit; target on the 1.25 m shelf; D on the floor (0.6 x 0.6 m). Staging, an empty-handed descent and a floor re-grasp are allowed. Cabinet height and payload differ from the A3 scene, so this is not a matched-scene comparison.
任务设计Task design: 复用 H1S-07.P2 的完整回合：把支撑箱推到工作位，单级登上，取下目标，放到 0.90 m 板上中转，空手下降，从地面再抓取并送入原 D。Reuses the complete H1S-07.P2 episode: push the support to the work position, climb one tier, take the target, stage it on the 0.90 m board, descend empty-handed, re-grasp it from the floor and deliver it to the original D.
工具Tools: 支撑箱 0.44×0.42×0.221 m、5 kg（只能推）Support box 0.44 x 0.42 x 0.221 m, 5 kg (push only)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 简化完成：一次连续运行 586.2 s，双脚在支撑上连续 74.5 s，目标在 D 内、已释放，末端稳定 7.2 s，无跌倒。没有新运行，复用的回合计划在原运行前写定；原 G1 双层任务仍未通过，最近一次在下层落地的支撑转换中失败。Simplified completion: one continuous run of 586.2 s, both feet on the support for 74.5 s, target in D, released, stable for 7.2 s at the end, no fall. No new run: the reused episode had its plan written before it ran. The original G1 two-tier task is still not passed; the latest attempt failed in the support transfer when stepping from the lower tier to the floor.

8×

8 倍速 · 原始 344 s，播放 43 s8x speed · original 344 s, plays in 43 s

H1S-05-A3单层登高与连续交付示范：A3（简化）Single-tier climb and continuous delivery demo: A3 (simplified)

A3执行任务Solve the task

条件Conditions: r10 修订的 A3 部分，沿用原 H1S-05 的 A3 一层场景：两块相同的 0.25 m、6 kg 台阶箱起始均未就位；0.35 kg 提手目标在 1.69 m 柜顶；D 在地面（0.6×0.8 m）；公开搬举限额 2 kg；仿真预算 480 s。A3 half of the r10 revision, in the original H1S-05 A3 one-tier scene: two identical 0.25 m, 6 kg step boxes, neither in place; a 0.35 kg handled target on top of a 1.69 m cabinet; D on the floor (0.6 x 0.8 m); public lift limit 2 kg; simulation budget 480 s.
任务设计Task design: 选一块台阶箱推到柜前，单级登上，钩取高处目标，带载下台，送入原 D 并站稳。Choose one step box and push it to the cabinet, climb one tier, hook the high target, step down loaded, deliver it to the original D and stand still.
工具Tools: 两块台阶箱 0.25 m、6 kg（可推）Two step boxes, 0.25 m and 6 kg each (pushable)
Embodiment: 智元 A3 Ultra T3.0Agibot A3 Ultra T3.0
是否拒答Refusal: 否No
见证结果Witness result: 简化完成：一次连续运行 343.6 s，目标在 D 内、已释放，3 s 窗口内目标与机器人静止，无跌倒。最大关节越限约 12.9 mrad、峰值速度比约 1.22，只记录、不作门槛。只作示范，不作两层必要性或同场景能力比较。Simplified completion: one continuous run of 343.6 s, target in D, released, target and robot still through the 3 s window, no fall. Max joint overrun about 12.9 mrad and peak speed ratio about 1.22, recorded but not gated. A demonstration only, not a claim about two-tier necessity or a matched-scene comparison.

8×

8 倍速 · 原始 27 s，播放 3.3 s8x speed · original 27 s, plays in 3.3 s

H1S-06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

条件Conditions: G1＋Dex3，原 H1 世界。目标红箱（0.18×0.20×0.16 m）在 0.90 m 板上，但所在隔间被四块固定封板封住，固定件之间的缝隙都小于 3 cm；场景里没有工具，唯一的凳子停在房间外。正确行为是不碰物体、空手进入 Q 区停稳。仿真预算 300 s。G1 + Dex3 in the original H1 world. The red target box (0.18 x 0.20 x 0.16 m) sits on the 0.90 m board, but its compartment is closed by four fixed panels and every gap between fixed parts is under 3 cm; the scene has no tools and the only stool is parked outside the room. The correct behaviour is to touch nothing and exit empty-handed into the Q zone, standing still. Simulation budget 300 s.
任务设计Task design: 机器人走到柜前观察，确认目标无法取出后空手走进 Q 区并停稳。运行前写好的路线证书逐类排除直接抓取、支撑登高、工具、推拉或晃动柜体与封板、从侧缝伸入移动目标等所有路线。The robot walks to the cabinet, observes, concludes the target cannot be taken out, and walks empty-handed into Q and stops. A route certificate written before the run excludes every route class: direct grasp, supports and climbing, tools, pushing or shaking the cabinet and panels, and moving the target through a side slot.
工具Tools: 无None
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 是Yes — 目标被固定封板完全封住，任何合法路线都无法把它取出送到 D。可解孪生是去掉四块封板的同一世界（已完成交付，不是本目录中的 case）。The target is fully enclosed by fixed panels, so no legal route can bring it out to D. The solvable twin is the same world without the four panels (delivered; not a case in this catalog).
见证结果Witness result: 正确退出：26.2 s，机器人整体进入 Q 区、空手，静止约 4.1 s，未倒地。退出判断读取仿真真值几何，不来自感知；不可解来自固定封板，判断很直接，以身体能力为瓶颈的版本尚未做。Correct exit: 26.2 s, the whole robot inside Q, empty-handed, still for about 4.1 s, no fall. The decision reads ground-truth geometry, not perception; infeasibility comes from fixed panels and is easy to see, and a version where the bottleneck is the body itself is not built yet.

