robo-si已验收任务accepted tasks
robo-si / H2

H2 · 推车辅助重物运输Cart-assisted heavy transport

G1 抬不起、也无法在地面推动 20 kg 货箱，要借滚轮导轨把货箱推上托盘车，再分段换侧推车穿过两道错位通道，让货箱留在车上交付到目标区。扩展在同一世界里换身体或改路线，考察机器人能否依据自身能力判断可行路线：通向死巷的近路（B01）、推力够大可不用车的 R1 及 Y/N 交付规则（B03）、低位短行程的 Stretch 3 分段推送（B04）。另有一项不可完成对照（I02）：通道收窄后载货组合体过不去，正确行为是空手进入 Q 区停稳。The G1 can neither lift nor floor-push the 20 kg crate, so it must push it along roller rails onto a pallet cart and then push the cart, changing sides, through two offset passages so the crate is delivered on the cart in the goal zone. The extension changes the body or the route in the same world to test whether the robot judges feasible routes from its own abilities: a shortcut into a dead end (B01), an R1 strong enough to skip the cart, with Y/N delivery rules (B03), and a low, short-stroke Stretch 3 that must push in segments (B04). One infeasible control (I02) narrows the passages so the loaded cart cannot pass; the correct behaviour is to exit empty-handed into zone Q and stand still.

验收范围Accepted scope

作者于 2026-11-02 确认 H2 本轮参考交付完成：17 个配置（ORIG 三层、B01 三层、B03 三层 × Y/N 六版及第一层 N 的 R0 地面路线、B04 第一、三层及 T02 路线、I02 证书与 Q 区退出）。原始物理结果与限制随记录保留；签审／独立复现记录仍待办，未新增正式准入。B02、I01 已删除，B04 第二层按作者决定不适用；R0 只覆盖第一层 N，Stretch 轮地摩擦 1.0 仍是模型假设。On 2026-11-02 the author confirmed the H2 reference delivery complete: 17 configurations (ORIG layers 1-3, B01 layers 1-3, B03 layers 1-3 under rules Y and N plus a layer-1 N floor-push R0 route, B04 layers 1 and 3 plus the T02 route, and the I02 certificate with its Q exit). Original physical results and limitations stay attached to each record; sign-off and independent reproduction records remain open and no formal admission is claimed. B02 and I01 were dropped and B04 layer 2 is not applicable by author decision; R0 covers only layer 1 under rule N, and the Stretch wheel friction of 1.0 is a model assumption. (2026-11-02)

变化的条件轴Condition axes

身体（G1、Galaxea R1、Stretch 3）；层（第 1 层只有必要工具，第 2 层加入当前身体用不了、但已由其他身体实测可用的工具，第 3 层再加无效干扰物）；公开交付规则 Y／N（必须在车上，或任何稳定支撑）；路线变化（死巷近路、R0 不用车地面推送、T02 低推杆路线）；通道宽度（1.50 m，I02 收窄到 0.85 m）。Body (G1, Galaxea R1, Stretch 3); layer (layer 1 has only the required tools, layer 2 adds tools this body cannot use but another body was measured to use, layer 3 adds invalid distractors); public delivery rule Y/N (on the cart, or any stable support); route variants (dead-end shortcut, R0 cart-free floor push, T02 low-bar route); passage width (1.50 m, narrowed to 0.85 m in I02).

Embodiments

  • Unitree G1 29 自由度＋Dex3 三指手（H2 发布版机器人，Menagerie 模型）Unitree G1 29-DoF with Dex3 three-finger hands (the H2 release robot, Menagerie model)
  • Galaxea R1 轮式双臂机器人（三轮转向底盘、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 (three-wheel swerve base, adjustable torso; licence incomplete, internal use only, meshes not published)
  • Stretch 3：单伸缩臂（行程约 0.52 m）装在 0–1.1 m 升降柱上，能原地转的轮式底盘Stretch 3: one telescoping arm (about 0.52 m stroke) on a 0-1.1 m lift, wheeled base that turns in place

统计Counts

17 个已验收任务／配置，其中 1 个拒答；17 个有倍速视频。17 accepted tasks/configurations, 1 of them refusal cases; 17 with sped-up videos.

证据备份Evidence backup

本族 17/17 个已验收配置的参考证据已归档：11,456 个文件，9.1 GiB。Reference evidence for 17/17 accepted configurations is archived: 11,456 files, 9.1 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.

H2C-ORIG-L1H2C-ORIG-L2H2C-ORIG-L3H2C-I02H2C-B01-L1H2C-B01-L2H2C-B01-L3H2C-B03-L1-YH2C-B03-L1-NH2C-B03-L2-YH2C-B03-L2-NH2C-B03-L3-YH2C-B03-L3-NH2C-B03-R0-L1-NH2C-B04H2C-B04-L3H2C-B04-T02
8×
8 倍速 · 原始 80 s，播放 10 s8x speed · original 80 s, plays in 10 s

H2C-ORIG-L1原版第 1 层：导轨装车、换侧推车过两道错位通道Original, layer 1: load via the rails, push the cart through two offset passages

Unitree G1执行任务Solve the task
条件Conditions
第 1 层，只有必要工具 T01。G1＋Dex3，原 H2 第一层世界：20 kg 货箱（0.70×0.70×0.90 m）、滚轮装载导轨和 T01 托盘车，目标区在两排货架之后，两道错位通道宽 1.50 m。货箱须留在车上交付（直立、停稳至少 2 s）。G1 持续推力约 40 N，地面推箱约需 91 N，且搬不起货箱。观测只有关节本体感觉、IMU 和 LiDAR；时间预算 180 s。Layer 1, required tool T01 only. G1 + Dex3 in the original H2 layer-1 world: a 20 kg crate (0.70 x 0.70 x 0.90 m), roller loading rails and the T01 pallet cart; the goal zone lies behind two rack rows reached through two offset 1.50 m passages. The crate must be delivered on the cart (upright, settled for at least 2 s). The G1 sustains about 40 N of push, pushing the crate on the floor needs about 91 N, and it cannot lift the crate. Sensing is joint proprioception, IMU and LiDAR only; time budget 180 s.
任务设计Task design
机器人推货箱推块，沿导轨把货箱推上托盘车，再推车穿过第一道通道，换到车的另一侧推车北行，再换侧把车推过第二道通道进入目标区，撤手后让货箱在车上停稳。难点是认识到抬不起、地面推不动而必须用车，并预先规划推行侧和绕行空间。The robot pushes the crate push blocks to drive the crate along the rails onto the pallet cart, pushes the cart through the first passage, changes to another side of the cart to push it north, changes sides again to push it through the second passage into the goal, and steps back so the crate settles on the cart. The point is to recognise that it can neither lift nor floor-push the crate, so it must use the cart, and to plan push sides and walking room ahead.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
否No — 不可完成孪生是 H2C-I02：同一世界把两道通道收窄到 0.85 m，载货车过不去，正确行为变为退出。Solvable twin of H2C-I02, which narrows both passages to 0.85 m so the loaded cart cannot pass and the correct behaviour becomes exit.
见证结果Witness result
成功：79.98 s，货箱约 16.5 s 上车，最终在车上、目标区内直立停稳 2.01 s，未跌倒。原发布专家未作修改，在 Linux GPU 上复现第一层；最大关节越限约 32 mrad（左踝），Dex3 拇指与膝关节力矩达硬件上限，均只记录。另一个边界样本在该环境中因踝膝自碰撞失败，未重试。Success: 79.98 s; the crate is on the cart at about 16.5 s and ends upright and settled on the cart inside the goal for 2.01 s, no fall. The unmodified released expert reproduces layer 1 on a Linux GPU; max joint overrun about 32 mrad (left ankle) and the Dex3 thumb and knee reach their hardware torque limits, all recorded only. Another boundary sample failed in this environment through an ankle-knee self-collision and was not retried.
8×
8 倍速 · 原始 83 s，播放 10 s8x speed · original 83 s, plays in 10 s

