robo-si / H5

H5 · 杠杆辅助重物运输（H5-X 跨身体扩展）Lever-assisted heavy transport (H5-X cross-embodiment)

把 100 kg 货箱（0.60 × 0.54 × 0.48 m）运到房间远端的 1.6 × 1.6 m 目标区，使其直立、静止、由工具或地面支撑并保持 2 秒；运输时货箱须由托架等工具承载、不能在地面上拖，交付前机器人须松手。G1＋Dex3、Galaxea R1 与 Stretch 3 要各自选出与自身体重、推力和下压能力相符的工具路线：踏台杠杆、锁止手压杠杆或楔形鼻托架。L3 配对在同一场景中隐藏一项能力或材料参数，H5S-09 则是正确行为为空手退出的不可完成场景。Move a 100 kg cargo box (0.60 × 0.54 × 0.48 m) into a 1.6 × 1.6 m goal at the far end of the room and leave it upright, still and supported by tools or the floor for 2 s; during transport the cargo must ride on tools such as skates rather than be dragged on the floor, and the robot must let go before delivery. G1 + Dex3, Galaxea R1 and Stretch 3 each have to pick a tool route that matches their own weight, push force and press force: platform lever, latching hand lever or wedge-nose skate. L3 pairs hide one capability or material parameter in the same scene, and H5S-09 is an infeasible scene whose correct behaviour is an empty-handed exit.

验收范围Accepted scope

2026-10-31 作者审阅统一视角 8 倍速视频后整体验收通过：13 项扩展任务的修订版参考见证（12 项交付、1 项退出 Q）与 1 条现存原场景对照，另附 2 条预期停滞的 A 路线探针；签收范围为 14/14 当前修订参考，原严格能力对照主张仍按原边界记录。剩余限制：05 为身体专用布局，不是同一初始场景的跨身体比较；06 改为摩擦边界负对照，原强制换支点未验证；03、07 使用改版杠杆，07、08 只证明所记录的 A 路线反例；全部为单次特权状态参考运行，无可靠性测量或正式准入，部分见证的冻结复现源码与原 5/5 发布包原始证据仍待补齐。On 2026-10-31 the author accepted the delivery as a whole after reviewing the unified-view 8x videos: revised reference witnesses for the 13 extension tasks (12 deliveries, 1 exit to Q) and one existing original-scene control, plus 2 A-route probes that stall as expected; the signed scope is 14/14 current-revision references, while the original strict capability-contrast claims stay recorded within their original limits. Remaining limits: 05 uses body-specific layouts rather than an identical initial scene; 06 became a friction-boundary negative control and the original forced fulcrum switch was not validated; 03 and 07 use redesigned levers, and 07 and 08 only support the recorded A-route counterexamples; all are single privileged-state reference runs with no reliability measurement or formal admission, and frozen reproduction sources for some witnesses and the raw evidence of the original 5/5 release still need to be restored. (2026-10-31)

变化的条件轴Condition axes

身体（G1＋Dex3、Galaxea R1、Stretch 3）；场景提供的工具组合（踏台杠杆与支点、锁止手压杠杆、楔形鼻托架与路缘、槽形支点、牵引杆）及货箱底脚摩擦（0.65 或 1.0）；L3 隐藏参数（普通支点材料摩擦 0.85／0.2、Stretch 升降柱向下力上限 100／5 N、R1 轮子力矩上限 15／6 N·m）；可行与不可行（平放货箱）。Body (G1 + Dex3, Galaxea R1, Stretch 3); the tool set in the scene (platform lever and fulcrum, latching hand lever, wedge-nose skate and curb, channel fulcrum, tow bar) and cargo-foot friction (0.65 or 1.0); L3 hidden parameters (plain-fulcrum material friction 0.85/0.2, Stretch lift downward force limit 100/5 N, R1 wheel torque limit 15/6 N·m); feasible versus infeasible (flat cargo).

Embodiments

G1＋Dex3（Menagerie G1，34.4 kg，人形双足）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid)
Galaxea R1（102.2 kg，三轮转向底盘＋双臂）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms)
Stretch 3（24.8 kg，差速底盘＋单伸缩臂）Stretch 3 (24.8 kg, differential base with a single telescoping arm)

统计Counts

14 个已验收任务／配置，其中 1 个拒答；14 个有倍速视频。14 accepted tasks/configurations, 1 of them refusal cases; 14 with sped-up videos.