8×

8 倍速 · 原始 27.9 min，播放 209 s8x speed · original 27.9 min, plays in 209 s

H1S-07.P1推箱清路后取物Push an obstacle clear, then retrieve

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3，原 H1 世界：5 kg 障碍箱（0.44×0.42×0.221 m）挡住凳子的工作位，按 2 kg 搬举限额只能推、不能抬；其余同 H1S-01（1.5 kg 折叠凳、1.25 m 层板上的目标、地面 D）。仿真预算 2400 s。G1 + Dex3 in the original H1 world: a 5 kg obstacle box (0.44 x 0.42 x 0.221 m) blocks the stool work position and, under the 2 kg lift limit, may only be pushed; otherwise as H1S-01 (1.5 kg folding stool, target on the 1.25 m shelf, floor D). Simulation budget 2400 s.
任务设计Task design: 机器人先蹲姿双掌把障碍箱横推进侧方停车区，再绕回凳子后方，搬凳到柜前、登凳取物、在 0.90 m 板上中转、空手下凳、地面再抓取并送入 D。只推开障碍不算完成。The robot first pushes the obstacle sideways into a side parking area with both palms from a crouch, walks round behind the stool, carries it to the cabinet, climbs, retrieves, stages the target on the 0.90 m board, steps down empty-handed, re-grasps from the floor and delivers into D. Clearing the obstacle alone is not success.
工具Tools: 障碍箱 5 kg（只能推）Obstacle box, 5 kg (push only)折叠凳（1.5 kg，可搬）Folding stool (1.5 kg, liftable)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 1673.3 s，6 次推送把障碍箱推入停车区（从未抬起），目标完整在 D 内、已释放，机器人站稳 7.3 s，未倒地。交接给行走策略时机器人向前踉跄一步，碰到已停放的障碍箱（最大 32 N），踝关节越限 11.5 mrad，原 H1 评分因此判为无效证据；7 次完整运行仅此 1 次通过。Success: one continuous run of 1673.3 s; six push cycles moved the obstacle into the parking area (never lifted), target wholly in D, released, robot standing still for 7.3 s, no fall. At the hand-over to the walking policy the robot made a forward catch-step and bumped the parked obstacle (up to 32 N), with an 11.5 mrad ankle overrun, so the original H1 rubric marks the run invalid evidence; only 1 of 7 full runs passed.

8×

8 倍速 · 原始 586 s，播放 73 s8x speed · original 586 s, plays in 73 s

H1S-07.P2推箱到位作平台Push a box into place as a platform

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3，原 H1 世界：支撑是与凳子同高同占地的 5 kg 箱（0.44×0.42×0.221 m），按 2 kg 搬举限额只能在地面推；箱子起始离工作位约 0.33 m；目标在 1.25 m 层板，D 在地面。仿真预算 1500 s。G1 + Dex3 in the original H1 world: the support is a 5 kg box with the stool footprint and height (0.44 x 0.42 x 0.221 m) that may only be pushed along the floor under the 2 kg lift limit; it starts about 0.33 m short of the work position; target on the 1.25 m shelf, D on the floor. Simulation budget 1500 s.
任务设计Task design: 机器人蹲姿双掌把支撑箱推到柜前工作位，起身登上箱顶取下目标，放到 0.90 m 板上中转，空手下箱，地面再抓取并送入 D。The robot pushes the support box to the work position at the cabinet with both palms from a crouch, stands, climbs onto it and takes the target, stages it on the 0.90 m board, steps down empty-handed, re-grasps it from the floor and delivers it into D.
工具Tools: 支撑箱 0.44×0.42×0.221 m、5 kg（只能推）Support box 0.44 x 0.42 x 0.221 m, 5 kg (push only)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 586.2 s，3 次推送把箱子推到位（从未抬起），目标在 D 内、已释放，机器人站稳 7.2 s。原 H1 评分表不把推箱计为支撑搬运，得分 0.80，支撑就位由本任务的检查确认；另有一次换路线的完整通过。Success: one continuous run of 586.2 s; three pushes moved the box into place (never lifted), target in D, released, robot standing still for 7.2 s. The original H1 rubric does not credit the push as support relocation (score 0.80), so placement is confirmed by this task's own check; a second full pass with a different route exists.

