robo-si已验收任务accepted tasks
robo-si / M3

M3 · 伙伴辅助取物Partner-assisted retrieval

G1 人形与一台小型机械臂伙伴机器人同在一个房间，要把高处柜内容器里的 65 mm 红球完整放进地面托盘、释放并停稳。G1 自己够不到容器里的球，伙伴机械臂精度够但底座太低，需要通过抬升、平台、推移工作台或坡道改变伙伴的工作位置。所有机器人最终须独立站稳、解除相互承托；判断无法完成时，可全员空手进入各自 Q 位停稳 3 秒。A G1 humanoid and a small arm-equipped partner robot share a room and must put a 65 mm red ball from a container on a high shelf wholly into a floor tray, release it and leave it still. The G1 cannot reach into the container, while the partner's arm is precise enough but its base is too low, so the partner's working position has to be changed by lifting, a platform, a pushed workstation or a ramp. Every robot must finish independently standing with no mutual carrying; if the task is judged impossible, all robots may go empty-handed to their Q bays and stay still for 3 s.

验收范围Accepted scope

作者于 2026-11-02 确认“通过验收”，覆盖 6 个已声明的工程仿真 case：5 项完整交付、1 项（I01）正确退出，均在同一种子下 3/3 或 4/4 重复。另 10 个 H/W 身体配置尚未完成，不在本次范围；人工独立物理复跑、第二执行者复现、硬件资格和正式准入均未完成，历史失败全部保留。On 2026-11-02 the author confirmed the M3 delivery as accepted, covering six declared engineering-simulation cases: five complete deliveries and one correct exit (I01), each repeated 3/3 or 4/4 under a single seed. Ten further H/W body configurations are unfinished and out of scope; independent human physical re-execution, second-operator reproduction, hardware qualification and formal admission are not done, and all historical failures are retained. (2026-11-02)

变化的条件轴Condition axes

变化的条件包括：伙伴身体（6.39 kg 原重 X5 或 1.94 kg 轻量 WX200 装配，是否满足 2 kg 外载上限）、支撑方式（原低箱、预置 38 cm 平台、需推移的 3 kg 平台、2 m 坡道）、伙伴能否自行上坡，以及容器是否被固定盖板封闭（可解或不可完成）。Varying conditions: the partner body (6.39 kg original X5 or 1.94 kg lightweight WX200 assembly, i.e. whether the 2 kg carried-load limit can be met), the support (original low box, preset 38 cm platform, a 3 kg platform that must be pushed, a 2 m ramp), whether the partner can drive up a ramp, and whether the bin is sealed by a fixed lid (solvable or infeasible).

Embodiments

  • G1 人形（Dex3 手）＋小型机械臂伙伴：ORIG/B03/I01 为原重 X5 轮式机械臂（6.39 kg），B01/B02/B04 为轻量 WX200 装配（1.94 kg）。另 10 个 H/W 身体配置未验收。G1 humanoid (Dex3 hands) + a small arm-equipped partner: the original heavy X5 wheeled arm (6.39 kg) in ORIG/B03/I01, a lightweight WX200 assembly (1.94 kg) in B01/B02/B04. The ten H/W body configurations are not accepted.

统计Counts

6 个已验收任务／配置，其中 1 个拒答；6 个有倍速视频。6 accepted tasks/configurations, 1 of them refusal cases; 6 with sped-up videos.

证据备份Evidence backup

本族 6/6 个已验收配置的参考证据已归档：6,963 个文件，3.9 GiB。Reference evidence for 6/6 accepted configurations is archived: 6,963 files, 3.9 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.