证据备份Evidence backup

本族 14/14 个已验收配置的参考证据已归档：4,731 个文件，2.5 GiB。Reference evidence for 14/14 accepted configurations is archived: 4,731 files, 2.5 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.

H5S-01 H5S-02 H5S-03 H5S-04 H5S-05.G1 H5S-05.R1 H5S-05.S3 H5S-06.A H5S-06.B H5S-07.A H5S-07.B H5S-08.A H5S-08.B H5S-09

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8 倍速 · 原始 151 s，播放 19 s8x speed · original 151 s, plays in 19 s

H5S-01原任务：踏台杠杆抬升与托架推运Original task: platform-lever lift and skate transport

Unitree G1执行任务Solve the task

条件Conditions: 原始层级；S-orig（lever-insertion-v3，固定种子布局）：100 kg 货箱远端已搁在一台托架上，货箱与地面摩擦 0.65；G1 能力全部公开；原任务仿真时间预算 300 s。Original level; S-orig (lever-insertion-v3, fixed seed layout): 100 kg cargo with its far end already resting on one skate, cargo-floor friction 0.65; all G1 capabilities public; original simulation budget 300 s.
任务设计Task design: G1 须踩下踏台杠杆抬起货箱近端，把第二台托架推到近端下方，使货箱整体落在两台托架上，然后离开踏台、把货箱推进目标区，松手并站稳。The G1 must step on the platform lever to raise the cargo's near end, push the second skate under it so the whole cargo rests on both skates, then step off, push the cargo into the goal, let go and stand.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: G1＋Dex3（Menagerie G1，34.4 kg，人形双足）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid)
是否拒答Refusal: 否No
见证结果Witness result: 成功：本轮复核的是 2026-10-28 现存原场景对照运行，150.76 s 完成全部阶段，货箱运输 3.75 m，运输中地面承重为零，释放后保持 2 s，未倒地。原发布范围为全程 5/5、独立子任务 20/20（2026-10-23），其原始录像在当前工作区缺失、本次未重新核验；该对照不是新的物理复验。Success: the item reviewed in this round is the existing 2026-10-28 original-scene control run, which completed every stage in 150.76 s, moved the cargo 3.75 m with zero floor support during transport, and held 2 s after release with no fall. The original release scope is 5/5 full runs and 20/20 standalone subtasks (2026-10-23); those raw recordings are missing from the current workspace and were not revalidated, and the control is not a new physical revalidation.

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8 倍速 · 原始 152 s，播放 19 s8x speed · original 152 s, plays in 19 s

H5S-02高摩擦底脚：杠杆路线与拖运必要性High-friction feet: lever route and drag necessity

Unitree G1执行任务Solve the task

条件Conditions: L1（已知能力）；S-hard：同 S-orig，但货箱四个底脚与地面摩擦提高到 1.0；G1＋Dex3，能力公开。L1 (known capability); S-hard: as S-orig, but the cargo's four feet have friction 1.0 against the floor; G1 + Dex3, capabilities public.
任务设计Task design: 抬升、插托架和在托架上推运不受底脚摩擦影响，原杠杆路线应可沿用；底脚摩擦提高后，不用杠杆直接拖动近端约需 400 N，高于 G1 在仿真中约 337 N 的静态推力上界，用来把工具必要性落到力的上界上。Lifting, skate insertion and pushing on skates do not depend on cargo-foot friction, so the original lever route should carry over; with the higher friction, dragging the near end without a lever needs about 400 N, above the G1's static push bound of about 337 N in simulation, which grounds tool necessity in a force bound.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: G1＋Dex3（Menagerie G1，34.4 kg，人形双足）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid)
是否拒答Refusal: 否No
见证结果Witness result: 成功：冻结控制器沿原路线 151.64 s 完成全部阶段，货箱运输 3.74 m，运输中地面承重为零，释放后保持 2 s。无杠杆拖运探针只让货箱移动 1.7 mm；工具必要性仍是余量约 1.19× 的静态力论证，不是证明。Success: the frozen controller completed every stage along the original route in 151.64 s, moving the cargo 3.74 m with zero floor support during transport and a 2 s hold after release. A no-lever drag probe moved the cargo only 1.7 mm; tool necessity remains a static force argument with about 1.19x margin, not a proof.