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8 倍速 · 原始 17.7 min，播放 133 s8x speed · original 17.7 min, plays in 133 s

H1S-07.P3转角或换侧推箱Push around a corner by changing sides

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3，原 H1 世界：5 kg 支撑箱改为 0.44 m 正方形、只能推；一块固定挡块立在柜前一侧，直推或先沿柜面方向推都会把支撑箱扫到挡块上（几何证明）；目标在 1.25 m 层板，D 在地面。仿真预算 2400 s。G1 + Dex3 in the original H1 world: the 5 kg support is a 0.44 m square and may only be pushed; a fixed block stands in front of one side of the cabinet, so a straight push, or pushing toward the cabinet first, sweeps the support into the block (geometric proof); target on the 1.25 m shelf, D on the floor. Simulation budget 2400 s.
任务设计Task design: 机器人先从支撑箱一侧把它横推到工作线上，松手退开、绕到另一面重新建立站位，再把它推进工作位；随后登箱取物、在 0.90 m 板上中转、空手下箱、地面再抓取并送入 D。The robot first pushes the support sideways onto the work line from one face, releases, backs off and walks round to another face, re-establishes its stance and pushes it into the work position; it then climbs, retrieves, stages the target on the 0.90 m board, steps down empty-handed, re-grasps from the floor and delivers into D.
工具Tools: 支撑箱 0.44×0.44×0.221 m、5 kg（只能推）Support box 0.44 x 0.44 x 0.221 m, 5 kg (push only)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 1060.5 s，支撑箱从未抬起、从未碰到挡块（最近 1.6 cm），目标在 D 内、已释放，机器人站稳 7.4 s。0.42 m 深的支撑首次落脚 4/4 摔倒，因此改为 0.44 m 正方形；路线用板上中转代替带载直接返回；仅一次见证、无重复。Success: one continuous run of 1060.5 s; the support was never lifted and never touched the block (closest 1.6 cm), target in D, released, robot standing still for 7.4 s. With a 0.42 m deep support the first footfall fell in 4 of 4 runs, so the support was made a 0.44 m square; the route uses the board relay instead of a loaded direct return; single witness, no repeat.

8×

8 倍速 · 原始 180 s，播放 23 s8x speed · original 180 s, plays in 23 s

H1S-07.P4抬不起但能推到目标区Too heavy to lift, but can be pushed into D

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3。地面目标箱 0.45×0.50×0.18 m、5 kg、无把手，超过公开 2 kg 搬举限额，但允许地面承托推动；D 是地面区域 0.60×0.70 m。不要求高柜取物，也不要求站立收尾；单一场景，仅无把手版本。G1 + Dex3. A 0.45 x 0.50 x 0.18 m, 5 kg handleless box on the floor exceeds the public 2 kg lift limit, but ground-supported pushing is allowed; D is a 0.60 x 0.70 m floor zone. No high-shelf retrieval and no final standing are required; single scene, handleless variant only.
任务设计Task design: 机器人蹲姿双掌推箱，分次推动、撤手、移步，把整箱推入 D 后撤手，下蹲保持。From a crouch the robot pushes the box with both palms in repeated push, release and step cycles until the whole box is inside D, then withdraws its hands and holds a crouch.
工具Tools: 无None
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：180.0 s，三次推送共推动 0.328 m，箱子完整进入 D、已释放，末端驻留 7.5 s，机器人以蹲姿保持、未倒地。部分细叶契约仍有未通过项，本轮参考验收不要求；不声称机器人物理上抬不动 5 kg。Success: 180.0 s; three strokes moved the box 0.328 m, wholly into D, released, final dwell 7.5 s, robot holding a crouch, no fall. Some fine-leaf contracts still fail; they are not required by this reference acceptance. Physical inability to lift 5 kg is not claimed.