M3C-ORIGM3C-B01M3C-B02M3C-B03M3C-B04M3C-I01
8×
8 倍速 · 原始 416 s，播放 52 s8x speed · original 416 s, plays in 52 s

M3C-ORIG原始协作取物Original cooperative retrieval

Unitree G1X5执行任务Solve the task
条件Conditions
原始 M3 固定场景 hooks-v0.1（不随机化），原评分与 420 秒预算不变；伙伴为原重 X5（6.39 kg），按原基准豁免处理。扩展新增的 Q 退出与 2 kg 外载规则不追溯适用，本实例可解。Original fixed M3 scene hooks-v0.1 (no randomization) with the original scorer and 420 s budget unchanged; the partner is the original heavy X5 (6.39 kg) under the original benchmark exemption. The extension's Q-exit and 2 kg load rules do not apply retroactively; the instance is solvable.
任务设计Task design
红球在书架 0.55 m 层板后部的低矮容器里，上方 0.90 m 层板只留约 0.31 m 净空：G1 手臂够不到，X5 机械臂够长但底座太低。G1 双手抬起 X5 放上靠书架的 0.18 m 箱，X5 伸臂取球；G1 再把 X5 抱回地面并撤手，X5 驶到地面托盘放球，最终双机释放并停稳。The red 65 mm ball sits in a low bin at the back of the 0.55 m shelf board, with only about 0.31 m of clearance under the 0.90 m board: the G1 cannot reach it, and the X5 arm is long enough but its base is too low. The G1 lifts the X5 onto the 0.18 m box against the shelf, the X5 reaches in and takes the ball, the G1 carries the X5 back to the floor and lets go, and the X5 drives to the floor tray and releases the ball with both robots finally released and still.
工具Tools
靠书架的 0.18 m 低箱（支撑台）The 0.18 m box against the shelf (support)另一只 32 cm 高可移动箱A second movable box, 32 cm tallX5 伙伴及其承托钩杆The X5 partner and its carry hook bar地面目标托盘 D（带边沿）Ground goal tray D (rimmed)
Embodiment
G1 人形（Dex3 手）＋原重 X5 轮式机械臂伙伴（hooks-v0.1，6.39 kg）G1 humanoid (Dex3 hands) + the original heavy X5 wheeled-arm partner (hooks-v0.1, 6.39 kg)
是否拒答Refusal
否No
见证结果Witness result
成功：v9 控制器正常起点 3/3 完整交付，每次仿真 415.96 秒，原评分 1.0，无监视告警，在 420 秒预算内。仅为同一种子和已验证的两个 CPU 节点；另一节点的差异与历史失败保留，不构成新 2 kg 伙伴资格。Success: the v9 controller completed delivery 3/3 from the normal start, 415.96 s of simulated time each, original score 1.0, no monitor alarms, within the 420 s budget. Same seed and two verified CPU nodes only; a third node's divergence and earlier failures are retained, and this is not a qualification under the new 2 kg partner rule.
8×
8 倍速 · 原始 201 s，播放 25 s8x speed · original 201 s, plays in 25 s

M3C-B01预置平台独立取物Independent retrieval from a preset platform

Unitree G1执行任务Solve the task
条件Conditions
声明的轻量伙伴新实例：伙伴为 1.94 kg 的 WX200 装配（含球 2.00 kg，满足 2 kg 总外部携带载荷上限）；38 cm 高、3 kg 平台已预置在柜前，柜体与容器前移，容器只开 18 cm 宽前开口。固定标称场景、同一种子；可解实例，退出即误放弃。Declared lightweight-partner instance: the partner is a 1.94 kg WX200 assembly (2.00 kg with the ball, within the 2 kg total carried-load limit); a 38 cm, 3 kg platform is already placed at the cabinet, the cabinet and bin are moved forward, and the bin has an 18 cm front opening. Fixed nominal scene, single seed; solvable, so exiting would be a false abstention.
任务设计Task design
伙伴在地面够不到容器，持续悬空操作也不作为假定能力，必须先让伙伴在平台上独立受支撑。G1 从地面双手抬起伙伴、整身起立并转腰放上平台后撤手，伙伴独立伸臂取球；G1 再带载重新抓取、回转、下放到地面并撤手，伙伴把球放入前方托盘，两机独立停稳。The partner cannot reach the bin from the floor, and sustained airborne operation is not assumed, so it must first stand independently on the platform. The G1 lifts the partner from the floor, rises, turns at the waist and sets it on the platform, then lets go; the partner reaches in and takes the ball on its own. The G1 then re-grasps it with the load, turns back, lowers it to the floor and withdraws, and the partner places the ball in the tray in front; both robots end independently still.
工具Tools
预置的 38 cm 高、3 kg 平台Preset 38 cm, 3 kg platform另一只 32 cm 高可移动箱A second movable box, 32 cm tall伙伴的承托横杆／钩杆接口The partner's carry rung / hook interface地面目标托盘 D（带边沿）Ground goal tray D (rimmed)
Embodiment
G1 人形（Dex3 手）＋轻量 WX200 机械臂伙伴（原生 WX200 臂、紧凑收臂承托架与四角脚垫，1.94 kg，含球 2.00 kg）G1 humanoid (Dex3 hands) + a lightweight WX200 arm partner (native WX200 arm on a compact-stow carry frame with four corner feet, 1.94 kg, 2.00 kg with the ball)
是否拒答Refusal
否No
见证结果Witness result
成功：正常起点 3/3 完整交付（源码运行与两次搬移包复跑），仿真时长 200.64、200.64、197.42 秒，独立判定通过、无监视告警，无物理状态恢复。仅同一种子和已记录节点；人工独立复跑与硬件资格未完成。Success: complete delivery 3/3 from the normal start (source run plus two relocated-package reruns), 200.64, 200.64 and 197.42 s of simulated time, independent verdict passed with no monitor alarms and no physical state restores. Same seed and recorded nodes only; independent human re-execution and hardware qualification are not done.
8×
8 倍速 · 原始 339 s，播放 42 s8x speed · original 339 s, plays in 42 s