8×

8 倍速 · 原始 408 s，播放 51 s8x speed · original 408 s, plays in 51 s

H5S-03Stretch 3 锁止手压杠杆Stretch 3 latching hand lever

Stretch 3执行任务Solve the task

条件Conditions: L1；S-lever v2：底脚摩擦 1.0，放置 MA 10 锁止手压杠杆（原设计 MA 5 的改版）和托架，没有踏台杠杆；Stretch 3 升降柱力限 ±100 N，能力公开。L1; S-lever v2: cargo-foot friction 1.0, with an MA 10 latching hand lever (a redesign of the original MA 5) and skates but no platform lever; Stretch 3 lift force limit ±100 N, capabilities public.
任务设计Task design: Stretch 3 体重轻，实测下压约 61–76 N 时底盘就会离地，用不了踏台杠杆。须压下 MA 10 杠杆直到棘爪锁住，空出手臂把托架推到近端下方，按释放片放下近端，再用伸缩臂推托架把货箱送进目标区并退开。Stretch 3 is light: measured downward presses of about 61-76 N already lift its base, so the platform lever is out. It must press the MA 10 lever until the pawl locks, use the freed arm to push a skate under the near end, press the release tab to lower the near end, then push the skate with the telescoping arm until the cargo is in the goal, and back off.
工具Tools: MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: Stretch 3（24.8 kg，差速底盘＋单伸缩臂）Stretch 3 (24.8 kg, differential base with a single telescoping arm)
是否拒答Refusal: 否No
见证结果Witness result: 成功：一次连续运行 407.96 s，货箱运输 3.30 m，运输中地面承重为零，释放后保持 2 s，峰值压杆力 57.2 N。属记录在案的 MA 10 改版单次见证，原 MA 5 力臂设计未获验证；最大关节速度比约 1.07，按规则只记录、不作门槛。Success: one continuous run of 407.96 s moved the cargo 3.30 m with zero floor support during transport and a 2 s hold after release; peak lever press 57.2 N. This is a single witness of the recorded MA 10 redesign, and the original MA 5 lever design is not validated; the maximum joint speed ratio of about 1.07 is recorded, not gated.

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

H5S-04R1 楔形鼻托架R1 wedge-nose skate

Galaxea R1执行任务Solve the task

条件Conditions: L1；S-wedge：底脚摩擦 1.0，货箱远端在一台普通托架上，另有两台楔形鼻托架和货箱对侧的固定路缘；Galaxea R1 轮子力矩上限 15 N·m，能力公开。L1; S-wedge: cargo-foot friction 1.0, cargo far end on one plain skate, plus two wedge-nose skates and a fixed curb on the cargo's opposite side; Galaxea R1 wheel torque limit 15 N·m, capabilities public.
任务设计Task design: R1 站不上踏台杠杆，手臂下压也有限，但底盘推力大。须抓住楔形托架的两根立柱，用底盘把它从侧面楔入货箱近端下方（路缘挡住货箱），松手后绕到近端，用底盘把骑在两台托架上的货箱推进目标区。The R1 cannot stand on the platform lever and its arm press is limited, but its base pushes hard. It must grasp the wedge skate's two posts, drive it sideways under the cargo's near end with the base (the curb holds the cargo), let go, move round to the near end, and push the cargo, now riding on two skates, into the goal with the base.
工具Tools: 楔形鼻托架（托板加滚轮，带两根抓取立柱）Wedge-nose skate (plate with rollers and two grasp posts)固定路缘（挡住货箱不被侧推走）Fixed curb (keeps the cargo from being pushed sideways)一台普通双轮托架（垫在远端下）One plain two-wheel skate (under the far end)
Embodiment: Galaxea R1（102.2 kg，三轮转向底盘＋双臂）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms)
是否拒答Refusal: 否No
见证结果Witness result: 成功：126.5 s 完成，楔入时托板推力峰值 266 N，运输 3.37 m，地面承重为零，释放后保持 7.22 s。楔形托架与路缘均为记录在案的改版，楔面只把近端抬高 8.6 mm；R1 的工具必要性只靠运输承重规则；物理选项为椭圆摩擦锥、关闭扭转摩擦；单次运行。Success: completed in 126.5 s with a peak plate push of 266 N during wedging, 3.37 m of transport with zero floor support and a 7.22 s hold after release. The wedge skate and curb are recorded redesigns and the wedge raises the near end only 8.6 mm; tool necessity for the R1 rests only on the transport-support rule; physics options are an elliptic friction cone with torsional friction off; single run.