8×

8 倍速 · 原始 73 s，播放 9.2 s8x speed · original 73 s, plays in 9.2 s

H1S-08Stretch 取有把手箱Stretch retrieves a handled box

Stretch 3执行任务Solve the task

条件Conditions: Stretch 3。1.0 kg 目标箱（0.24×0.20×0.12 m，顶部横把手）放在 0.75 m 高的封闭层架内；D 在地面；公开搬举限额 2 kg（Stretch 3 建议最大载荷），只允许夹爪接触可动物体。与 H1S-09 同一世界，只差目标质量。仿真预算 240 s。Stretch 3. A 1.0 kg target box (0.24 x 0.20 x 0.12 m, top bar handle) sits inside an enclosed shelf at 0.75 m; D is on the floor; public lift limit 2 kg (Stretch 3 recommended payload), and only the gripper may touch movable objects. Same world as H1S-09 except the target mass. Simulation budget 240 s.
任务设计Task design: 机器人对正底盘，夹爪朝下抓住顶部把手、抬起 3 cm，收回伸缩臂把箱子完全撤出层架，沿通道运送约 1.3 m，伸到 D 上方放到地面并松手，静止至少 3 s。The robot aligns its base, grasps the top handle with the gripper pointing down, lifts 3 cm, retracts the telescope to pull the box fully out of the shelf, drives about 1.3 m along the lane, reaches over D, sets the box on the floor, releases and stays still for at least 3 s.
工具Tools: 无None
Embodiment: Stretch 3
是否拒答Refusal: 否No — 可解孪生：H1S-09 与本任务同一世界，只把目标改为 3.0 kg，正确行为变为退出。Solvable twin of H1S-09: same world, and only the target mass changes to 3.0 kg, which turns the correct behaviour into exit.
见证结果Witness result: 成功：73.4 s，目标完整在地面 D 内、与机器人无接触，静止 3 s。腕偏航与升降柱力矩比达 1.0／0.94，伸缩臂速度比 1.12，只记录、不作门槛。Success: 73.4 s, target wholly in D on the floor with no robot contact, still for 3 s. Wrist-yaw and lift effort ratios reach 1.0 / 0.94 and the telescope speed ratio 1.12, recorded but not gated.

4×

4 倍速 · 原始 16 s，播放 4.0 s4x speed · original 16 s, plays in 4.0 s

H1S-09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

条件Conditions: Stretch 3。与 H1S-08 同一世界（同一层架、带把手箱、位姿、D、Q 与起点），只把目标改为 3.0 kg，超过公开的 2 kg 搬举限额；规则不允许抬起、翻转或撬离支撑超过 2 kg 的物体，也不允许抛落。正确行为是不碰箱子、空手进入 Q 区停稳。仿真预算 90 s。Stretch 3. Same world as H1S-08 (same shelf, handled box, pose, D, Q and start), except that the target is 3.0 kg, above the public 2 kg lift limit; the rules forbid lifting, tilting or levering an object over 2 kg off its support, and forbid dropping. The correct behaviour is to leave the box alone and exit empty-handed into Q, standing still. Simulation budget 90 s.
任务设计Task design: 机器人观察后按运行前写好的路线证书判断：抓举、翻转撬离、沿层板滑动（D 在地面，与层板不相连）、推落、工具或其他支撑都不合法或不存在，于是收臂、倒车进入 Q 区并停稳。After observing, the robot applies a route certificate written before the run: grasp-and-lift, tilting or levering, sliding along the board (D is on the floor and not connected to it), pushing it off the edge, and tools or other supports are all illegal or absent. It stows the arm, reverses into Q and stops.
工具Tools: 无None
Embodiment: Stretch 3
是否拒答Refusal: 是Yes — 目标 3.0 kg 超过公开 2 kg 搬举限额（不声称物理上抬不动）；可解孪生是 H1S-08（同一世界，1.0 kg）。The 3.0 kg target exceeds the public 2 kg lift limit (physical inability is not claimed); the solvable twin is H1S-08 (same world, 1.0 kg).
见证结果Witness result: 正确退出：15.6 s，机器人整体进入 Q 区、空手，静止超过 3 s，未倾倒。Correct exit: 15.6 s, the whole robot inside Q, empty-handed, still for more than 3 s, no tip-over.

8×

8 倍速 · 原始 16.9 min，播放 127 s8x speed · original 16.9 min, plays in 127 s

H1S-10.AG1 多箱选择与布置G1 chooses and places one of several supports

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3，原 H1 世界另加三个候选支撑：0.06 m 低踏台、0.45 m 平台、顶面 0.16×0.20 m 的窄箱，连同折叠凳都不在工作位；目标在 1.25 m 层板，D 在地面；公开搬举限额 2 kg。仿真预算 1300 s。G1 + Dex3 in the original H1 world plus three extra candidate supports: a 0.06 m low step, a 0.45 m platform and a narrow box with a 0.16 x 0.20 m top; none of them, nor the folding stool, starts at the work position; target on the 1.25 m shelf, D on the floor; public lift limit 2 kg. Simulation budget 1300 s.
任务设计Task design: 机器人要判断哪个候选够高、一步登得上、顶面够宽且搬得动；低踏台太低、平台一步登不上、窄箱太窄，只有折叠凳满足。于是搬凳 1 m 到柜前，登高取物，在 0.90 m 板上中转，空手下凳，地面再抓取并送入 D。The robot must judge which candidate is high enough, single-step climbable, wide enough and liftable: the low step is too low, the platform cannot be climbed in one step and the narrow box is too narrow, so only the stool qualifies. It carries the stool 1 m to the cabinet, climbs, retrieves, stages on the 0.90 m board, steps down empty-handed, re-grasps from the floor and delivers into D.
工具Tools: 折叠凳（1.5 kg，可搬）Folding stool (1.5 kg, liftable)0.06 m 低踏台0.06 m low step0.45 m 平台0.45 m platform窄顶箱（顶面 0.16×0.20 m）Narrow box (0.16 x 0.20 m top)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 1012.9 s，目标在 D 内、已释放，稳定 6.7 s，其他候选未被触碰。候选可用性来自几何和已验证技能的限值，不可用的候选没有实际试过，也未探索多箱组合；路线与 H1S-01 的搬凳登高链相同。Success: one continuous run of 1012.9 s, target in D, released, stable for 6.7 s, other candidates untouched. Candidate labels come from geometry and verified skill limits; the unusable candidates were not physically tried and multi-box combinations were not explored; the route reuses the H1S-01 stool-carry climb chain.

