robo-si已验收任务accepted tasks
robo-si / H6

H6 · 负重上下楼（H6-X 跨身体楼层运输）Loaded stair transport (H6-X cross-embodiment floor-to-floor transport)

把箱子从一侧地面经 1.20 m 高的顶部平台运到另一侧地面目标区：机器人自身须和箱子同时位于平台高度保持 2 秒（只送箱子或只上人都不算），之后箱子在目标区落地、直立静止、无机器人接触，机器人站稳 2 秒。原任务由 G1 抱 2 kg 提手箱走 10 级上楼、10 级下楼；扩展任务让 G1、Galaxea R1 和 Stretch 3 按自身移动与负载能力选择楼梯、12° 坡道、载人升降梯、送货井或托盘，任何机器人携带都不得超过 2 kg。没有可行路线时，正确行为是空手退入 Q 区。Move a box from the floor on one side, via a 1.20 m-high top platform, to a ground goal on the other side: the robot itself must be on the platform together with the box at platform height for 2 s (sending only the box, or only the robot, does not count), after which the box must rest in the goal upright, still and free of robot contact while the robot stands still for 2 s. In the original task a G1 carries a 2 kg handled box up 10 steps and down 10 steps; the extension lets G1, Galaxea R1 and Stretch 3 choose stairs, a 12° ramp, a passenger lift, a dumbwaiter or a tray to suit their own mobility and payload, with no robot carrying more than 2 kg. When no route exists, the correct behaviour is an empty-handed exit into zone Q.

验收范围Accepted scope

2026-10-31 作者确认“通过，发布吧”：审阅范围为原任务已发布范围加 13 项当前修订扩展，固定公共机位、默认 8 倍速播放，签收 14/14 当前修订。限制：G1 三项（L2.G、P01.G.A/B）为 revision4 预装货井协调任务，原 G1 地面装卸目标仍未解决、不计为成功，也未证明按质量选择最优路线；R1／Stretch 的 L2 为 revision3，允许托盘放地交付；原 H6 只计已发布范围（admitted=false，第二人复现待完成）；全部为单种子特权状态参考，不声称正式准入或一般 agent 能力。On 2026-10-31 the author confirmed 'pass, publish': the reviewed scope is the released scope of the original task plus 13 current-revision extensions, shown from a fixed common camera at a default 8x playback, signed as 14/14 current revisions. Limits: the three G1 tasks (L2.G, P01.G.A/B) are revision4 preloaded-freight coordination tasks, the original G1 floor loading/unloading goal remains unresolved and is not counted as solved, and mass-dependent route choice is not demonstrated; the R1/Stretch L2 tasks are revision3, which allows delivering the tray on the floor; the original H6 counts only within its released scope (admitted=false, second-person reproduction pending); all are single-seed privileged-state references with no claim of formal admission or general agent capability. (2026-10-31)

变化的条件轴Condition axes

身体（G1＋Dex3、Galaxea R1、Stretch 3）；场景中的通行与搬运工具（只有楼梯、12° 坡道、小／大升降梯、送货井、托盘）；箱子类型（2 kg 提手箱、1.4 kg 无提手箱加 0.6 kg 托盘、外观相同的隐藏质量箱）；L3 隐藏参数（R1 轮子力矩 15／4 N·m，箱子质量 1.8／2.6 kg，G1 预装 2.0／3.0 kg）；是否存在可行路线（无坡道无升降梯时退出）；G1 revision4 的货物预装与底站交付。Body (G1 + Dex3, Galaxea R1, Stretch 3); the access and handling aids in the scene (stairs only, 12° ramp, small or large lift, dumbwaiter, tray); box type (2 kg handled box, 1.4 kg handle-free box with a 0.6 kg tray, identical-looking boxes of hidden mass); L3 hidden parameters (R1 wheel torque 15/4 N·m, box mass 1.8/2.6 kg, G1 preloaded 2.0/3.0 kg); whether any route exists (exit when there is no ramp or lift); and the G1 revision4 preloaded cargo with docked delivery.

Embodiments

  • G1＋Dex3（Menagerie G1，34.4 kg，人形双足，可走楼梯）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid; can climb stairs)
  • Galaxea R1（102.2 kg，三轮转向底盘＋双臂，轮子半径 0.07 m）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms; wheel radius 0.07 m)
  • Stretch 3（24.8 kg，差速底盘＋单伸缩臂单夹爪，驱动轮半径 0.0508 m）Stretch 3 (24.8 kg, differential base with one telescoping arm and gripper; drive wheel radius 0.0508 m)

统计Counts

14 个已验收任务／配置，其中 2 个拒答；14 个有倍速视频。14 accepted tasks/configurations, 2 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：3,164 个文件，2.2 GiB。Reference evidence for 14/14 accepted configurations is archived: 3,164 files, 2.2 GiB. 2026-11-03 对远端逐文件核对大小与 SHA-256。Every remote file's size and SHA-256 were checked on 2026-11-03.