H2C-ORIG-L2原版第 2 层：加入其他身体可用的工具Original, layer 2: tools usable only by other bodies added

Unitree G1执行任务Solve the task
条件Conditions
第 2 层：在第 1 层基础上加入 G1 用不了、但已由被点名身体实测可用的 T02 低推杆、T03 低牵引杆（握把降到约 0.35 m）和 T06 无轮拖板（T02、T03 点名 Stretch 3，T06 点名 R1）；ORIG 没有可挡的近路，T04 不适用。其余同第 1 层：G1＋Dex3，原 H2 第一层世界：20 kg 货箱（0.70×0.70×0.90 m）、滚轮装载导轨和 T01 托盘车，目标区在两排货架之后，两道错位通道宽 1.50 m。货箱须留在车上交付（直立、停稳至少 2 s）。G1 持续推力约 40 N，地面推箱约需 91 N，且搬不起货箱。观测只有关节本体感觉、IMU 和 LiDAR；时间预算 180 s。Layer 2: on top of layer 1, adds the T02 low push bar, the T03 low tow bar (grip lowered to about 0.35 m) and the T06 wheelless sled, which the G1 cannot use but a named body was measured to use (Stretch 3 for T02 and T03, R1 for T06); ORIG has no shortcut to block, so T04 does not apply. Otherwise as layer 1: G1 + Dex3 in the original H2 layer-1 world: a 20 kg crate (0.70 x 0.70 x 0.90 m), roller loading rails and the T01 pallet cart; the goal zone lies behind two rack rows reached through two offset 1.50 m passages. The crate must be delivered on the cart (upright, settled for at least 2 s). The G1 sustains about 40 N of push, pushing the crate on the floor needs about 91 N, and it cannot lift the crate. Sensing is joint proprioception, IMU and LiDAR only; time budget 180 s.
任务设计Task design
路线与第 1 层相同；新增物体是诱惑项，机器人要判断它们对自己无用，仍用导轨和 T01 车完成运货。机器人推货箱推块，沿导轨把货箱推上托盘车，再推车穿过第一道通道，换到车的另一侧推车北行，再换侧把车推过第二道通道进入目标区，撤手后让货箱在车上停稳。难点是认识到抬不起、地面推不动而必须用车，并预先规划推行侧和绕行空间。The route is the same as layer 1; the added objects are temptations the robot must judge useless for its own body, still completing the transport with the rails and the T01 cart. The robot pushes the crate push blocks to drive the crate along the rails onto the pallet cart, pushes the cart through the first passage, changes to another side of the cart to push it north, changes sides again to push it through the second passage into the goal, and steps back so the crate settles on the cart. The point is to recognise that it can neither lift nor floor-push the crate, so it must use the cart, and to plan push sides and walking room ahead.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 mT06 无轮拖板T06 wheelless sled
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
否No
见证结果Witness result
成功：83.3 s，货箱在车上、目标区内直立停稳 2.0 s，未跌倒；停放的 T06 未被扰动、接触 0 N。最大非足接触约 698 N，最大关节越限约 31 mrad，只记录。T02／T03 与机器人的接触无法与车体其他部件分开统计。Success: 83.3 s; crate upright and settled on the cart inside the goal for 2.0 s, no fall; the parked T06 is undisturbed with 0 N contact. Peak non-foot contact about 698 N and max joint overrun about 31 mrad, recorded only. Robot contact with T02/T03 cannot be separated from other cart parts in the contact log.
8×
8 倍速 · 原始 83 s，播放 10 s8x speed · original 83 s, plays in 10 s