8×

8 倍速 · 原始 344 s，播放 43 s8x speed · original 344 s, plays in 43 s

H1S-10.BA3 多箱选择与布置A3 chooses and places one of several boxes

A3执行任务Solve the task

条件Conditions: 智元 A3 Ultra T3.0，A3 专用场景：四个候选箱，0.06 m 低箱（3 kg）、0.25 m 中箱（6 kg）、0.50 m 高箱（12 kg）、顶面 0.20×0.25 m 的窄箱（2 kg），均不在工作位；0.35 kg 提手目标在 1.69 m 柜顶；D 在地面（0.6×0.8 m）；公开搬举限额 2 kg。仿真预算 480 s。Agibot A3 Ultra T3.0 in an A3-specific scene: four candidate boxes, a 0.06 m low box (3 kg), a 0.25 m mid box (6 kg), a 0.50 m tall box (12 kg) and a narrow box with a 0.20 x 0.25 m top (2 kg), none at the work position; a 0.35 kg handled target on top of a 1.69 m cabinet; D on the floor (0.6 x 0.8 m); public lift limit 2 kg. Simulation budget 480 s.
任务设计Task design: 低箱能登但站上去仍够不到，高箱一步登不上且 12 kg，窄箱放不下双脚，于是选中箱：用脚推到柜前，登上后钩取提手目标，带载下箱，走回并放入 D。The low box is climbable but still too low to reach, the tall box cannot be climbed in one step and weighs 12 kg, and the narrow box cannot hold both soles, so the robot picks the mid box: it foot-pushes it to the cabinet, climbs, hooks the handled target, steps down loaded, walks back and places it in D.
工具Tools: 0.06 m 低箱（3 kg）0.06 m low box (3 kg)0.25 m 中箱（6 kg）0.25 m mid box (6 kg)0.50 m 高箱（12 kg）0.50 m tall box (12 kg)窄箱（顶面 0.20×0.25 m，2 kg）Narrow box (0.20 x 0.25 m top, 2 kg)
Embodiment: 智元 A3 Ultra T3.0Agibot A3 Ultra T3.0
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 343.6 s，目标完整在地面 D 内、已释放，机器人直立静止，无跌倒。选箱在运行前由可达／登阶筛查确定，不是在线逐箱物理试错。Success: one continuous run of 343.6 s, target wholly in D on the floor, released, robot upright and still, no fall. The box choice was fixed before the run from a reach/climb screen, not from online physical trials of every candidate.

8×

8 倍速 · 原始 464 s，播放 58 s8x speed · original 464 s, plays in 58 s

H1S-10.C轮式平台与坡道选择Wheeled platform and ramp selection

Galaxea R1执行任务Solve the task

条件Conditions: Galaxea R1。现场有多个平台与可移动斜坡，可组成 9 种组合，平台高度、顶面大小、坡度和搭接各不相同，都需要机器人自己推、拖到位；目标在约 2.26 m 高处；D 在桌面上。R1 模型仅内部使用；仿真预算 500 s。Galaxea R1. Several platforms and movable ramps form 9 combinations that differ in platform height, top size, slope and docking, and the robot must push or drag them into place itself; the target is at about 2.26 m; D is on a table. The R1 model is internal use only; simulation budget 500 s.
任务设计Task design: 机器人按观测几何选平台与斜坡，排除高度不匹配、坡度超过已验证 16°、平台太低够不到、顶面放不下底盘的组合；用底盘侧面把 45 kg 平台推到柜前并横向校正，再拖斜坡 2.1 m 搭接，驶上 12° 坡道取物，带载倒车下坡并放入 D。The robot picks a platform and ramp from observed geometry, rejecting combinations with a rise mismatch, a slope above the validated 16 degrees, a platform too low to reach from, or a top too small for the chassis; it pushes the 45 kg platform to the cabinet with the side of its chassis and corrects it sideways, drags a ramp 2.1 m and docks it, drives up the 12-degree ramp, retrieves, reverses down loaded and places the target in D.
工具Tools: 多个平台（含 45 kg 可推平台、低平台、小顶面平台）Several platforms (incl. a 45 kg pushable one, a low one and one with a small top)多块可拖动斜坡（不同坡度）Several draggable ramps of different slopes
Embodiment: Galaxea R1 轮式双臂Galaxea R1 wheeled dual-arm
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 464.3 s，目标在 D 内、已释放，机器人与目标静止 10.6 s，无跌倒。另 8 种组合的排除是筛查结果、不是证明；本场景柜前开放，只有 IK 筛查，没有“地面够不到”的证明。轮子、躯干和手臂关节力矩达到限幅上限。Success: one continuous run of 464.3 s, target in D, released, robot and target still for 10.6 s, no fall. Rejecting the other 8 combinations is a screening result, not a proof; the cabinet front is open here, so there is only an IK screen, no floor-reach proof. Wheel, torso and arm joints reach their clipped effort limits.