H6-ORIG.GH6-L1.WH6-L1.SH6-I01.WH6-I01.SH6-L2.GH6-L2.WH6-L2.SH6-P01.G.AH6-P01.G.BH6-P02.W.AH6-P02.W.BH6-P03.S.AH6-P03.S.B
8×
8 倍速 · 原始 588 s，播放 73 s8x speed · original 588 s, plays in 73 s

H6-ORIG.G原任务：抱箱上下楼Original task: carry the box up and down the stairs

Unitree G1执行任务Solve the task
条件Conditions
原始层级；S-orig：10 级上楼（踢面 0.12 m、踏面 0.40 m）、1.20 m 高顶部平台、10 级下楼；2 kg 含提手箱（Poly Haven Wooden Crate 02 外观，提手为任务自制），固定种子；能力公开；回合预算 600 s 仿真时间。Original level; S-orig: 10 steps up (0.12 m risers, 0.40 m treads), a 1.20 m top platform and 10 steps down; a 2 kg handled box (Poly Haven Wooden Crate 02 look, task-authored handles), fixed seed; capabilities public; episode budget 600 s of simulated time.
任务设计Task design
G1 须在地面双手取箱，抱箱逐级上楼，在顶部平台双足完整支撑，再逐级下楼走到另一侧地面目标区，控制放箱、松手并直立站稳 2 秒；箱子不得碰踏面。The G1 must pick the box off the floor with both hands, carry it step by step up the stairs, stand with both feet fully on the top platform, carry it down the other side to the ground goal, place it under control, let go and stand upright for 2 s; the box may not touch the treads.
工具Tools
无None
Embodiment
G1＋Dex3（Menagerie G1，34.4 kg，人形双足，可走楼梯）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid; can climb stairs)
是否拒答Refusal
否No
见证结果Witness result
成功：已发布见证全程 1/1，587.74 s，得分 1.0，非 VOID，无报警；取箱 36.3 s、到达平台 295.4 s、箱子落地 574.7 s。只计已发布范围：admitted=false，第二人复现待完成，无提手正式入口、随机化和更高层不在范围内；本轮未重跑。Success: the released witness is 1/1 full run, 587.74 s, score 1.0, non-VOID, no alarms; box lifted at 36.3 s, platform reached at 295.4 s, box placed at 574.7 s. Counts only within the released scope: admitted=false, second-person reproduction pending, and the handle-free formal entry, randomisation and higher layers are out of scope; not re-run this round.
8×
8 倍速 · 原始 296 s，播放 37 s8x speed · original 296 s, plays in 37 s

H6-L1.WR1 走坡道上下平台R1 takes the ramp

Galaxea R1执行任务Solve the task
条件Conditions
L1（已知能力）；S-ramp：楼梯旁加一条 12° 固定坡道和绕行通道；2 kg 提手箱；Galaxea R1 轮子力矩上限 15 N·m，能力公开；携带不得超过 2 kg。L1 (known capability); S-ramp: a fixed 12° ramp beside the stairs plus a detour corridor; 2 kg handled box; Galaxea R1 wheel torque limit 15 N·m, capabilities public; carried load at most 2 kg.
任务设计Task design
R1 轮子半径 0.07 m，爬不上 0.12 m 踢面，只能走坡道。须双臂抓住两根提手横杆、把箱子抬到底盘上方，爬坡上平台完成峰顶保持，倒车下坡，从楼梯东侧绕行到目标区放箱并站稳。With 0.07 m wheels the R1 cannot climb 0.12 m risers, so the ramp is the only way. It must grip both handle bars with two arms and carry the box over the chassis, climb onto the platform and hold the peak, reverse down, detour east of the stairs to the goal, place the box and stand still.
工具Tools
12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side)
Embodiment
Galaxea R1（102.2 kg，三轮转向底盘＋双臂，轮子半径 0.07 m）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms; wheel radius 0.07 m)
是否拒答Refusal
否No — 可解孪生：对应不可完成任务 H6-I01.W（同一身体与目标，但 S-orig 中没有坡道）。Solvable twin of the infeasible task H6-I01.W (same body and goal, but S-orig has no ramp).
见证结果Witness result
成功：295.6 s 完成，约 156.5 s 完成峰顶保持，约 283.2 s 完成地面交付，无安全违规。如实记录：载箱在平地加减速时轮子在不到 0.3% 的控制步达到 15 N·m 上限，躯干关节有 44 步达到力矩上限；爬坡本身未达轮子上限。Success: completed in 295.6 s, with the peak hold done by about 156.5 s and ground delivery by about 283.2 s, and no safety violation. Reported honestly: during flat-floor acceleration with the box the wheels hit the 15 N·m limit in under 0.3% of control steps and a torso joint hit its torque limit in 44 steps; the climb itself stayed below the wheel limit.
8×
8 倍速 · 原始 403 s，播放 50 s8x speed · original 403 s, plays in 50 s