M3C-B02推移工作台后协作取物Cooperative retrieval after pushing a workstation into place

Unitree G1执行任务Solve the task
条件Conditions
轻量伙伴实例（1.94 kg WX200 装配）；65×50×35 cm、3 kg 可移动平台起始离柜前工作位约 0.5 m，须实际推移到位、禁止持续搬着走；容器前开口放宽到 26 cm。固定标称场景、同一种子；可解实例。Lightweight-partner instance (1.94 kg WX200 assembly); a movable 65x50x35 cm, 3 kg platform starts about 0.5 m from the work position at the cabinet and must actually be pushed there, not carried; the bin front opening is widened to 26 cm. Fixed nominal scene, single seed; solvable.
任务设计Task design
现成支撑不在可用位置，需要先建立工作台。G1 用脚近地推移平台到柜前，再抬起伙伴放上平台；伙伴以紧凑姿态转向开口、径向伸臂取球后折叠。G1 带载重新抓取、回转、下放并撤手，伙伴把球放入托盘，全员独立停稳。No support is in a usable place, so a workstation must be set up first. The G1 pushes the platform to the cabinet with near-ground foot pushes, then lifts the partner onto it; the partner turns compactly toward the opening, extends radially, takes the ball and folds back. The G1 re-grasps with the load, turns back, lowers the partner and withdraws, and the partner places the ball in the tray; all robots end independently still.
工具Tools
可移动平台 65×50×35 cm、3 kg（需推移）Movable 65x50x35 cm, 3 kg platform (must be pushed)另一只 32 cm 高可移动箱A second movable box, 32 cm tall伙伴的承托横杆／钩杆接口The partner's carry rung / hook interface地面目标托盘 D（带边沿）Ground goal tray D (rimmed)
Embodiment
G1 人形（Dex3 手）＋轻量 WX200 机械臂伙伴（原生 WX200 臂、紧凑收臂承托架与四角脚垫，1.94 kg，含球 2.00 kg）G1 humanoid (Dex3 hands) + a lightweight WX200 arm partner (native WX200 arm on a compact-stow carry frame with four corner feet, 1.94 kg, 2.00 kg with the ball)
是否拒答Refusal
否No
见证结果Witness result
成功：正常起点 4/4 完整交付（跨两个 CPU 节点，含两次搬移包复跑），每次 339.10 秒；平台实际推移约 0.48 m，取物全段平台独立支撑检查全部通过，无监视告警。仅同一种子；历史实例与失败保留，不提升为成功。Success: complete delivery 4/4 from the normal start (two CPU nodes, including two relocated-package reruns), 339.10 s each; the platform was actually pushed about 0.48 m, every retrieval sample passed the independent platform-support check, and there were no monitor alarms. Same seed only; earlier instances and failures are retained and not promoted.
8×
8 倍速 · 原始 166 s，播放 21 s8x speed · original 166 s, plays in 21 s