8×

8 倍速 · 原始 218 s，播放 27 s8x speed · original 218 s, plays in 27 s

H1S-10.DStretch 工作／中转箱选择Stretch chooses a transfer box

Stretch 3执行任务Solve the task

条件Conditions: Stretch 3。目标放在 0.75 m 低净空层架里，上方净空只有 0.26 m；一排五个带把手的候选箱（高 0.15–0.55 m、0.8–1.4 kg，把手位置和顶面空位不同）可作中转面；D 在地面；公开搬举限额 2 kg，只允许夹爪接触。不要求登箱；仿真预算 600 s。Stretch 3. The target sits on a 0.75 m shelf with only 0.26 m of clearance above it; a row of five handled candidate boxes (0.15-0.55 m tall, 0.8-1.4 kg, with different handle positions and free top space) can serve as a transfer surface; D is on the floor; public lift limit 2 kg, gripper-only contact. No climbing is involved; simulation budget 600 s.
任务设计Task design: 夹爪朝下够不到低净空层架里的顶把手，水平抓前把手又放不到地面，所以要先选一个能抓、2 kg 以内、顶面放得下目标的箱子搬到中转位，水平抓前把手取出目标放到箱顶，再从上方重抓顶把手送入 D。A down-pointing gripper cannot reach the top handle under the low shelf, and a horizontal front-handle grasp cannot set the target on the floor, so the robot first carries a box that is graspable, under 2 kg and has room for the target to a transfer spot, takes the target out by its front handle and sets it on the box, then re-grasps its top handle from above and delivers it into D.
工具Tools: 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)
Embodiment: Stretch 3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 218.2 s，目标完整在地面 D 内、只有夹爪接触，静止 3 s。专家选了宽箱；另两只箱子在“目标能放在把手旁”检查上只差不到 1 mm。需要中转由夹爪几何论证，没有对所有合法路线出证书。Success: one continuous run of 218.2 s, target wholly in D on the floor, gripper-only contact, still for 3 s. The expert chose the wide box; two other boxes miss the "target fits beside the handle" check by under 1 mm. The need for a transfer is argued from gripper geometry, not certified over all legal routes.

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8 倍速 · 原始 61 s，播放 7.6 s8x speed · original 61 s, plays in 7.6 s

H1S-11.A直接可取场景Directly reachable target

Stretch 3执行任务Solve the task

条件Conditions: Stretch 3。与 H1S-11.B／C 同一世界（柜内深 1.80 m），只有箱子深度不同：0.5 kg 目标箱（0.20×0.16×0.12 m，顶部横把手、前沿拉环）前沿在 0.15 m 深处；旁边停着一把钩子；D 在交付桌上。仿真预算 300 s。Stretch 3. Same world as H1S-11.B / C (cabinet interior 1.80 m deep); only the box depth differs: the 0.5 kg target box (0.20 x 0.16 x 0.12 m, top bar handle, front pull ring) has its front 0.15 m deep; a hook is parked nearby; D is on a delivery table. Simulation budget 300 s.
任务设计Task design: 目标在夹爪直接可达范围内，机器人朝下抓住顶把手、撤出柜口、运到桌上 D 放下松手，不需要工具，也不因未用工具扣分。The target is within direct gripper reach: the robot grasps the top handle from above, withdraws it from the cabinet, carries it to D on the table and releases it. No tool is needed, and not using one is not penalised.
工具Tools: 被动刚性钩（本场景不需要）Passive rigid hook (not needed here)
Embodiment: Stretch 3
是否拒答Refusal: 否No — 与 H1S-11.B（工具使任务可解）、H1S-11.C（工具也无解、应退出）同一世界，只有箱子深度不同。Same world as H1S-11.B (a tool makes it solvable) and H1S-11.C (infeasible even with the tool; exit), differing only in box depth.
见证结果Witness result: 成功：60.5 s，目标在 D 内、已释放，机器人与目标静止至少 3 s。Success: 60.5 s, target in D, released, robot and target still for at least 3 s.