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8 倍速 · 原始 153 s，播放 19 s8x speed · original 153 s, plays in 19 s

H5S-05.G1工具类别对照（v8）· G1Tool-family comparison (v8) · G1

Unitree G1执行任务Solve the task

条件Conditions: L2（工具选择）；S-toolkit-v8 的 G1 专用布局：底脚摩擦 1.0，全部工具类别实物在场，新增工具停放在离货箱较远的一排、避开 G1 路线；能力公开。L2 (tool choice); G1-specific layout of S-toolkit-v8: cargo-foot friction 1.0, every tool family physically present, with the added tools parked in a row away from the cargo and clear of the G1 route; capabilities public.
任务设计Task design: 同一 100 kg 目标下提供多类工具，看每种身体能否选出适合自己的一类。G1 选择踏台杠杆 → 双托架 → 推运，没有碰手压杠杆、楔形托架、牵引杆和路缘。Several tool families are offered for the same 100 kg goal to see whether each body picks one that suits it. The G1 chooses platform lever, then two skates, then pushing, and never touches the hand lever, wedge skate, tow bar or curb.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it)楔形鼻托架（托板加滚轮，带两根抓取立柱）Wedge-nose skate (plate with rollers and two grasp posts)刚性牵引杆Rigid tow bar固定路缘（挡住货箱不被侧推走）Fixed curb (keeps the cargo from being pushed sideways)
Embodiment: G1＋Dex3（Menagerie G1，34.4 kg，人形双足）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid)
是否拒答Refusal: 否No
见证结果Witness result: 成功：152.98 s 完成全部阶段，货箱运输 3.75 m，地面承重为零，释放后保持 2 s，停放工具受力 0 N；另一种 CPU 上的重复也通过。v8 为身体专用布局，不是三种身体在完全相同初始场景下的比较。Success: every stage completed in 152.98 s, moving the cargo 3.75 m with zero floor support and a 2 s hold after release, with 0 N on the parked tools; a repeat on another CPU type also passed. v8 uses body-specific layouts, so this is not a comparison of the three bodies in an identical initial scene.

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8 倍速 · 原始 381 s，播放 48 s8x speed · original 381 s, plays in 48 s

H5S-05.R1工具类别对照（v8）· R1Tool-family comparison (v8) · R1

Galaxea R1执行任务Solve the task

条件Conditions: L2；S-toolkit-v8 的 R1 专用布局：底脚摩擦 1.0，全部工具类别实物在场并停放在远处，需自行取用；轮子力矩上限 15 N·m，能力公开。L2; R1-specific layout of S-toolkit-v8: cargo-foot friction 1.0, every tool family physically present and parked away from the cargo, so tools must be fetched; wheel torque limit 15 N·m, capabilities public.
任务设计Task design: R1 实体取来停放的楔形托架，楔入货箱近端下方后松手，再绕到近端，经北侧通道用底盘推运货箱。The R1 physically fetches the parked wedge skate, wedges it under the cargo's near end, lets go, then moves round to the near end and pushes the cargo with its base along the north aisle.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it)楔形鼻托架（托板加滚轮，带两根抓取立柱）Wedge-nose skate (plate with rollers and two grasp posts)刚性牵引杆Rigid tow bar固定路缘（挡住货箱不被侧推走）Fixed curb (keeps the cargo from being pushed sideways)
Embodiment: Galaxea R1（102.2 kg，三轮转向底盘＋双臂）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms)
是否拒答Refusal: 否No
见证结果Witness result: 成功：380.9 s 完成，楔入推力峰值 434 N（高于规划估计 323 N），运输 3.36 m，地面承重为零，释放后保持 7.2 s；推运时顺带碰动了其他自由工具。身体专用布局，不等同于 G1 的布局。Success: completed in 380.9 s with a peak wedging push of 434 N (above the 323 N planning estimate), 3.36 m of transport with zero floor support and a 7.2 s hold after release; the push also nudged other free tools. Body-specific layout, not the same as the G1's.