H6-L1.SStretch 3 乘小升降梯上下平台Stretch 3 rides the small lift

Stretch 3执行任务Solve the task
条件Conditions
L1；S-lift：楼梯旁加一部小轿厢升降梯；2 kg 提手箱；Stretch 3，能力公开；携带不得超过 2 kg。L1; S-lift: a small-car lift beside the stairs; 2 kg handled box; Stretch 3, capabilities public; carried load at most 2 kg.
任务设计Task design
Stretch 3 驱动轮太小，上不了楼梯。须用笼式抓握提起箱子的一根顶部横杆，进入小轿厢，用驱动轮压下轿厢按钮上行，倒车到平台完成峰顶，再乘梯下行，把箱子放进目标区。Stretch 3's wheels are too small for the stairs. It must cage-grasp one of the box's top bars, drive into the small car, press the car pad with a drive wheel to ride up, reverse onto the platform for the peak, ride back down and place the box in the goal.
工具Tools
小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1)
Embodiment
Stretch 3（24.8 kg，差速底盘＋单伸缩臂单夹爪，驱动轮半径 0.0508 m）Stretch 3 (24.8 kg, differential base with one telescoping arm and gripper; drive wheel radius 0.0508 m)
是否拒答Refusal
否No — 可解孪生：对应不可完成任务 H6-I01.S（同一身体与目标，但 S-orig 中没有升降梯）。Solvable twin of the infeasible task H6-I01.S (same body and goal, but S-orig has no lift).
见证结果Witness result
成功：403.32 s 完成，约 215.7 s 完成峰顶保持，约 390.6 s 完成地面交付，无安全违规，所有执行器速度比低于 1。更早的成功运行存在伸缩臂超速，单独保留、不计入。Success: completed in 403.32 s, with the peak hold done by about 215.7 s and ground delivery by about 390.6 s, no safety violation, and every actuator speed ratio below 1. Earlier successful runs with telescope overspeed are kept separately and not counted.
4×
4 倍速 · 原始 16 s，播放 4.1 s4x speed · original 16 s, plays in 4.1 s

H6-I01.W不可完成：R1 面对只有楼梯的场景Infeasible: R1 with stairs only

Galaxea R1拒答：正确行为是退出Refusal: correct outcome is to exit
条件Conditions
不可完成；S-orig：只有楼梯和平台，没有坡道、升降梯或其他可用物体；2 kg 提手箱；Galaxea R1。正确行为：空手进入 Q 区（起点后方、不在任何路线上）并静止 3 秒。Infeasible; S-orig: stairs and platform only, with no ramp, lift or other usable object; 2 kg handled box; Galaxea R1. Correct behaviour: enter zone Q (behind the start, off every route) empty-handed and stay still for 3 s.
任务设计Task design
机器人须识别不存在合法路线：只把箱子送上平台或从地面够到平台都不满足“人和箱子同在平台”的峰顶规则。识别后不碰箱子，倒车进入 Q 区停稳。The robot must recognise that no legal route exists: sending only the box up or reaching the platform from the floor does not meet the peak rule that robot and box be on the platform together. It then leaves the box untouched, reverses into Q and stops.
工具Tools
无None
Embodiment
Galaxea R1（102.2 kg，三轮转向底盘＋双臂，轮子半径 0.07 m）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms; wheel radius 0.07 m)
是否拒答Refusal
是Yes — 不可行原因：所有通往平台的竖直面都至少 0.12 m，高于轮子半径 0.07 m，踢面探针在 15 N·m 下无法爬升；唯一可动物体是箱子，搭不成坡；场景没有升降梯或送货井。可解孪生为 H6-L1.W（加 12° 坡道）。Why infeasible: every vertical face leading to the platform is at least 0.12 m, above the 0.07 m wheel radius, and a riser probe could not climb at 15 N·m; the box is the only movable object and cannot form a ramp; there is no lift or dumbwaiter. Solvable twin: H6-L1.W (with the 12° ramp).
见证结果Witness result
正确退出：观察 2 s 后直线倒车 1.6 m 进入 Q 区并保持 4 s，16.04 s 结束；无安全违规，最大倾斜 0.07°；路线证书在运行前冻结。Correct exit: after observing for 2 s the robot reversed 1.6 m straight into Q and held for 4 s, ending at 16.04 s; no safety violation, maximum tilt 0.07°; the route certificate was frozen before the run.
8×
8 倍速 · 原始 25 s，播放 3.2 s8x speed · original 25 s, plays in 3.2 s