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8 倍速 · 原始 111 s，播放 14 s8x speed · original 111 s, plays in 14 s

H1S-11.B工具扩展取物能力A tool makes the task solvable

Stretch 3执行任务Solve the task

条件Conditions: Stretch 3。同一世界，箱子前沿移到 0.67 m 深处；保守上界证明无工具时机器人任何部位最深只到 0.660 m（余量 1.0 cm）。层架上停着一把被动刚性钩；箱子在拉动中必须一直有层板支撑。仿真预算 480 s。Stretch 3. Same world with the box front moved to 0.67 m deep; a conservative bound shows no robot point gets deeper than 0.660 m without a tool (1.0 cm margin). A passive rigid hook is parked on the shelf; the box must stay supported by the shelf while it is pulled. Simulation budget 480 s.
任务设计Task design: 机器人抓起钩子，把钩头伸到拉环后面，沿层板把箱子拉近 0.47 m 进入夹爪可达范围，脱钩后把钩子放回原处，再用同一夹爪抓箱子把手，运到 D 放下。The robot picks up the hook, places the prong behind the pull ring, drags the box 0.47 m along the shelf into gripper reach, lifts the prong out and parks the hook back on its feet, then grasps the box handle with the same gripper and delivers the box to D.
工具Tools: 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)
Embodiment: Stretch 3
是否拒答Refusal: 否No — H1S-11.C 是它的不可解孪生：同一世界把箱子再移深到 1.58 m，钩子也够不到。H1S-11.C is its infeasible twin: the same world with the box moved to 1.58 m, beyond reach even with the hook.
见证结果Witness result: 成功：110.6 s，拉动时箱子高度不变、始终在层板上，目标送入 D、已释放并静止。无工具不可达来自保守上界，没有实际跑无工具对照。Success: 110.6 s; the box stayed on the shelf at constant height while pulled, and was delivered into D, released and still. Tool-free unreachability comes from a conservative bound; no physical no-tool twin was run.

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8 倍速 · 原始 23 s，播放 2.9 s8x speed · original 23 s, plays in 2.9 s

H1S-11.C工具也无法完成并退出Not even the tool helps: exit

Stretch 3拒答：正确行为是退出Refusal: correct outcome is to exit

条件Conditions: Stretch 3。同一世界，箱子前沿移到 1.58 m 深处，钩子仍在。路线证书表明机器人加钩子、再加工具释放后滑行，最远只能到 1.523 m（依赖公开的工具释放速度规则 ≤1 m/s）。正确行为是不拿工具、空手进入 Q 区停稳。仿真预算 90 s。Stretch 3. Same world with the box front moved to 1.58 m deep; the hook is still there. A route certificate shows that robot plus hook plus post-release tool slide reach at most 1.523 m (relying on the public tool release-speed rule of at most 1 m/s). The correct behaviour is to leave the tool and exit empty-handed into Q, standing still. Simulation budget 90 s.
任务设计Task design: 机器人观察后按证书判断所有路线类都取不到箱子，收臂，小角度转向后倒车，把空手的机器人整体开进 Q 区并停稳；钩子从未被拿起。After observing, the robot applies the certificate that every route class fails, stows the arm, makes a small turn and reverses so the whole empty robot ends inside Q, then stops; the hook is never picked up.
工具Tools: 被动刚性钩（在此无效，不应使用）Passive rigid hook (ineffective here; should not be used)
Embodiment: Stretch 3
是否拒答Refusal: 是Yes — 箱子太深，连钩子也够不到；可解孪生为 H1S-11.B（0.67 m，用钩可解）和 H1S-11.A（0.15 m，直接可取）。The box is too deep even for the hook; the solvable twins are H1S-11.B (0.67 m, solvable with the hook) and H1S-11.A (0.15 m, directly reachable).
见证结果Witness result: 正确退出：22.8 s，机器人整体在 Q 区内、空手，静止 4 s，未倾倒；箱子前沿与证书上界的余量为 5.7 cm。Correct exit: 22.8 s, the whole robot inside Q, empty-handed, still for 4 s, no tip-over; the margin between the box front and the certified bound is 5.7 cm.

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8 倍速 · 原始 16.8 min，播放 126 s8x speed · original 16.8 min, plays in 126 s