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8 倍速 · 原始 408 s，播放 51 s8x speed · original 408 s, plays in 51 s

H5S-05.S3工具类别对照（v8）· Stretch 3Tool-family comparison (v8) · Stretch 3

Stretch 3执行任务Solve the task

条件Conditions: L2；S-toolkit-v8 的 Stretch 专用布局：底脚摩擦 1.0，踏台杠杆、支点、楔形托架、牵引杆、路缘等替代工具实物在场；升降柱力限 ±100 N，能力公开。L2; Stretch-specific layout of S-toolkit-v8: cargo-foot friction 1.0, with the alternative tools (platform lever, fulcrum, wedge skate, tow bar, curb) physically present; lift force limit ±100 N, capabilities public.
任务设计Task design: 沿用 H5S-03 已成功的未改动控制器：压 MA 10 手压杠杆并锁住 → 插托架 → 用伸缩臂推运，其余工具留在场景中不用。The unmodified successful H5S-03 controller is reused: press and latch the MA 10 hand lever, insert a skate, push with the telescoping arm, leaving the other tools in the scene unused.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it)楔形鼻托架（托板加滚轮，带两根抓取立柱）Wedge-nose skate (plate with rollers and two grasp posts)刚性牵引杆Rigid tow bar固定路缘（挡住货箱不被侧推走）Fixed curb (keeps the cargo from being pushed sideways)
Embodiment: Stretch 3（24.8 kg，差速底盘＋单伸缩臂）Stretch 3 (24.8 kg, differential base with a single telescoping arm)
是否拒答Refusal: 否No
见证结果Witness result: 成功：408.22 s 完成，货箱运输 3.30 m，地面承重为零，释放后保持 2 s，最大倾斜 0.25°；运输接触力峰值 83.1 N，高于原 26 N 估计。身体专用布局，单次特权状态参考运行。Success: completed in 408.22 s, moving the cargo 3.30 m with zero floor support and a 2 s hold after release, maximum tilt 0.25°; peak transport contact force 83.1 N, above the original 26 N estimate. Body-specific layout; a single privileged-state reference run.

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8 倍速 · 原始 152 s，播放 19 s8x speed · original 152 s, plays in 19 s

H5S-06.A摩擦边界对照 A：普通支点 μ 0.85Friction-boundary pair A: plain fulcrum μ 0.85

Unitree G1执行任务Solve the task

条件Conditions: L3 对照（v11）；S-fulcrum：原 v1 物理，普通支点材料摩擦 0.85（原发布值），另停放一个槽形支点；G1＋Dex3；隐藏参数为普通支点材料摩擦。L3 control (v11); S-fulcrum: original v1 physics, plain-fulcrum material friction 0.85 (the released value), plus a parked channel fulcrum; G1 + Dex3; the hidden parameter is the plain fulcrum's material friction.
任务设计Task design: 与 06.B 几何完全相同，只差普通支点的材料摩擦。G1 沿原踏台杠杆 → 托架 → 推运路线完成，槽形支点不需要。Geometry is identical to 06.B; only the plain fulcrum's material friction differs. The G1 follows the original platform lever, skates and push route; the channel fulcrum is not needed.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)槽形支点（1.8 kg，停放在远处）Channel fulcrum (1.8 kg, parked away from the route)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: G1＋Dex3（Menagerie G1，34.4 kg，人形双足）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid)
是否拒答Refusal: 否No
见证结果Witness result: 成功：152.04 s 完成全部阶段，货箱运输 3.75 m，杠杆相对支点最大滑移 0.95 cm。仅为单次参考：同一冻结控制器在另一种 CPU 上确定性失败，v11 补跑的 A 重复运行在推运开始时撞到踏台（1316 N）失败，不声称可靠性。Success: every stage completed in 152.04 s, moving the cargo 3.75 m, with at most 0.95 cm of lever slip on the fulcrum. Single reference only: the same frozen controller fails deterministically on another CPU type, and the fresh v11 repeat of A failed when it hit the platform (1316 N) at the start of transport, so no reliability is claimed.