H6-I01.S不可完成：Stretch 3 面对只有楼梯的场景Infeasible: Stretch 3 with stairs only

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-orig：只有楼梯和平台，没有坡道、升降梯、托盘或其他可动物体；2 kg 提手箱；Stretch 3。正确行为：空手进入 Q 区并静止 3 秒。Infeasible; S-orig: stairs and platform only, with no ramp, lift, tray or other movable object; 2 kg handled box; Stretch 3. Correct behaviour: enter zone Q empty-handed and stay still for 3 s.
任务设计Task design
机器人须识别楼梯、可搭的坡、从地面够平台和只送箱子等路线全部不合法或不满足目标。识别后收好手臂，不碰箱子，倒车进入 Q 区停稳。The robot must recognise that the stairs, any improvised ramp, reaching from the floor and box-only routes are all illegal or fail the goal. It then stows the arm, leaves the box untouched, reverses into Q and stops.
工具Tools
无None
Embodiment
Stretch 3（24.8 kg，差速底盘＋单伸缩臂单夹爪，驱动轮半径 0.0508 m）Stretch 3 (24.8 kg, differential base with one telescoping arm and gripper; drive wheel radius 0.0508 m)
是否拒答Refusal
是Yes — 不可行原因：驱动轮直径 0.1016 m、万向轮直径 0.064 m，都够不到 0.12 m 的第一级踏面，抬起机身只能靠非轮部件撞台阶，属禁止接触；踢面探针只把底盘抬高约 1 mm；唯一可动物体箱子最小边 0.24 m，搭不成坡。可解孪生为 H6-L1.S（加小升降梯）。Why infeasible: the 0.1016 m drive wheels and 0.064 m caster cannot reach the 0.12 m first tread, and lifting the body would need non-wheel contact with the step, which is prohibited; a riser probe raised the base only about 1 mm; the only movable object, the box, has a smallest side of 0.24 m and cannot form a ramp. Solvable twin: H6-L1.S (with the small lift).
见证结果Witness result
正确退出：观察并收臂后倒车 1.85 m 进入 Q 区并保持 4 s，25.14 s 结束；箱子未被触碰，无安全违规；路线证书在运行前写好。Correct exit: after observing and stowing the arm the robot reversed 1.85 m into Q and held for 4 s, ending at 25.14 s; the box was untouched and there was no safety violation; the route certificate was written before the run.
8×
8 倍速 · 原始 590 s，播放 74 s8x speed · original 590 s, plays in 74 s

H6-L2.G预装货井协调 · G1（1.4 kg，revision4）Preloaded freight coordination · G1 (1.4 kg, revision4)

Unitree G1执行任务Solve the task
条件Conditions
L2（工具选择）revision4；S-depot-preloaded-v1：保留 S-depot 的坡道、小升降梯、送货井和托盘，1.4 kg 无提手箱预先放在送货井底部轿厢中；G1 从原地面起点出发；允许箱子停在底站轿厢内交付（原地面交付与托盘交付仍有效）。L2 (tool choice), revision4; S-depot-preloaded-v1: the S-depot ramp, small lift, dumbwaiter and tray remain, and a 1.4 kg handle-free box is preloaded in the dumbwaiter's bottom car; the G1 starts from the original ground start; delivery with the box resting in the bottom-docked car is allowed (original floor and tray delivery remain valid).
任务设计Task design
G1 空手走楼梯上平台，在平台上按送货井按钮把预装货物叫上来，与箱子同在平台高度保持 2 秒后再按钮送下，空手下楼，在地面站稳，同时箱子静止停在底站轿厢内 2 秒。坡道、小升降梯和托盘在场但不用。The G1 climbs the stairs empty, presses the dumbwaiter button on the platform to bring the preloaded cargo up, holds the peak with the box at platform height for 2 s, presses again to send it down, descends empty and stands on the floor while the box rests in the bottom-docked car for 2 s. The ramp, small lift and tray are present but unused.
工具Tools
送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side)小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1)0.6 kg 带提手托盘（低前沿长 150 mm）及托盘挡块0.6 kg handled tray (150 mm low front lip) with a tray backstop
Embodiment
G1＋Dex3（Menagerie G1，34.4 kg，人形双足，可走楼梯）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid; can climb stairs)
是否拒答Refusal
否No
见证结果Witness result
成功（revision4）：588.82 s 完成，约 282.8 s 完成峰顶保持，约 579.0 s 完成底站交付；最大关节越限 0.905 mrad，无倒地、禁止接触或违规携带。原 G1 从地面取箱、卸箱的版本仍未解决，不计为成功；本任务是更窄的货物协调任务。Success (revision4): completed in 588.82 s, with the peak hold done by about 282.8 s and docked delivery by about 579.0 s; maximum joint overrun 0.905 mrad, no fall, prohibited contact or illegal carry. The original G1 version with floor loading and unloading remains unresolved and is not counted as solved; this is a narrower freight-coordination task.
8×
8 倍速 · 原始 386 s，播放 48 s8x speed · original 386 s, plays in 48 s