H2C-ORIG-L3原版第 3 层：再加无效干扰物Original, layer 3: invalid distractors added

Unitree G1执行任务Solve the task
条件Conditions
第 3 层：在第 2 层基础上再加入 T05 宽平板车（车板最小宽 1.60 m，大于 1.50 m 通道）、T07 未固定的装饰把手、T08 固定在地面的车。其余同第 1 层：G1＋Dex3，原 H2 第一层世界：20 kg 货箱（0.70×0.70×0.90 m）、滚轮装载导轨和 T01 托盘车，目标区在两排货架之后，两道错位通道宽 1.50 m。货箱须留在车上交付（直立、停稳至少 2 s）。G1 持续推力约 40 N，地面推箱约需 91 N，且搬不起货箱。观测只有关节本体感觉、IMU 和 LiDAR；时间预算 180 s。Layer 3: on top of layer 2, adds the T05 wide flatbed (minimum deck width 1.60 m, wider than the 1.50 m passages), the T07 loose decorative handle and the T08 cart fixed to the floor. Otherwise as layer 1: G1 + Dex3 in the original H2 layer-1 world: a 20 kg crate (0.70 x 0.70 x 0.90 m), roller loading rails and the T01 pallet cart; the goal zone lies behind two rack rows reached through two offset 1.50 m passages. The crate must be delivered on the cart (upright, settled for at least 2 s). The G1 sustains about 40 N of push, pushing the crate on the floor needs about 91 N, and it cannot lift the crate. Sensing is joint proprioception, IMU and LiDAR only; time budget 180 s.
任务设计Task design
机器人要识别无效候选：宽平板车过不了通道，装饰把手不承力，固定车不能运货；仍用导轨和 T01 车完成原路线。机器人推货箱推块，沿导轨把货箱推上托盘车，再推车穿过第一道通道，换到车的另一侧推车北行，再换侧把车推过第二道通道进入目标区，撤手后让货箱在车上停稳。难点是认识到抬不起、地面推不动而必须用车，并预先规划推行侧和绕行空间。The robot must see that the candidates are invalid: the flatbed cannot pass the passages, the decorative handle carries no load and the fixed cart cannot move; it still completes the original route with the rails and the T01 cart. The robot pushes the crate push blocks to drive the crate along the rails onto the pallet cart, pushes the cart through the first passage, changes to another side of the cart to push it north, changes sides again to push it through the second passage into the goal, and steps back so the crate settles on the cart. The point is to recognise that it can neither lift nor floor-push the crate, so it must use the cart, and to plan push sides and walking room ahead.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 mT06 无轮拖板T06 wheelless sledT05 宽平板车（车板 1.60 m，宽于通道）T05 wide flatbed cart (1.60 m deck, wider than the passages)T07 未固定的装饰把手T07 loose decorative handleT08 固定在地面、看似可用的车T08 cart fixed to the floor that only looks usable
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
否No
见证结果Witness result
成功：82.52 s，货箱在车上、目标区内直立停稳约 2.0 s，未跌倒；所有新增物体未被扰动、接触 0 N。最大关节越限约 32 mrad，只记录。Success: 82.52 s; crate upright and settled on the cart inside the goal for about 2.0 s, no fall; every added object undisturbed with 0 N contact. Max joint overrun about 32 mrad, recorded only.
4×
4 倍速 · 原始 10 s，播放 2.5 s4x speed · original 10 s, plays in 2.5 s

H2C-I02载货车过不了收窄通道：不可完成与退出Loaded cart cannot pass the narrowed passages: infeasible, exit

Unitree G1拒答：正确行为是退出Refusal: correct outcome is to exit
条件Conditions
仅 G1＋Dex3，第 1 层。两道错位通道都收窄到 0.85 m，装载车道位置的采样范围受限，使证书覆盖所有样本；第一道通道中原有车道路缘把车板高度处的地面净宽压到约 0.765 m，小于 0.80 m 的车板；交付规则仍要求货箱在 T01 车上。判断不可完成时调用 declare_infeasible，空手进入 Q 区并停稳 3 s，无需先尝试一次。G1 + Dex3 only, layer 1. Both offset passages are narrowed to 0.85 m and the sampled loading-lane position is restricted so the certificate covers every sample; the existing lane curb in the first passage reduces the clear floor width at deck height to about 0.765 m, less than the 0.80 m cart deck; delivery must still be on the T01 cart. On judging the task infeasible the robot calls declare_infeasible, walks empty-handed into Q and stands still for 3 s, with no need to try first.
任务设计Task design
路线排除证书按几何说明：任意朝向、换侧、绕行和其他合法载运方式都无法让车板通过第一道通道，G1 也不能抬车或推车越过路缘；机器人自身仍可走到 Q 区。参考专家观察后直接走进 Q 区停稳。A geometric route certificate shows that no orientation, side change, detour or other legal carrier gets the deck through the first passage, and the G1 cannot lift the cart or push it over the curb; the robot itself can still reach Q. The reference expert observes and walks straight into Q and stops.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
是Yes — 载货车加货箱的组合体过不了收窄的通道，任何合法路线都无法在车上交付；可解孪生是 H2C-ORIG-L1。结论只适用于 G1，R1 的底盘能越过路缘。The loaded cart cannot pass the narrowed passage, so no legal route delivers on the cart; the solvable twin is H2C-ORIG-L1. The conclusion holds for the G1 only, since the R1 base can cross the curb.
见证结果Witness result
正确退出：10.0 s 内空手进入 Q 区，连续停稳 3.0 s，未跌倒；停稳检查通过，但骨盆速度余量很小。Correct exit: within 10.0 s the robot walks empty-handed into Q and stays still for 3.0 s, no fall; the stillness check passes with little pelvis-speed margin.
8×
8 倍速 · 原始 90 s，播放 11 s8x speed · original 90 s, plays in 11 s

H2C-B01-L1只能推：避开死巷，第 1 层Push only: avoid the dead end, layer 1

Unitree G1执行任务Solve the task
条件Conditions
第 1 层：T01 加死巷近路。在 ORIG 世界中加一条看似更短、通向封闭死巷的近路（死巷宽约 1.10 m，不通交付区），并移除横在近路入口上的一段路缘；可完成的绕行路线保留。其余同 ORIG：G1＋Dex3、20 kg 货箱、货箱须留在车上交付，时间预算 180 s。Layer 1: T01 plus the dead-end shortcut. The ORIG world gains a shortcut that looks shorter but leads into a closed dead-end corridor (about 1.10 m wide, not connected to the goal), and the curb segment across its mouth is removed; the feasible detour remains. Otherwise as ORIG: G1 + Dex3, 20 kg crate, delivery on the cart, time budget 180 s.
任务设计Task design
载货车一旦整个进入死巷，车旁空间不足以让 G1 站进去，远端车把手够不着，低推杆和牵引杆又太低，拉货箱会先使它从车上滚下，所以 G1 再也推不出来。机器人要依据“自己只能推”保留后续换侧和推行空间，不进死巷，沿绕行路线把货箱留在车上交付。Once the loaded cart is fully inside the dead end, there is no room beside it for the G1 to stand, the far cart handle is out of reach, the low bar and tow bar are too low, and pulling the crate would roll it off the cart first, so the G1 can never get it out. The robot must plan from "I can only push", keep room for later side changes, stay out of the dead end and deliver the crate on the cart by the detour.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
否No
见证结果Witness result
成功：90.08 s，货箱在车上、目标区内停稳 2.0 s，未跌倒；路线检查确认车从未进入死巷。最大关节越限约 38 mrad，只记录。死巷结论限于已测 G1 身体、可达性和任务工具。Success: 90.08 s; crate settled on the cart inside the goal for 2.0 s, no fall; a route check confirms the cart never entered the dead end. Max joint overrun about 38 mrad, recorded only. The dead-end conclusion is limited to the tested G1 body, its reach and the task tools.
8×
8 倍速 · 原始 82 s，播放 10 s8x speed · original 82 s, plays in 10 s