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8 倍速 · 原始 155 s，播放 19 s8x speed · original 155 s, plays in 19 s

H5S-06.B摩擦边界负对照 B：普通支点 μ 0.2Friction-boundary negative control B: plain fulcrum μ 0.2

Unitree G1执行任务Solve the task

条件Conditions: L3 负对照（v11）；与 06.A 同场景，普通支点材料摩擦降到 0.2（隐藏，第一步前写入）；仿真中接触摩擦取两种材料的较大值，杠杆与支点之间的有效摩擦仍为 0.65。L3 negative control (v11); same scene as 06.A with the plain fulcrum's material friction lowered to 0.2 (hidden, set before the first step); the simulator uses the larger of the two materials' friction, so the lever-fulcrum contact stays at 0.65.
任务设计Task design: 原设计希望低摩擦迫使改用槽形支点；实测原路线在 B 下仍可行，v11 因此改为负对照：正确做法是依据证据保留可行的原路线并完整交付，不要求换工具。The original design expected low friction to force a switch to the channel fulcrum; measurements showed the original route still works under B, so v11 turns it into a negative control: the correct behaviour is to keep the viable original route on the evidence and deliver in full, with no tool switch required.
工具Tools: 踏台杠杆（3.0 kg，机械优势约 2.6，只能推不能搬）Platform lever (3.0 kg, mechanical advantage about 2.6; push only, not carried)普通支点（1.8 kg）Plain fulcrum (1.8 kg)槽形支点（1.8 kg，停放在远处）Channel fulcrum (1.8 kg, parked away from the route)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: G1＋Dex3（Menagerie G1，34.4 kg，人形双足）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid)
是否拒答Refusal: 否No
见证结果Witness result: 成功：保留原踏台杠杆与托架路线，154.56 s 完成，近端抬起 29.1 mm，运输 3.75 m，地面承重为零，释放后保持 2 s。原“强制换支点”要求已撤回、未通过，槽形支点的取放未完成。Success: the original platform-lever and skate route was kept and completed in 154.56 s, lifting the near end 29.1 mm and moving the cargo 3.75 m with zero floor support and a 2 s hold after release. The original forced fulcrum-switch requirement was withdrawn and not passed; picking up and installing the channel fulcrum was never completed.

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8 倍速 · 原始 419 s，播放 52 s8x speed · original 419 s, plays in 52 s

H5S-07.A机械优势对照 A：升降柱力限 ±100 NMechanical-advantage pair A: lift force ±100 N

Stretch 3执行任务Solve the task

条件Conditions: L3（v4 改版）；S-ma v4：底脚摩擦 1.0，一根带 MA 10 与 MA 12 两个按压点的锁止手压杠杆和托架；Stretch 3 升降柱向下、向上力限均为 100 N（隐藏配置）。L3 (v4 redesign); S-ma v4: cargo-foot friction 1.0, one latching hand lever with MA 10 and MA 12 press points, plus skates; Stretch 3 lift force limit 100 N both down and up (hidden profile).
任务设计Task design: 此配置下两个按压点都可行，Stretch 3 用 MA 10 按压点抬起并锁住杠杆，插托架后推运。与 07.B 配对，检验能否按自身下压能力选择机械优势。Both press points work under this profile; Stretch 3 uses the MA 10 point to lift and latch the lever, inserts a skate and pushes. Paired with 07.B to test choosing a mechanical advantage that matches the robot's own press force.
工具Tools: 双按压点锁止手压杠杆（MA 10 与 MA 12 两个按压点）Dual-pad latching hand lever (MA 10 and MA 12 press points)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: Stretch 3（24.8 kg，差速底盘＋单伸缩臂）Stretch 3 (24.8 kg, differential base with a single telescoping arm)
是否拒答Refusal: 否No
见证结果Witness result: 成功：418.78 s 完成，货箱运输 3.29 m，地面承重为零，释放后保持 2 s，峰值压杆力 49.6 N。记录在案的 v4 改版；原 MA 4/MA 6 设计未获验证；速度比约 1.07 只记录。Success: completed in 418.78 s, moving the cargo 3.29 m with zero floor support and a 2 s hold after release; peak lever press 49.6 N. Recorded v4 redesign; the original MA 4/MA 6 design is not validated; the speed ratio of about 1.07 is recorded only.