H6-L2.W托盘＋坡道 · R1（revision3）Tray and ramp · R1 (revision3)

Galaxea R1执行任务Solve the task
条件Conditions
L2（工具选择）revision3；S-depot-v2：12° 坡道、小升降梯（R1 进不去）、送货井、0.6 kg 带提手托盘（前沿 150 mm）与挡块；1.4 kg 无提手箱；Galaxea R1 轮子力矩上限 15 N·m；允许把载箱托盘整体放在目标区地面交付。L2 (tool choice), revision3; S-depot-v2: 12° ramp, small lift (too small for the R1), dumbwaiter, 0.6 kg handled tray (150 mm lip) with backstop; 1.4 kg handle-free box; Galaxea R1 wheel torque limit 15 N·m; delivering the loaded tray as a whole onto the goal floor is allowed.
任务设计Task design
箱子没有提手，R1 先用底盘把箱子推过前沿装上托盘，再双臂抓托盘横杆抬起，走坡道上平台保持峰顶，倒车下坡、绕行到目标区，把托盘连箱平放在地面后退开站稳。The box has no handles, so the R1 first pushes it with the chassis over the lip onto the tray, grips the tray bars with both arms and lifts it, climbs the ramp and holds the peak, reverses down, detours to the goal, sets the loaded tray flat on the floor, backs off and stands still.
工具Tools
0.6 kg 带提手托盘（低前沿长 150 mm）及托盘挡块0.6 kg handled tray (150 mm low front lip) with a tray backstop12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side)小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1)送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)
Embodiment
Galaxea R1（102.2 kg，三轮转向底盘＋双臂，轮子半径 0.07 m）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms; wheel radius 0.07 m)
是否拒答Refusal
否No
见证结果Witness result
成功（revision3 托盘交付）：在 RTX 2080 Ti 上 385.92 s 完成，约 225.8 s 完成峰顶保持，约 376.5 s 完成托盘交付；最大关节越限 0.226 mrad，速度比 0.886。箱子留在托盘上、未卸到地面（revision3 允许）；同一配置在 A5000 上 408.76 s 的运行也通过。Success (revision3 tray delivery): completed in 385.92 s on an RTX 2080 Ti, with the peak hold done by about 225.8 s and tray delivery by about 376.5 s; maximum joint overrun 0.226 mrad, speed ratio 0.886. The box stays on the tray and is not unloaded to the floor (allowed by revision3); a 408.76 s run of the same profile on an A5000 also passed.
8×
8 倍速 · 原始 18.8 min，播放 141 s8x speed · original 18.8 min, plays in 141 s

H6-L2.S托盘＋小升降梯 · Stretch 3Tray and small lift · Stretch 3

Stretch 3执行任务Solve the task
条件Conditions
L2（工具选择）；S-depot-v2（与 L2.W 同一世界）：坡道、小升降梯、送货井、0.6 kg 托盘（前沿 150 mm）与挡块，1.4 kg 无提手箱；Stretch 3 单夹爪抓不住平面无提手箱，必须用托盘；revision3 允许托盘交付，本见证走更严格的地面交付。L2 (tool choice); S-depot-v2 (the same world as L2.W): ramp, small lift, dumbwaiter, 0.6 kg tray (150 mm lip) with backstop, and a 1.4 kg handle-free box; Stretch 3's single gripper cannot hold the flat box, so the tray is required; revision3 allows tray delivery, but this witness uses the stricter floor delivery.
任务设计Task design
Stretch 3 用底盘后部把箱子推过前沿装上托盘，笼式抓住托盘横杆提起共 2.0 kg，绕过坡道脚进小升降梯上行，倒车到平台保持峰顶，再下行到目标区放下托盘；随后翘起托盘倒出箱子，用两次物理翻转把箱子扶正，让箱子独立落在目标区地面。Stretch 3 rear-pushes the box over the lip onto the tray, cage-grasps the tray's cross bar and lifts the 2.0 kg load, goes round the ramp foot into the small lift and rides up, reverses onto the platform for the peak, rides down and sets the tray down at the goal; it then tips the tray to unload the box and rights the box with two physical quarter turns so it stands alone on the goal floor.
工具Tools
0.6 kg 带提手托盘（低前沿长 150 mm）及托盘挡块0.6 kg handled tray (150 mm low front lip) with a tray backstop小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1)12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side)送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)
Embodiment
Stretch 3（24.8 kg，差速底盘＋单伸缩臂单夹爪，驱动轮半径 0.0508 m）Stretch 3 (24.8 kg, differential base with one telescoping arm and gripper; drive wheel radius 0.0508 m)
是否拒答Refusal
否No
见证结果Witness result
成功（满足原地面交付分支）：1128.1 s 完成，约 460.4 s 完成峰顶保持，约 1105.7 s 完成地面交付；最大关节越限 0.48 mrad，无安全违规。单种子特权状态参考。Success (original floor-delivery branch): completed in 1128.1 s, with the peak hold done by about 460.4 s and floor delivery by about 1105.7 s; maximum joint overrun 0.48 mrad, no safety violation. Single-seed privileged-state reference.
8×
8 倍速 · 原始 590 s，播放 74 s8x speed · original 590 s, plays in 74 s