H2C-B01-L2只能推：避开死巷，第 2 层Push only: avoid the dead end, layer 2

Unitree G1执行任务Solve the task
条件Conditions
第 2 层：死巷世界加上与 ORIG 第 2 层相同的跨身体工具候选（T02、约 0.35 m 握把的 T03、T06）；低推杆和牵引杆不会自动提供死巷脱困能力。在 ORIG 世界中加一条看似更短、通向封闭死巷的近路（死巷宽约 1.10 m，不通交付区），并移除横在近路入口上的一段路缘；可完成的绕行路线保留。Layer 2: the dead-end world plus the same cross-body tool candidates as ORIG layer 2 (T02, T03 with its grip at about 0.35 m, T06); the low bar and tow bar do not give a way out of the dead end. The ORIG world gains a shortcut that looks shorter but leads into a closed dead-end corridor (about 1.10 m wide, not connected to the goal), and the curb segment across its mouth is removed; the feasible detour remains.
任务设计Task design
载货车一旦整个进入死巷，车旁空间不足以让 G1 站进去，远端车把手够不着，低推杆和牵引杆又太低，拉货箱会先使它从车上滚下，所以 G1 再也推不出来。机器人要依据“自己只能推”保留后续换侧和推行空间，不进死巷，沿绕行路线把货箱留在车上交付。Once the loaded cart is fully inside the dead end, there is no room beside it for the G1 to stand, the far cart handle is out of reach, the low bar and tow bar are too low, and pulling the crate would roll it off the cart first, so the G1 can never get it out. The robot must plan from "I can only push", keep room for later side changes, stay out of the dead end and deliver the crate on the cart by the detour.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 mT06 无轮拖板T06 wheelless sled
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
否No
见证结果Witness result
成功：81.52 s，货箱在车上、目标区内停稳约 2.0 s，未跌倒；车从未进入死巷。最大关节越限约 35 mrad，只记录。Success: 81.52 s; crate settled on the cart inside the goal for about 2.0 s, no fall; the cart never entered the dead end. Max joint overrun about 35 mrad, recorded only.
8×
8 倍速 · 原始 82 s，播放 10 s8x speed · original 82 s, plays in 10 s

H2C-B01-L3只能推：避开死巷，第 3 层Push only: avoid the dead end, layer 3

Unitree G1执行任务Solve the task
条件Conditions
第 3 层：在第 2 层基础上再加 T05、T07、T08 干扰物，路线与死巷判定不变。在 ORIG 世界中加一条看似更短、通向封闭死巷的近路（死巷宽约 1.10 m，不通交付区），并移除横在近路入口上的一段路缘；可完成的绕行路线保留。Layer 3: layer 2 plus the T05, T07 and T08 distractors; the route and the dead-end judgement are unchanged. The ORIG world gains a shortcut that looks shorter but leads into a closed dead-end corridor (about 1.10 m wide, not connected to the goal), and the curb segment across its mouth is removed; the feasible detour remains.
任务设计Task design
载货车一旦整个进入死巷，车旁空间不足以让 G1 站进去，远端车把手够不着，低推杆和牵引杆又太低，拉货箱会先使它从车上滚下，所以 G1 再也推不出来。机器人要依据“自己只能推”保留后续换侧和推行空间，不进死巷，沿绕行路线把货箱留在车上交付。Once the loaded cart is fully inside the dead end, there is no room beside it for the G1 to stand, the far cart handle is out of reach, the low bar and tow bar are too low, and pulling the crate would roll it off the cart first, so the G1 can never get it out. The robot must plan from "I can only push", keep room for later side changes, stay out of the dead end and deliver the crate on the cart by the detour.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 mT06 无轮拖板T06 wheelless sledT05 宽平板车（车板 1.60 m，宽于通道）T05 wide flatbed cart (1.60 m deck, wider than the passages)T07 未固定的装饰把手T07 loose decorative handleT08 固定在地面、看似可用的车T08 cart fixed to the floor that only looks usable
Embodiment
Unitree G1＋Dex3Unitree G1 + Dex3
是否拒答Refusal
否No
见证结果Witness result
成功：81.62 s，货箱在车上、目标区内停稳约 2.0 s，未跌倒；车从未进入死巷。最大关节越限约 33 mrad，只记录。Success: 81.62 s; crate settled on the cart inside the goal for about 2.0 s, no fall; the cart never entered the dead end. Max joint overrun about 33 mrad, recorded only.
8×
8 倍速 · 原始 517 s，播放 65 s8x speed · original 517 s, plays in 65 s

H2C-B03-L1-YR1 推力够大可不用车：第 1 层，规则 Y（必须在车上交付）R1 strong enough to skip the cart: layer 1, rule Y (delivery on the cart)

Galaxea R1执行任务Solve the task
条件Conditions
第 1 层：只有 T01。规则 Y（必须在车上交付）。身体换为 Galaxea R1，沿用原世界、20 kg 货箱、导轨、T01 车和两道错位通道。R1 推力够大，地面推箱（R0）成为候选，因此设 Y/N 两个公开规则版本：Y 必须在车上交付；N 任何合规的稳定支撑都算，包括地面。两版都要求货箱进入目标区、直立、停稳且机器人不跌倒，并满足既定关节速度约束；扩展记录没有为 R1 声明时间预算。Layer 1: T01 only. Rule Y (delivery on the cart). The body is a Galaxea R1 in the original world with the 20 kg crate, the rails, the T01 cart and the two offset passages. The R1 is strong enough that pushing the crate on the floor (R0) becomes a candidate, so the case has two public rule versions: Y requires delivery on the cart; N accepts any compliant stable support, including the floor. Both require the crate in the goal, upright and settled, with the robot not fallen and within the declared joint-speed bound; the extension records declare no time budget for the R1.
任务设计Task design
本见证走推车路线：R1 用手指抵住货箱推块、配合底盘推行，沿导轨把货箱推上车；绕行并越过车道路缘到车旁，用底盘侧面推车东行穿过第一道通道，再双手分段正面推车北行，跨回目标车道后正面推车穿过第二道通道进入目标区，撤手停稳。This witness takes the cart route: the R1 holds its fingertips on the crate push blocks and drives its base to push the crate along the rails onto the cart; it goes round and over the lane curb to the side of the cart, pushes the cart east through the first passage with the side of its chassis, pushes it north in two-handed frontal strokes, crosses back to the goal lane and pushes the cart frontally through the second passage into the goal, then backs off and holds still.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)
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：516.54 s，货箱在车上、目标区内直立停稳 16.8 s，未跌倒，满足既定关节速度约束；最大非轮接触约 289 N、力矩比 1.0，只记录。早期交付但超速或跨路缘失败的运行保留为诊断与失败记录。Success: 516.54 s; crate upright and settled on the cart inside the goal for 16.8 s, no fall, within the declared joint-speed bound; peak non-wheel contact about 289 N and effort ratio 1.0, recorded only. Earlier runs that delivered but exceeded the speed bound, or failed at the curb, are kept as diagnostics and failures.
8×
8 倍速 · 原始 518 s，播放 65 s8x speed · original 518 s, plays in 65 s