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8 倍速 · 原始 428 s，播放 54 s8x speed · original 428 s, plays in 54 s

H5S-07.B受限下压力 B：改用 MA 12Limited press force B: switch to MA 12

Stretch 3执行任务Solve the task

条件Conditions: L3（v4 改版）；与 07.A 同场景，隐藏配置改为升降柱向下力上限 5 N、向上 100 N（第一步前写入执行器）。L3 (v4 redesign); same scene as 07.A, with the hidden profile changed to a 5 N downward and 100 N upward lift force limit (written into the actuator before the first step).
任务设计Task design: 此配置下 MA 10 按压点压不到锁止所需的插入间隙，机器人须改用机械优势更大的 MA 12 按压点完成抬升、插托架与推运。Under this profile the MA 10 point cannot open enough insertion clearance to latch, so the robot must switch to the higher-advantage MA 12 point to lift, insert the skate and push.
工具Tools: 双按压点锁止手压杠杆（MA 10 与 MA 12 两个按压点）Dual-pad latching hand lever (MA 10 and MA 12 press points)两台双轮托架（各 8 kg，其中一台起始时垫在货箱远端下）Two two-wheel skates (8 kg each; one starts under the cargo's far end)
Embodiment: Stretch 3（24.8 kg，差速底盘＋单伸缩臂）Stretch 3 (24.8 kg, differential base with a single telescoping arm)
是否拒答Refusal: 否No
见证结果Witness result: 成功：改用 MA 12 路线，428.28 s 完成，运输 3.30 m，地面承重为零，释放后保持 2 s，峰值压杆力 42.5 N；同场景探针中 MA 10 停滞在 2.76 mm 插入间隙。原 MA 4/6 与对称 60 N 方案未获验证；速度比约 1.07 只记录。Success: on the MA 12 route, completed in 428.28 s, moving the cargo 3.30 m with zero floor support and a 2 s hold after release, peak lever press 42.5 N; in a same-scene probe the MA 10 route stalled at 2.76 mm of insertion clearance. The original MA 4/6 and symmetric 60 N designs are not validated; the speed ratio of about 1.07 is recorded only.

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8 倍速 · 原始 165 s，播放 21 s8x speed · original 165 s, plays in 21 s

H5S-08.A轮子力矩对照 A：15 N·mWheel-torque pair A: 15 N·m

Galaxea R1执行任务Solve the task

条件Conditions: L3；S-ma-wedge：底脚摩擦 1.0，一台楔形鼻托架、一根 MA 10 锁止手压杠杆、远端下的普通托架和固定路缘；Galaxea R1 轮子力矩上限 15 N·m（隐藏配置，第一步前写入）。L3; S-ma-wedge: cargo-foot friction 1.0, one wedge-nose skate, one MA 10 latching hand lever, a plain skate under the far end and a fixed curb; Galaxea R1 wheel torque limit 15 N·m (hidden profile, set before the first step).
任务设计Task design: 力矩充足时，R1 用底盘把楔形托架楔入近端下方即可，再推运货箱；与 08.B 只差轮子力矩。With enough wheel torque the R1 simply wedges the skate under the near end with its base and then pushes the cargo; it differs from 08.B only in wheel torque.
工具Tools: 楔形鼻托架（托板加滚轮，带两根抓取立柱）Wedge-nose skate (plate with rollers and two grasp posts)MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it)一台普通双轮托架（垫在远端下）One plain two-wheel skate (under the far end)固定路缘（挡住货箱不被侧推走）Fixed curb (keeps the cargo from being pushed sideways)
Embodiment: Galaxea R1（102.2 kg，三轮转向底盘＋双臂）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms)
是否拒答Refusal: 否No
见证结果Witness result: 成功：只用楔形托架路线，164.9 s 完成，楔入推力 p95 326.94 N、峰值 347.55 N，运输 3.39 m，地面承重为零，释放后保持 7.24 s。单次见证，只证明这组参考路线对照。Success: wedge-skate route only, completed in 164.9 s with a wedging push of 326.94 N (p95) and 347.55 N peak, 3.39 m of transport with zero floor support and a 7.24 s hold after release. Single witness; it supports this reference route contrast only.

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8 倍速 · 原始 226 s，播放 28 s8x speed · original 226 s, plays in 28 s

H5S-08.B轮子力矩受限 B：6 N·m，改用手压杠杆Limited wheel torque B: 6 N·m, switch to the hand lever