H6-P01.G.A隐藏质量对照 A · G1（预装 2.0 kg，revision4）Hidden-mass pair A · G1 (preloaded 2.0 kg, revision4)

Unitree G1执行任务Solve the task
条件Conditions
L3（隐藏能力）revision4；S-dumb-preloaded-v1：只有楼梯和送货井，外观相同的提手箱质量隐藏，本项为 2.0 kg（revision2 由 1.8 kg 改为 2.0 kg），预先放在送货井底部轿厢；G1 从原地面起点出发；允许底站轿厢交付。L3 (hidden capability), revision4; S-dumb-preloaded-v1: stairs and a dumbwaiter only; the handled box's mass is hidden behind an identical appearance and is 2.0 kg here (changed from 1.8 kg in revision2), preloaded in the dumbwaiter's bottom car; the G1 starts from the original ground start; docked delivery is allowed.
任务设计Task design
与 P01.G.B 场景、外观、起点相同，只差箱子质量。G1 空手走楼梯上平台，在平台上按送货井按钮把预装货物叫上来，与箱子同在平台高度保持 2 秒后再按钮送下，空手下楼，在地面站稳，同时箱子静止停在底站轿厢内 2 秒。Same scene, appearance and start as P01.G.B; only the box mass differs. The G1 climbs the stairs empty, presses the dumbwaiter button on the platform to bring the preloaded cargo up, holds the peak with the box at platform height for 2 s, presses again to send it down, descends empty and stands on the floor while the box rests in the bottom-docked car for 2 s.
工具Tools
送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)
Embodiment
G1＋Dex3（Menagerie G1，34.4 kg，人形双足，可走楼梯）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid; can climb stairs)
是否拒答Refusal
否No
见证结果Witness result
成功（revision4）：588.82 s 完成，峰顶与交付时刻和 L2.G、P01.G.B 相同，最大关节越限 0.905 mrad，无倒地、禁止接触或违规携带。属保守的合法参考路线，未证明按质量选择最优路线；原 G1 从地面取箱、卸箱的版本仍未解决，不计为成功；本任务是更窄的货物协调任务。Success (revision4): completed in 588.82 s with the same peak and delivery times as L2.G and P01.G.B, maximum joint overrun 0.905 mrad, no fall, prohibited contact or illegal carry. A conservative legal reference that does not demonstrate mass-dependent route choice; the original G1 version with floor loading and unloading remains unresolved and is not counted as solved; this is a narrower freight-coordination task.
8×
8 倍速 · 原始 590 s，播放 74 s8x speed · original 590 s, plays in 74 s

H6-P01.G.B隐藏质量对照 B · G1（预装 3.0 kg，revision4）Hidden-mass pair B · G1 (preloaded 3.0 kg, revision4)

Unitree G1执行任务Solve the task
条件Conditions
L3（隐藏能力）revision4；与 P01.G.A 同场景，隐藏质量 3.0 kg（超过 2 kg 携带上限，不得抱起），箱子预放在送货井底部轿厢；G1 从原地面起点出发；允许底站轿厢交付。L3 (hidden capability), revision4; same scene as P01.G.A with a hidden mass of 3.0 kg (above the 2 kg carry limit, so it may not be lifted), preloaded in the dumbwaiter's bottom car; the G1 starts from the original ground start; docked delivery is allowed.
任务设计Task design
货物全程留在送货井轿厢里，机器人不搬箱子。G1 空手走楼梯上平台，在平台上按送货井按钮把预装货物叫上来，与箱子同在平台高度保持 2 秒后再按钮送下，空手下楼，在地面站稳，同时箱子静止停在底站轿厢内 2 秒。The cargo stays in the dumbwaiter car throughout and the robot never carries it. The G1 climbs the stairs empty, presses the dumbwaiter button on the platform to bring the preloaded cargo up, holds the peak with the box at platform height for 2 s, presses again to send it down, descends empty and stands on the floor while the box rests in the bottom-docked car for 2 s.
工具Tools
送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)
Embodiment
G1＋Dex3（Menagerie G1，34.4 kg，人形双足，可走楼梯）G1 + Dex3 (Menagerie G1, 34.4 kg biped humanoid; can climb stairs)
是否拒答Refusal
否No
见证结果Witness result
成功（revision4）：588.82 s 完成，约 282.8 s 完成峰顶保持，约 579.0 s 完成底站交付；机器人对箱子的向上承托为 0 N，最大关节越限 0.905 mrad，无倒地或禁止接触。原 G1 从地面取箱、卸箱的版本仍未解决，不计为成功；本任务是更窄的货物协调任务。Success (revision4): completed in 588.82 s, with the peak hold done by about 282.8 s and docked delivery by about 579.0 s; the robot's upward support on the box stayed at 0 N, maximum joint overrun 0.905 mrad, no fall or prohibited contact. The original G1 version with floor loading and unloading remains unresolved and is not counted as solved; this is a narrower freight-coordination task.
8×
8 倍速 · 原始 287 s，播放 36 s8x speed · original 287 s, plays in 36 s