H2C-B03-L1-NR1 推力够大可不用车：第 1 层，规则 N（任何合规稳定支撑）R1 strong enough to skip the cart: layer 1, rule N (any compliant stable support)

Galaxea R1执行任务Solve the task
条件Conditions
第 1 层：只有 T01。规则 N（任何合规稳定支撑）。身体换为 Galaxea R1，沿用原世界、20 kg 货箱、导轨、T01 车和两道错位通道。R1 推力够大，地面推箱（R0）成为候选，因此设 Y/N 两个公开规则版本：Y 必须在车上交付；N 任何合规的稳定支撑都算，包括地面。两版都要求货箱进入目标区、直立、停稳且机器人不跌倒，并满足既定关节速度约束；扩展记录没有为 R1 声明时间预算。Layer 1: T01 only. Rule N (any compliant stable support). The body is a Galaxea R1 in the original world with the 20 kg crate, the rails, the T01 cart and the two offset passages. The R1 is strong enough that pushing the crate on the floor (R0) becomes a candidate, so the case has two public rule versions: Y requires delivery on the cart; N accepts any compliant stable support, including the floor. Both require the crate in the goal, upright and settled, with the robot not fallen and within the declared joint-speed bound; the extension records declare no time budget for the R1.
任务设计Task design
本见证走推车路线：R1 用手指抵住货箱推块、配合底盘推行，沿导轨把货箱推上车；绕行并越过车道路缘到车旁，用底盘侧面推车东行穿过第一道通道，再双手分段正面推车北行，跨回目标车道后正面推车穿过第二道通道进入目标区，撤手停稳。规则 N 下推车交付同样合规。This witness takes the cart route: the R1 holds its fingertips on the crate push blocks and drives its base to push the crate along the rails onto the cart; it goes round and over the lane curb to the side of the cart, pushes the cart east through the first passage with the side of its chassis, pushes it north in two-handed frontal strokes, crosses back to the goal lane and pushes the cart frontally through the second passage into the goal, then backs off and holds still. Delivery on the cart is also compliant under rule N.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)
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：518.32 s，货箱在车上、目标区内直立停稳 17.8 s，未跌倒，满足既定关节速度约束；最大非轮接触约 344 N、力矩比 1.0，只记录。本版仍用车交付；不用车的地面路线另见 H2C-B03-R0-L1-N。早期交付但超速或跨路缘失败的运行保留为诊断与失败记录。Success: 518.32 s; crate upright and settled on the cart inside the goal for 17.8 s, no fall, within the declared joint-speed bound; peak non-wheel contact about 344 N and effort ratio 1.0, recorded only. This version still delivers on the cart; the cart-free floor route is H2C-B03-R0-L1-N. Earlier runs that delivered but exceeded the speed bound, or failed at the curb, are kept as diagnostics and failures.
8×
8 倍速 · 原始 521 s，播放 65 s8x speed · original 521 s, plays in 65 s

H2C-B03-L2-YR1 推力够大可不用车：第 2 层，规则 Y（必须在车上交付）R1 strong enough to skip the cart: layer 2, rule Y (delivery on the cart)

Galaxea R1执行任务Solve the task
条件Conditions
第 2 层：车上加 T02 低推杆和 T03 低牵引杆（点名可用身体为 Stretch 3，R1 在当前配置下用不了）。规则 Y（必须在车上交付）。身体换为 Galaxea R1，沿用原世界、20 kg 货箱、导轨、T01 车和两道错位通道。R1 推力够大，地面推箱（R0）成为候选，因此设 Y/N 两个公开规则版本：Y 必须在车上交付；N 任何合规的稳定支撑都算，包括地面。两版都要求货箱进入目标区、直立、停稳且机器人不跌倒，并满足既定关节速度约束；扩展记录没有为 R1 声明时间预算。Layer 2: the T02 low push bar and the T03 low tow bar are added to the cart (named usable body: Stretch 3; the R1 cannot use them in this configuration). Rule Y (delivery on the cart). The body is a Galaxea R1 in the original world with the 20 kg crate, the rails, the T01 cart and the two offset passages. The R1 is strong enough that pushing the crate on the floor (R0) becomes a candidate, so the case has two public rule versions: Y requires delivery on the cart; N accepts any compliant stable support, including the floor. Both require the crate in the goal, upright and settled, with the robot not fallen and within the declared joint-speed bound; the extension records declare no time budget for the R1.
任务设计Task design
本见证走推车路线：R1 用手指抵住货箱推块、配合底盘推行，沿导轨把货箱推上车；绕行并越过车道路缘到车旁，用底盘侧面推车东行穿过第一道通道，再双手分段正面推车北行，跨回目标车道后正面推车穿过第二道通道进入目标区，撤手停稳。This witness takes the cart route: the R1 holds its fingertips on the crate push blocks and drives its base to push the crate along the rails onto the cart; it goes round and over the lane curb to the side of the cart, pushes the cart east through the first passage with the side of its chassis, pushes it north in two-handed frontal strokes, crosses back to the goal lane and pushes the cart frontally through the second passage into the goal, then backs off and holds still.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 m
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：520.98 s，货箱在车上、目标区内直立停稳 16.82 s，未跌倒，满足既定关节速度约束；最大非轮接触约 633 N、力矩比 1.0，只记录。早期交付但超速或跨路缘失败的运行保留为诊断与失败记录。Success: 520.98 s; crate upright and settled on the cart inside the goal for 16.82 s, no fall, within the declared joint-speed bound; peak non-wheel contact about 633 N and effort ratio 1.0, recorded only. Earlier runs that delivered but exceeded the speed bound, or failed at the curb, are kept as diagnostics and failures.
8×
8 倍速 · 原始 10.7 min，播放 80 s8x speed · original 10.7 min, plays in 80 s

H2C-B03-L2-NR1 推力够大可不用车：第 2 层，规则 N（任何合规稳定支撑）R1 strong enough to skip the cart: layer 2, rule N (any compliant stable support)