Galaxea R1执行任务Solve the task

条件Conditions: L3；与 08.A 同场景，R1 轮子力矩上限降为 6 N·m（隐藏配置，第一步前写入）。L3; same scene as 08.A, with the R1 wheel torque limit lowered to 6 N·m (hidden profile, set before the first step).
任务设计Task design: 6 N·m 时同一楔形插入路线在轮子力矩饱和下停滞，机器人须改用手臂压下 MA 10 手压杠杆抬起近端并锁住，再插入托架推运。At 6 N·m the same wedge-insertion route stalls with the wheels saturated, so the robot must instead press the MA 10 hand lever with its arm to lift and latch the near end, then insert the skate and push.
工具Tools: 楔形鼻托架（托板加滚轮，带两根抓取立柱）Wedge-nose skate (plate with rollers and two grasp posts)MA 10 锁止手压杠杆（压下后棘爪锁住，按释放片放下）MA 10 latching hand lever (a pawl locks it when pressed; a release tab lowers it)一台普通双轮托架（垫在远端下）One plain two-wheel skate (under the far end)固定路缘（挡住货箱不被侧推走）Fixed curb (keeps the cargo from being pushed sideways)
Embodiment: Galaxea R1（102.2 kg，三轮转向底盘＋双臂）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms)
是否拒答Refusal: 否No
见证结果Witness result: 成功：改用手压杠杆，225.6 s 完成，压杆力 p95 41.91 N，运输 3.44 m，地面承重为零，释放后保持 7.20 s。同场景 A 路线探针在 6 N·m 下楔入停滞（推力 p95 236.88 N，轮子力矩饱和）；单次见证，不证明所有楔形策略都不可行。Success: on the hand-lever route, completed in 225.6 s with a lever press of 41.91 N (p95), 3.44 m of transport with zero floor support and a 7.20 s hold after release. A same-scene probe of the A route stalled during wedging at 6 N·m (push 236.88 N p95, wheels saturated); single witness, not proof that every wedge strategy fails.

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8 倍速 · 原始 33 s，播放 4.1 s8x speed · original 33 s, plays in 4.1 s

H5S-09不可完成：识别并退出Infeasible: recognise and exit

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

条件Conditions: 不可完成；S-flat v1：100 kg 货箱平放在地面中央，没有预垫托架，摩擦 0.65；场景只有 MA 4 锁止手压杠杆和两台普通托架，没有踏台杠杆；Stretch 3 升降柱力限 100 N。正确行为：空手进入 Q 区并静止 3 秒。Infeasible; S-flat v1: the 100 kg cargo sits flat on the floor with no skate under it, friction 0.65; the scene has only an MA 4 latching hand lever and two plain skates, no platform lever; Stretch 3 lift force limit 100 N. Correct behaviour: enter zone Q empty-handed and stay still for 3 s.
任务设计Task design: 机器人须判断任何路线都超出 Stretch 3 的力量：下压在约 76 N 时就因底盘离地封顶，水平推力受轮子牵引与倾翻限制在约 160 N 以内。识别后不碰任何可动物体，驶入 Q 区停稳。The robot must judge that every route exceeds what Stretch 3 can apply: its downward press is capped at about 76 N by base lift-off and its horizontal force at about 160 N by wheel traction and tipping. Having recognised this, it touches no movable object and drives into Q and stops.
工具Tools: MA 4 锁止手压杠杆MA 4 latching hand lever两台普通双轮托架Two plain two-wheel skates
Embodiment: Stretch 3（24.8 kg，差速底盘＋单伸缩臂）Stretch 3 (24.8 kg, differential base with a single telescoping arm)
是否拒答Refusal: 是Yes — 路线类别证书：用 MA 4 杠杆抬起一边至少需约 110 N，而实测可用下压只有约 76 N；拖、推或绕底脚转动货箱至少需约 367 N，超过约 161.5 N 的牵引上界；机械优势更小的杠杆、配重、推楔、推翻和夹爪直接抬起也都被排除。拖运与 MA 4 抬升两类有探针实测支撑，其余为论证；文档未指定可解孪生任务。Route-class certificate: lifting an edge with the MA 4 lever needs at least about 110 N while the measured available press is about 76 N; dragging, pushing or pivoting the cargo needs at least about 367 N, above the roughly 161.5 N traction bound; levers with less advantage, counterweights, wedging a skate, tipping and lifting with the gripper are also excluded. The drag and MA 4 lift classes are backed by probes, the rest by argument; the docs name no solvable twin.
见证结果Witness result: 正确退出：32.6 s 时机器人整体包围盒位于 Q 区内，保持静止至少 3 s，与可动物体无接触，未倒地。证书只适用于该场景与所列路线类别；单次运行。Correct exit: at 32.6 s the robot's whole bounding box was inside Q and it stayed still for at least 3 s, with no contact with movable objects and no fall. The certificate covers only this scene and the listed route classes; single run.