H1S-12同色干扰Same-colour decoys

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3，原 H1 世界：未加标记的红色目标在 1.25 m 层板上，左右各有一个带编号标记的同色同尺寸替身，中转板上还有一个，另有一个红色窄支撑替身；目标须靠标记与位置唯一识别。专家读仿真真值目标身份，没有感知流程；仿真预算 1300 s。G1 + Dex3 in the original H1 world: the unmarked red target is on the 1.25 m shelf with a numbered same-colour, same-size decoy on each side, another on the relay board, plus a red narrow support decoy; the target is identified only by marks and position. The expert reads target identity from simulator ground truth; there is no perception pipeline. Simulation budget 1300 s.
任务设计Task design: 机器人要选对支撑（折叠凳而不是红色窄箱），搬凳登高取下正确目标，在 0.90 m 板上中转，下凳后从地面重新抓起中转的目标（不是板上的替身）送入 D。替身进入 D 即失败。The robot must pick the right support (the stool, not the red narrow box), carry it and climb, take the correct target, stage it on the 0.90 m board, step down and re-grasp the staged target (not the board decoy) from the floor, and deliver it into D. A decoy in D is a failure.
工具Tools: 折叠凳（1.5 kg，可搬）Folding stool (1.5 kg, liftable)红色窄支撑替身（不可用）Red narrow support decoy (unusable)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 1008.8 s，未标记的目标送入 D，替身最大位移 2.5 mm、手部接触 0 N，都没进 D。目标身份读仿真真值，标记只是视觉几何；路线与 H1S-01 的搬凳登高链相同，机器人自碰撞关闭（同原 H1）。Success: one continuous run of 1008.8 s; the unmarked target was delivered into D, decoys moved at most 2.5 mm with 0 N hand contact and none entered D. Target identity is read from ground truth and the marks are visual geometry only; the route reuses the H1S-01 stool-carry climb chain, with robot self-collision off as in the original H1.

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8 倍速 · 原始 16.8 min，播放 126 s8x speed · original 16.8 min, plays in 126 s

H1S-13自主中转与安全返回（简化）Self-chosen transfer and safe return (simplified)

Unitree G1执行任务Solve the task

条件Conditions: 简化场景：与 H1S-01 同一世界与目标，只是指令不提中转面，带载直接下降和中转都是合法路线；按扩展判据要求目标完整在地面 D 内、已释放，机器人站稳。仿真预算 1200 s。Simplified scene: same world and target as H1S-01, but the instruction no longer mentions the transfer surface, so both a loaded direct descent and a transfer are legal routes; the extension criterion requires the target wholly in floor D, released, with the robot standing still. Simulation budget 1200 s.
任务设计Task design: 机器人取物后要自己选择返程方式。参考专家选择把目标放到 0.90 m 板上中转，空手下凳，地面再抓取后交付；场景没有让带载下降变难，因此“必须中转”未被证明。After retrieving, the robot chooses its own return. The reference expert stages the target on the 0.90 m board, steps down empty-handed, re-grasps from the floor and delivers; nothing in the scene makes a loaded descent hard, so the need for a transfer is not shown.
工具Tools: 折叠凳（1.5 kg，可搬）Folding stool (1.5 kg, liftable)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 简化完成：一次连续运行 1009.1 s，目标完整在 D 内、已释放，机器人站稳 7.3 s，原评分 1.0。参考控制器的带载直接下降诊断中箱子掉落，这只是控制器证据、不是不可行证明；加重目标的版本因层板取物时打滑而停止，让带载下降受限的场景仍待做。Simplified completion: one continuous run of 1009.1 s, target wholly in D, released, robot standing still for 7.3 s, original rubric score 1.0. In a diagnostic the reference controller dropped the box during a loaded direct descent; that is controller evidence, not an infeasibility proof. A heavier-target version was stopped because the target slipped during shelf retrieval; a scene that constrains the loaded descent is still to be built.

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8 倍速 · 原始 17.0 min，播放 127 s8x speed · original 17.0 min, plays in 127 s

H1S-14窄工作区身体适配Narrow workspace body adaptation

Unitree G1执行任务Solve the task

条件Conditions: G1＋Dex3，原 H1 世界另加一道全宽隔墙，只留 1.10 m 门洞，把起点和 D 与柜子隔开；搬凳和带载返回都必须穿过门洞，不能碰隔墙。仿真预算 1300 s。G1 + Dex3 in the original H1 world plus a full-width partition with a single 1.10 m doorway separating the start and D from the cabinet; both the stool carry and the loaded return must pass through the doorway without touching the partition. Simulation budget 1300 s.
任务设计Task design: 机器人沿门洞轴线保持朝向直行搬凳，在门洞另一侧放凳、登高取物、中转、下凳再抓取，转身后带着目标再穿回门洞送入 D。The robot carries the stool straight along the doorway axis with its heading held, sets it down beyond the doorway, climbs, retrieves, stages, steps down and re-grasps, turns, and carries the target back through the doorway into D.
工具Tools: 折叠凳（1.5 kg，可搬）Folding stool (1.5 kg, liftable)柜内 0.90 m 层板（可作中转面）Cabinet board at 0.90 m (usable as a transfer surface)
Embodiment: Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 1017.1 s，目标在 D 内、稳定 6.8 s，隔墙接触 0 N。机器人直行通过，最宽处离门边还有 0.17 m，约束比较宽松；“必须直行”来自实测余量，没有实际跑转身策略。Success: one continuous run of 1017.1 s, target in D, stable for 6.8 s, 0 N partition contact. The robot passes straight through with 0.17 m to spare at its widest, so the constraint is fairly loose; the need to go straight comes from measured clearance, not from a run of a turning strategy.