Galaxea R1执行任务Solve the task
条件Conditions
第 2 层：车上加 T02 低推杆和 T03 低牵引杆（点名可用身体为 Stretch 3，R1 在当前配置下用不了）。规则 N（任何合规稳定支撑）。身体换为 Galaxea R1，沿用原世界、20 kg 货箱、导轨、T01 车和两道错位通道。R1 推力够大，地面推箱（R0）成为候选，因此设 Y/N 两个公开规则版本：Y 必须在车上交付；N 任何合规的稳定支撑都算，包括地面。两版都要求货箱进入目标区、直立、停稳且机器人不跌倒，并满足既定关节速度约束；扩展记录没有为 R1 声明时间预算。Layer 2: the T02 low push bar and the T03 low tow bar are added to the cart (named usable body: Stretch 3; the R1 cannot use them in this configuration). Rule N (any compliant stable support). The body is a Galaxea R1 in the original world with the 20 kg crate, the rails, the T01 cart and the two offset passages. The R1 is strong enough that pushing the crate on the floor (R0) becomes a candidate, so the case has two public rule versions: Y requires delivery on the cart; N accepts any compliant stable support, including the floor. Both require the crate in the goal, upright and settled, with the robot not fallen and within the declared joint-speed bound; the extension records declare no time budget for the R1.
任务设计Task design
本见证走推车路线：R1 用手指抵住货箱推块、配合底盘推行，沿导轨把货箱推上车；绕行并越过车道路缘到车旁，用底盘侧面推车东行穿过第一道通道，再双手分段正面推车北行，跨回目标车道后正面推车穿过第二道通道进入目标区，撤手停稳。规则 N 下推车交付同样合规。This witness takes the cart route: the R1 holds its fingertips on the crate push blocks and drives its base to push the crate along the rails onto the cart; it goes round and over the lane curb to the side of the cart, pushes the cart east through the first passage with the side of its chassis, pushes it north in two-handed frontal strokes, crosses back to the goal lane and pushes the cart frontally through the second passage into the goal, then backs off and holds still. Delivery on the cart is also compliant under rule N.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 m
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：639.74 s，货箱在车上、目标区内直立停稳 18.64 s，未跌倒，满足既定关节速度约束；最大非轮接触约 409 N、力矩比 1.0，只记录。控制器按实测推块重新对准分段推送，先检查车的净空再换侧；标称推送目标未达到，但满足事先声明的最小入口位置。早期交付但超速或跨路缘失败的运行保留为诊断与失败记录。Success: 639.74 s; crate upright and settled on the cart inside the goal for 18.64 s, no fall, within the declared joint-speed bound; peak non-wheel contact about 409 N and effort ratio 1.0, recorded only. The controller re-aligns its segmented pushes on the measured push blocks and checks cart clearance before changing sides; the nominal push target was missed, but the separately predeclared minimum entry position was met. Earlier runs that delivered but exceeded the speed bound, or failed at the curb, are kept as diagnostics and failures.
8×
8 倍速 · 原始 520 s，播放 65 s8x speed · original 520 s, plays in 65 s

H2C-B03-L3-YR1 推力够大可不用车：第 3 层，规则 Y（必须在车上交付）R1 strong enough to skip the cart: layer 3, rule Y (delivery on the cart)

Galaxea R1执行任务Solve the task
条件Conditions
第 3 层：在第 2 层基础上再加 T05、T07、T08 干扰物；R1 推得动拖板，因此 T06 不作通用干扰项。规则 Y（必须在车上交付）。身体换为 Galaxea R1，沿用原世界、20 kg 货箱、导轨、T01 车和两道错位通道。R1 推力够大，地面推箱（R0）成为候选，因此设 Y/N 两个公开规则版本：Y 必须在车上交付；N 任何合规的稳定支撑都算，包括地面。两版都要求货箱进入目标区、直立、停稳且机器人不跌倒，并满足既定关节速度约束；扩展记录没有为 R1 声明时间预算。Layer 3: layer 2 plus the T05, T07 and T08 distractors; the R1 can move the sled, so T06 is not used as a general distractor. Rule Y (delivery on the cart). The body is a Galaxea R1 in the original world with the 20 kg crate, the rails, the T01 cart and the two offset passages. The R1 is strong enough that pushing the crate on the floor (R0) becomes a candidate, so the case has two public rule versions: Y requires delivery on the cart; N accepts any compliant stable support, including the floor. Both require the crate in the goal, upright and settled, with the robot not fallen and within the declared joint-speed bound; the extension records declare no time budget for the R1.
任务设计Task design
本见证走推车路线：R1 用手指抵住货箱推块、配合底盘推行，沿导轨把货箱推上车；绕行并越过车道路缘到车旁，用底盘侧面推车东行穿过第一道通道，再双手分段正面推车北行，跨回目标车道后正面推车穿过第二道通道进入目标区，撤手停稳。This witness takes the cart route: the R1 holds its fingertips on the crate push blocks and drives its base to push the crate along the rails onto the cart; it goes round and over the lane curb to the side of the cart, pushes the cart east through the first passage with the side of its chassis, pushes it north in two-handed frontal strokes, crosses back to the goal lane and pushes the cart frontally through the second passage into the goal, then backs off and holds still.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 mT05 宽平板车（车板 1.60 m，宽于通道）T05 wide flatbed cart (1.60 m deck, wider than the passages)T07 未固定的装饰把手T07 loose decorative handleT08 固定在地面、看似可用的车T08 cart fixed to the floor that only looks usable
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：520.1 s，货箱在车上、目标区内直立停稳 17.98 s，未跌倒，满足既定关节速度约束；最大非轮接触约 329 N、力矩比 1.0，只记录。早期交付但超速或跨路缘失败的运行保留为诊断与失败记录。Success: 520.1 s; crate upright and settled on the cart inside the goal for 17.98 s, no fall, within the declared joint-speed bound; peak non-wheel contact about 329 N and effort ratio 1.0, recorded only. Earlier runs that delivered but exceeded the speed bound, or failed at the curb, are kept as diagnostics and failures.
8×
8 倍速 · 原始 516 s，播放 65 s8x speed · original 516 s, plays in 65 s

H2C-B03-L3-NR1 推力够大可不用车：第 3 层，规则 N（任何合规稳定支撑）R1 strong enough to skip the cart: layer 3, rule N (any compliant stable support)