H6-P02.W.A轮子力矩对照 A · R1（15 N·m）Wheel-torque pair A · R1 (15 N·m)

Galaxea R1执行任务Solve the task
条件Conditions
L3（隐藏能力）；S-ramp-lift：12° 坡道＋大轿厢升降梯；2 kg 提手箱；隐藏配置：R1 轮子力矩上限 15 N·m（第一步前写入）。L3 (hidden capability); S-ramp-lift: 12° ramp plus a large-car lift; 2 kg handled box; hidden profile: R1 wheel torque limit 15 N·m (set before the first step).
任务设计Task design
力矩充足时坡道与大升降梯都可行，参考解选坡道：双臂抓提手、把箱子放在底盘前方，爬坡上平台保持峰顶，倒车下坡，绕行到目标区放箱。与 P02.W.B 只差轮子力矩。With enough torque both the ramp and the large lift work; the reference takes the ramp: two-arm handle grip with the box in front of the chassis, climb onto the platform and hold the peak, reverse down, detour and place the box in the goal. It differs from P02.W.B only in wheel torque.
工具Tools
12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side)大轿厢升降梯（R1 可进入，按钮触发，公开额定载重 150 kg）Large-car lift (fits the R1, button-triggered, public rated load 150 kg)
Embodiment
Galaxea R1（102.2 kg，三轮转向底盘＋双臂，轮子半径 0.07 m）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms; wheel radius 0.07 m)
是否拒答Refusal
否No
见证结果Witness result
成功（坡道路线）：287.36 s 完成，约 148.9 s 完成峰顶保持，约 274.9 s 完成地面交付，无安全违规；平地加减速时轮子和躯干关节在少量控制步达到力矩上限，如实记录。Success (ramp route): completed in 287.36 s, with the peak hold done by about 148.9 s and ground delivery by about 274.9 s, no safety violation; wheels and a torso joint reached their torque limits in a few control steps during flat-floor acceleration, reported as is.
8×
8 倍速 · 原始 241 s，播放 30 s8x speed · original 241 s, plays in 30 s

H6-P02.W.B轮子力矩受限 B · R1（4 N·m，改乘大升降梯）Limited wheel torque B · R1 (4 N·m, take the large lift)

Galaxea R1执行任务Solve the task
条件Conditions
L3（隐藏能力）；与 P02.W.A 同场景，隐藏配置：R1 轮子力矩上限 4 N·m（第一步前写入）。L3 (hidden capability); same scene as P02.W.A with a hidden R1 wheel torque limit of 4 N·m (set before the first step).
任务设计Task design
4 N·m 时载箱爬坡会在坡脚停滞（校准运行中 4 与 5 N·m 都停滞，爬坡段约 95% 时间轮子力矩被截断），必须改用大升降梯：倒车进入大轿厢，用前轮压下按钮上行，倒车到平台保持峰顶，再乘梯下行，绕行到目标区放箱。At 4 N·m a loaded climb stalls at the ramp toe (calibration runs stalled at both 4 and 5 N·m with the wheel torque clipped for about 95% of the climb), so the robot must take the large lift: reverse into the car, press the pad with a front wheel to ride up, reverse onto the platform for the peak, ride down, detour and place the box in the goal.
工具Tools
12° 固定坡道（坡长 5.77 m，带护栏，与平台侧边齐平）Fixed 12° ramp (5.77 m along the slope, guard rails, flush with the platform side)大轿厢升降梯（R1 可进入，按钮触发，公开额定载重 150 kg）Large-car lift (fits the R1, button-triggered, public rated load 150 kg)
Embodiment
Galaxea R1（102.2 kg，三轮转向底盘＋双臂，轮子半径 0.07 m）Galaxea R1 (102.2 kg, three-wheel swerve base with two arms; wheel radius 0.07 m)
是否拒答Refusal
否No
见证结果Witness result
成功（大升降梯路线）：241.02 s 完成，约 127.6 s 完成峰顶保持，约 228.6 s 完成地面交付，无安全违规；平地加速和越过轿厢门槛时有 6–7.5% 的控制步轮子达到 4 N·m 上限，如实记录。Success (large-lift route): completed in 241.02 s, with the peak hold done by about 127.6 s and ground delivery by about 228.6 s, no safety violation; the wheels sat at the 4 N·m limit in 6-7.5% of control steps during flat acceleration and when crossing the car sill, reported as is.
8×
8 倍速 · 原始 403 s，播放 50 s8x speed · original 403 s, plays in 50 s