M3C-B03接触辅助坡道取物Contact-assisted ramp retrieval

Unitree G1X5执行任务Solve the task
条件Conditions
原重 X5（6.39 kg）超过 2 kg 外载上限，抬升路线不可用；场景增加一条固定的 2 m 二次曲线坡道通向柜前 0.18 m 平台。原柜体布局，仿真预算 420 秒，固定标称场景、同一种子；可解实例，按声明的目标区域修订版判定。The original heavy X5 (6.39 kg) exceeds the 2 kg carried-load limit, so lifting is ruled out; a fixed 2 m quadratic ramp leads up to the 0.18 m platform at the cabinet. Original cabinet layout, 420 s simulation budget, fixed nominal scene, single seed; solvable, judged under the declared goal-region revision.
任务设计Task design
G1 不承托，不能因为抬不动就退出，需判断伙伴底盘与坡道能否上台并带载返回。X5 自行沿坡道驶上平台，伸臂取出容器里的球，持球倒退下坡后驶向托盘放球，两机最终独立停稳。The G1 gives no support, and being unable to lift is not a reason to exit: the robots must work out whether the partner's base and the ramp allow climbing up and returning loaded. The X5 drives up the ramp onto the platform, reaches in for the ball, reverses down the ramp holding it, drives to the tray and releases it; both robots end independently still.
工具Tools
固定的 2 m 曲线坡道Fixed 2 m curved ramp柜前 0.18 m 平台箱0.18 m platform box at the cabinet另一只 32 cm 高可移动箱A second movable box, 32 cm tallX5 自身的轮式驱动The X5's own wheeled drive地面目标托盘 D（带边沿）Ground goal tray D (rimmed)
Embodiment
G1 人形（Dex3 手）＋原重 X5 轮式机械臂伙伴（hooks-v0.1，6.39 kg）G1 humanoid (Dex3 hands) + the original heavy X5 wheeled-arm partner (hooks-v0.1, 6.39 kg)
是否拒答Refusal
否No — 配对的不可完成对照为 M3C-I01：同一场景只加一块固定刚性盖板封闭容器。Paired infeasible control: M3C-I01, the same scene with only a fixed rigid lid closing the bin.
见证结果Witness result
成功：正常起点 3/3 完整交付（两个节点），仿真时长 165.90、165.42、165.52 秒，扩展判定通过，末态连续独立停稳 3 秒以上。仅同一种子；取物时伙伴有与固定容器的实际接触辅助，不证明自由平台全程承重，也不转作 B01/B02 的支撑资格。Success: complete delivery 3/3 from the normal start (two nodes), 165.90, 165.42 and 165.52 s of simulated time, extension verdict passed, with more than 3 s of continuous independent final rest. Same seed only; during retrieval the partner is helped by real contact with the fixed bin, so this does not prove free-standing platform support throughout and does not transfer to B01/B02.
8×
8 倍速 · 原始 201 s，播放 25 s8x speed · original 201 s, plays in 25 s