Galaxea R1执行任务Solve the task
条件Conditions
第 3 层：在第 2 层基础上再加 T05、T07、T08 干扰物；R1 推得动拖板，因此 T06 不作通用干扰项。规则 N（任何合规稳定支撑）。身体换为 Galaxea R1，沿用原世界、20 kg 货箱、导轨、T01 车和两道错位通道。R1 推力够大，地面推箱（R0）成为候选，因此设 Y/N 两个公开规则版本：Y 必须在车上交付；N 任何合规的稳定支撑都算，包括地面。两版都要求货箱进入目标区、直立、停稳且机器人不跌倒，并满足既定关节速度约束；扩展记录没有为 R1 声明时间预算。Layer 3: layer 2 plus the T05, T07 and T08 distractors; the R1 can move the sled, so T06 is not used as a general distractor. Rule N (any compliant stable support). The body is a Galaxea R1 in the original world with the 20 kg crate, the rails, the T01 cart and the two offset passages. The R1 is strong enough that pushing the crate on the floor (R0) becomes a candidate, so the case has two public rule versions: Y requires delivery on the cart; N accepts any compliant stable support, including the floor. Both require the crate in the goal, upright and settled, with the robot not fallen and within the declared joint-speed bound; the extension records declare no time budget for the R1.
任务设计Task design
本见证走推车路线：R1 用手指抵住货箱推块、配合底盘推行，沿导轨把货箱推上车；绕行并越过车道路缘到车旁，用底盘侧面推车东行穿过第一道通道，再双手分段正面推车北行，跨回目标车道后正面推车穿过第二道通道进入目标区，撤手停稳。规则 N 下推车交付同样合规。This witness takes the cart route: the R1 holds its fingertips on the crate push blocks and drives its base to push the crate along the rails onto the cart; it goes round and over the lane curb to the side of the cart, pushes the cart east through the first passage with the side of its chassis, pushes it north in two-handed frontal strokes, crosses back to the goal lane and pushes the cart frontally through the second passage into the goal, then backs off and holds still. Delivery on the cart is also compliant under rule N.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT03 车头牵引杆，只能拉，握把约 0.35 mT03 tow bar on the cart front, pull only, grip about 0.35 mT05 宽平板车（车板 1.60 m，宽于通道）T05 wide flatbed cart (1.60 m deck, wider than the passages)T07 未固定的装饰把手T07 loose decorative handleT08 固定在地面、看似可用的车T08 cart fixed to the floor that only looks usable
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：516.04 s，货箱在车上、目标区内直立停稳 18.52 s，未跌倒，满足既定关节速度约束；最大非轮接触约 354 N、力矩比 1.0，只记录。早期交付但超速或跨路缘失败的运行保留为诊断与失败记录。Success: 516.04 s; crate upright and settled on the cart inside the goal for 18.52 s, no fall, within the declared joint-speed bound; peak non-wheel contact about 354 N and effort ratio 1.0, recorded only. Earlier runs that delivered but exceeded the speed bound, or failed at the curb, are kept as diagnostics and failures.
8×
8 倍速 · 原始 14.5 min，播放 109 s8x speed · original 14.5 min, plays in 109 s

H2C-B03-R0-L1-NR1 不用车的地面推送路线（第 1 层，规则 N）R1 cart-free floor-push route (layer 1, rule N)

Galaxea R1执行任务Solve the task
条件Conditions
与 H2C-B03-L1-N 同一场景：第 1 层，只有 T01，规则 N 允许货箱以地面为支撑交付。路线检查还要求全程不靠车承托货箱、最终由地面支撑。扩展记录没有为 R1 声明时间预算。Same scene as H2C-B03-L1-N: layer 1, T01 only, and rule N lets the crate be delivered resting on the floor. The route check also requires that the cart never carries the crate and that the floor supports it at the end. The extension records declare no time budget for the R1.
任务设计Task design
R1 先用真实接触把空车推到南侧停好再返回，然后把原货箱从导轨推落到地面，在可达的推块之间切换、重新对准，后期做一次事先声明的固定躯干姿态调整，跨过路缘并经两道错位通道把货箱推进目标区，最后撤手停稳。The R1 first pushes the empty cart away to the south by real contact and comes back, then pushes the original crate off the rails onto the floor, switching between reachable push blocks and re-aligning, with one predeclared late fixed torso adjustment; it crosses the curb, pushes the crate through both offset passages into the goal and backs off to hold still.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)
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 872.36 s，货箱由地面支撑、在目标区内连续停稳 20.46 s，未跌倒，满足既定速度约束。外部非轮接触峰值 956.2 N（躯干／货箱），机器人自碰撞峰值 243.36 N，北向接近时左手误差约 0.35 m，最大关节越限 4.0 mrad，均只记录。共 21 次尝试，20 次失败全部保留；只证明第一层 N 的一次可行运行，无重复成功率结论。Success: one continuous run of 872.36 s; the crate rests on the floor inside the goal and stays settled for 20.46 s, no fall, within the declared speed bound. Peak external non-wheel contact 956.2 N (torso/crate), robot self-contact peak 243.36 N, left-hand error about 0.35 m on the northward approach, max joint overrun 4.0 mrad, all recorded only. 21 attempts in total with all 20 failures kept; this shows one feasible layer-1 N run, with no repeat-success claim.
8×
8 倍速 · 原始 248 s，播放 31 s8x speed · original 248 s, plays in 31 s

H2C-B04Stretch 3 低位短行程分段推送：第 1 层Stretch 3 low, short-stroke segmented pushing: layer 1

Stretch 3执行任务Solve the task
条件Conditions
第 1 层：T01，车上装有 T02（T02 构成另一条有效路线，见 H2C-B04-T02）。身体换为 Stretch 3，放在原世界 G1 的起点：20 kg 货箱、导轨、T01 车（南侧装有本轨道几何的 T02 低推杆）和两道错位通道，货箱须留在车上交付到 1.40 m 目标区。伸缩臂行程约 0.52 m、推力上限约 56 N，要与底盘配合分段推；轮地摩擦 1.0 是模型假设。仿真预算 600 s。Layer 1: T01, with T02 on the cart (T02 forms another valid route, see H2C-B04-T02). The body is a Stretch 3 at the G1 start of the original world: 20 kg crate, rails, the T01 cart (with a T02 low push bar on its south side) and two offset passages; the crate must be delivered on the cart into the 1.40 m goal. The telescoping arm has about 0.52 m of stroke and about 56 N of push, so it must push in segments together with the base; wheel friction 1.0 is a model assumption. Simulation budget 600 s.
任务设计Task design
机器人倒车用底盘后部沿导轨把货箱推上车，推车东行穿过第一道通道，换到车南侧推车北行（车轮打滑前进）到目标车道路缘，再换到车西侧把车推过第二道通道进入目标区，撤开后让货箱停稳。要回答的问题是短行程怎样分段推、能否不换侧过通道；本见证仍然换侧。The robot reverses and pushes the crate along the rails onto the cart with the rear of its base, pushes the cart east through the first passage, moves to the south side and pushes the cart north (wheels sliding) to the goal-lane curb, then moves to the west side and pushes the cart through the second passage into the goal, and backs off while the crate settles. The questions are how to segment pushes with a short stroke and whether the passages can be passed without changing sides; this witness still changes sides.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 m
Embodiment
Stretch 3
是否拒答Refusal
否No
见证结果Witness result
成功：一次连续运行 247.46 s，货箱约 51 s 装车，最终在车上、目标区内直立停稳 2 s，未翻倒（倾角 0.15°）。换侧转弯时底盘撞到固定路缘，峰值约 406 N；推力依赖轮地摩擦 1.0 和作者设定的轮扭矩上限；不换侧的路线未验证。Success: one continuous run of 247.46 s; the crate is loaded at about 51 s and ends upright and settled on the cart inside the goal for 2 s, no tip-over (0.15 degree tilt). During a side-change turn the base struck a fixed curb at about 406 N peak; push forces depend on the wheel friction of 1.0 and the author's wheel-torque bound; a route without side changes is untested.
8×
8 倍速 · 原始 247 s，播放 31 s8x speed · original 247 s, plays in 31 s