H6-P03.S.A隐藏质量对照 A · Stretch 3（1.8 kg）Hidden-mass pair A · Stretch 3 (1.8 kg)

Stretch 3执行任务Solve the task
条件Conditions
L3（隐藏能力）；S-lift-dumb：小升降梯＋送货井；外观相同的提手箱，隐藏质量 1.8 kg（不超过 2 kg 携带上限）；Stretch 3。L3 (hidden capability); S-lift-dumb: small lift plus dumbwaiter; a handled box of identical appearance with a hidden mass of 1.8 kg (within the 2 kg carry limit); Stretch 3.
任务设计Task design
1.8 kg 可以合法携带，路线与 H6-L1.S 相同：笼式抓握提箱，乘小升降梯上下，送货井不用。与 P03.S.B 只差箱子质量。At 1.8 kg carrying is legal, so the route matches H6-L1.S: cage-grasp the box and ride the small lift up and down, leaving the dumbwaiter unused. It differs from P03.S.B only in box mass.
工具Tools
小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1)送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)
Embodiment
Stretch 3（24.8 kg，差速底盘＋单伸缩臂单夹爪，驱动轮半径 0.0508 m）Stretch 3 (24.8 kg, differential base with one telescoping arm and gripper; drive wheel radius 0.0508 m)
是否拒答Refusal
否No
见证结果Witness result
成功：403.24 s 完成，约 215.7 s 完成峰顶保持，约 390.5 s 完成地面交付，无安全违规，执行器速度比均低于 1。Success: completed in 403.24 s, with the peak hold done by about 215.7 s and ground delivery by about 390.5 s, no safety violation, and every actuator speed ratio below 1.
8×
8 倍速 · 原始 23.1 min，播放 173 s8x speed · original 23.1 min, plays in 173 s

H6-P03.S.B隐藏质量对照 B · Stretch 3（2.6 kg，改用送货井）Hidden-mass pair B · Stretch 3 (2.6 kg, use the dumbwaiter)

Stretch 3执行任务Solve the task
条件Conditions
L3（隐藏能力）；与 P03.S.A 同场景，隐藏质量 2.6 kg（超过 2 kg 携带上限，只能推动或交给机械运送）；Stretch 3。L3 (hidden capability); same scene as P03.S.A with a hidden mass of 2.6 kg (above the 2 kg carry limit, so it may only be pushed or moved by a machine); Stretch 3.
任务设计Task design
Stretch 3 不能提起箱子：用底盘后部把箱子推进送货井（全程不抬起），按按钮把箱子送到平台高度，自己乘小升降梯上行，在箱子停在顶部轿厢时完成峰顶；随后下行、把箱子送回地面层，再推出送货井、沿地面推进目标区。Stretch 3 may not lift the box: it rear-pushes the box into the dumbwaiter (never lifting it), presses the button to send it to platform height, rides the small lift up and completes the peak while the box rests in the top-parked car; it then rides down, sends the box back to the floor level, pushes it out of the dumbwaiter and along the floor into the goal.
工具Tools
送货井（约 0.5 × 0.5 m 的货物专用轿厢，地面与平台开口齐平，任何机器人都进不去，物理按钮呼叫）Dumbwaiter (box-only car of about 0.5 × 0.5 m with flush floor and platform openings, too small for any robot, called by physical buttons)小轿厢升降梯（地面↔平台，按钮触发，公开额定载重 60 kg，R1 进不去）Small-car lift (floor to platform, button-triggered, public rated load 60 kg; too small for the R1)
Embodiment
Stretch 3（24.8 kg，差速底盘＋单伸缩臂单夹爪，驱动轮半径 0.0508 m）Stretch 3 (24.8 kg, differential base with one telescoping arm and gripper; drive wheel radius 0.0508 m)
是否拒答Refusal
否No
见证结果Witness result
成功：1386.58 s 完成，约 632.0 s 完成峰顶保持，约 1377.1 s 完成地面交付；最大关节越限 0.014 mrad，按控制步采样机器人从未抬起箱子，无安全违规。仅为当前推法与单一种子。Success: completed in 1386.58 s, with the peak hold done by about 632.0 s and ground delivery by about 1377.1 s; maximum joint overrun 0.014 mrad, the robot never lifted the box at control-step sampling, and no safety violation. Current pushing method and a single seed only.