M3C-B04坡道环境下协作搬运Cooperative lift with a ramp present

Unitree G1执行任务Solve the task
条件Conditions
沿用 B01 的轻量伙伴实例（38 cm 平台、18 cm 前开口），另加一条通向平台的固定实体坡道；伙伴没有行驶电机，不能走坡道。固定标称场景、同一种子；可解实例。Same lightweight-partner instance as B01 (38 cm platform, 18 cm front opening) plus a fixed physical ramp up to the platform; the partner has no drive motors and cannot use the ramp. Fixed nominal scene, single seed; solvable.
任务设计Task design
坡道在场但伙伴无法行驶上去，需要改为检查 G1 能否完成抬升、平台取物与下放。G1 抬起伙伴放上平台，伙伴独立取球；G1 再带载重新抓取、下放并撤手，伙伴把球放入托盘，两机独立停稳。A ramp is present but the partner cannot drive up it, so the robots must instead check whether the G1 can lift, support platform retrieval and lower the partner. The G1 lifts the partner onto the platform, the partner takes the ball on its own, the G1 re-grasps, lowers it and withdraws, and the partner places the ball in the tray; both robots end independently still.
工具Tools
通向平台的固定实体坡道Fixed physical ramp to the platform预置的 38 cm 高、3 kg 平台Preset 38 cm, 3 kg platform另一只 32 cm 高可移动箱A second movable box, 32 cm tall伙伴的承托横杆／钩杆接口The partner's carry rung / hook interface地面目标托盘 D（带边沿）Ground goal tray D (rimmed)
Embodiment
G1 人形（Dex3 手）＋轻量 WX200 机械臂伙伴（原生 WX200 臂、紧凑收臂承托架与四角脚垫，1.94 kg，含球 2.00 kg）G1 humanoid (Dex3 hands) + a lightweight WX200 arm partner (native WX200 arm on a compact-stow carry frame with four corner feet, 1.94 kg, 2.00 kg with the ball)
是否拒答Refusal
否No
见证结果Witness result
成功：正常起点 3/3 完整交付（源码与两次搬移包复跑），仿真时长 200.64、200.64、197.42 秒，与 B01 使用同一 v36 控制器。不主张已排除全部机械爬行路线；历史 v31 单次成功因搬移复跑失败未计入。Success: complete delivery 3/3 from the normal start (source run plus two relocated-package reruns), 200.64, 200.64 and 197.42 s, using the same v36 controller as B01. It does not claim that every mechanical crawling route is excluded; an earlier single v31 success was not counted because its relocated rerun failed.
2×
2 倍速 · 原始 8.2 s，播放 4.1 s2x speed · original 8.2 s, plays in 4.1 s

M3C-I01闭盖证书与空手退出Sealed-bin certificate and empty-handed exit

Unitree G1X5拒答：正确行为是退出Refusal: correct outcome is to exit
条件Conditions
与 B03 成功场景相同（原重 X5、坡道、平台），只加一块可见、固定、带碰撞的刚性盖板封闭容器。不可完成实例：正确行为是不先尝试搬运，全员空手进入各自 Q 位并同时停稳 3 秒；超时不算退出。Identical to the solved B03 scene (heavy X5, ramp, platform) except for one visible, fixed, colliding rigid lid that closes the bin. Infeasible instance: the correct behaviour is to skip manipulation and have every robot go empty-handed to its own Q bay and stay still together for 3 s; a timeout does not count as an exit.
任务设计Task design
容器底板、四壁和全跨度盖板构成不可改变的封闭边界，球无法连续移出；直接取物、抬升、改变支撑、坡道、工具及其组合全部被排除。机器人需从可见盖板判断不可行，然后空手驶入或停到各自 Q 位。The bin floor, four walls and full-span lid form an unchangeable closed boundary, so the ball cannot be moved out; direct retrieval, lifting, support changes, the ramp, tools and all combinations are excluded. The robots must recognise this from the visible lid and move empty-handed into their own Q bays.
工具Tools
与 B03 相同的坡道、平台箱与 32 cm 箱The same ramp, platform box and 32 cm box as B03封闭容器的固定刚性盖板Fixed rigid lid sealing the bin地面目标托盘 D（带边沿）Ground goal tray D (rimmed)两台机器人各自的 Q 退出位A Q exit bay for each robot
Embodiment
G1 人形（Dex3 手）＋原重 X5 轮式机械臂伙伴（hooks-v0.1，6.39 kg）G1 humanoid (Dex3 hands) + the original heavy X5 wheeled-arm partner (hooks-v0.1, 6.39 kg)
是否拒答Refusal
是Yes — 容器被固定刚性盖板完全封闭，任何合法路线都必须让球穿过这一不可改变的封闭边界，因此所有路线都不可行；配对的可解场景为 M3C-B03。The bin is fully sealed by a fixed rigid lid; any legal route would have to move the ball through this unchangeable closed boundary, so every route is infeasible. Paired solvable scene: M3C-B03.
见证结果Witness result
正确退出：3/3（三个节点）证书有效、正确放弃，两台机器人空手、独立着地并在 Q 位同时停稳 4.08 秒，回合 8.0 秒结束，无物理安全错误。不计作目标交付；仅同一种子。Correct exit: 3/3 (three nodes) with a valid certificate and correct abstention; both robots empty-handed, independently grounded and still together in their Q bays for 4.08 s, episode ending at 8.0 s with no physical safety errors. Not counted as a delivery; same seed only.