H2C-B04-L3Stretch 3 分段推送：第 3 层Stretch 3 segmented pushing: layer 3

Stretch 3执行任务Solve the task
条件Conditions
第 3 层：第 1 层场景再加 T05、T07、T08 干扰物；第 2 层按作者决定不适用（候选工具在 Stretch 模型中都可用），T06 在该模型中可用、不作干扰项。身体换为 Stretch 3，放在原世界 G1 的起点：20 kg 货箱、导轨、T01 车（南侧装有本轨道几何的 T02 低推杆）和两道错位通道，货箱须留在车上交付到 1.40 m 目标区。伸缩臂行程约 0.52 m、推力上限约 56 N，要与底盘配合分段推；轮地摩擦 1.0 是模型假设。仿真预算 600 s。Layer 3: the layer-1 scene plus the T05, T07 and T08 distractors; layer 2 is not applicable by author decision (the candidate tools are all usable by the Stretch model), and T06 is usable by this model so it is not a distractor. The body is a Stretch 3 at the G1 start of the original world: 20 kg crate, rails, the T01 cart (with a T02 low push bar on its south side) and two offset passages; the crate must be delivered on the cart into the 1.40 m goal. The telescoping arm has about 0.52 m of stroke and about 56 N of push, so it must push in segments together with the base; wheel friction 1.0 is a model assumption. Simulation budget 600 s.
任务设计Task design
机器人倒车用底盘后部沿导轨把货箱推上车，推车东行穿过第一道通道，换到车南侧推车北行（车轮打滑前进）到目标车道路缘，再换到车西侧把车推过第二道通道进入目标区，撤开后让货箱停稳。新增干扰物都无效，机器人要忽略它们。The robot reverses and pushes the crate along the rails onto the cart with the rear of its base, pushes the cart east through the first passage, moves to the south side and pushes the cart north (wheels sliding) to the goal-lane curb, then moves to the west side and pushes the cart through the second passage into the goal, and backs off while the crate settles. The added distractors are all invalid and must be ignored.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 mT05 宽平板车（车板 1.60 m，宽于通道）T05 wide flatbed cart (1.60 m deck, wider than the passages)T07 未固定的装饰把手T07 loose decorative handleT08 固定在地面、看似可用的车T08 cart fixed to the floor that only looks usable
Embodiment
Stretch 3
是否拒答Refusal
否No
见证结果Witness result
成功：一次连续运行 247.32 s，货箱在车上、目标区内直立停稳 2 s，未翻倒。轮地摩擦 1.0 为假设、未实测；完整路线仍需换侧。Success: one continuous run of 247.32 s; crate upright and settled on the cart inside the goal for 2 s, no tip-over. Wheel friction 1.0 is assumed, not measured; the full route still changes sides.
8×
8 倍速 · 原始 423 s，播放 53 s8x speed · original 423 s, plays in 53 s

H2C-B04-T02Stretch 3 用 T02 低推杆的完整路线（第 1 层）Stretch 3 full route using the T02 low push bar (layer 1)

Stretch 3执行任务Solve the task
条件Conditions
第 1 层的另一条有效路线，不另计层或 case：车南侧装统一几何的 0.45 m T02 低推杆，G1 用不了它。身体换为 Stretch 3，放在原世界 G1 的起点：20 kg 货箱、导轨、T01 车（南侧装有本轨道几何的 T02 低推杆）和两道错位通道，货箱须留在车上交付到 1.40 m 目标区。伸缩臂行程约 0.52 m、推力上限约 56 N，要与底盘配合分段推；轮地摩擦 1.0 是模型假设。仿真预算 600 s。An alternative valid layer-1 route, not a separate layer or case: the cart carries the canonical 0.45 m T02 low push bar on its south side, which the G1 cannot use. The body is a Stretch 3 at the G1 start of the original world: 20 kg crate, rails, the T01 cart (with a T02 low push bar on its south side) and two offset passages; the crate must be delivered on the cart into the 1.40 m goal. The telescoping arm has about 0.52 m of stroke and about 56 N of push, so it must push in segments together with the base; wheel friction 1.0 is a model assumption. Simulation budget 600 s.
任务设计Task design
装车和东行段同第 1 层；北行段改为闭合夹爪抵住 T02，按实测车体偏航选择接触位置，用 0.14 m 短行程连续推九次；随后换到车西侧把车推过第二道通道进入目标区。Loading and the east leg are as in layer 1; on the north leg the closed gripper pushes on T02, choosing the contact point from the measured cart yaw, in nine short 0.14 m strokes; the robot then moves to the west side and pushes the cart through the second passage into the goal.
工具Tools
滚轮装载导轨＋T01 标准托盘车（车把手 0.85 m，货箱带推块）Roller loading rails + T01 standard pallet cart (cart handle 0.85 m, crate push blocks)T02 车尾低位推杆，0.45 mT02 low push bar on the cart, 0.45 m
Embodiment
Stretch 3
是否拒答Refusal
否No
见证结果Witness result
成功：一次连续运行 422.40 s，货箱在车上、目标区内直立停稳 2 s，未翻倒；北向段只有指尖与 T02 接触（峰值 34.3 N），车体最大偏航 1.98°。仍需换侧；轮地摩擦 1.0 为假设。Success: one continuous run of 422.40 s; crate upright and settled on the cart inside the goal for 2 s, no tip-over; on the north leg only fingertip-to-T02 contact occurs (34.3 N peak), with at most 1.98 degrees of cart yaw. Side changes are still needed; wheel friction 1.0 is assumed.