Task Reference任务参考
Use the task numbers in the 3DAssets folders. Restore the scene before every episode and keep the prompt consistent with the selected model and dataset.采用 3DAssets 目录中的任务编号。每回合前恢复场景，并保持任务指令与所选模型和数据集一致。
Run the commands below from the BREE-v1 repository root.以下命令均在 BREE-v1 仓库根目录运行。
Task identifiers任务编号
The task IDs below follow the 3DAssets folders. Dataset names in the software repository retain their existing identifiers; match them by task content when selecting a configuration.下表任务编号以 3DAssets 目录为准。软件仓库中的数据集名称保留原有编号，选择配置时按任务内容对应。
| ID编号 | Task / asset folder任务 / 资源目录 | Repository dataset suffix仓库数据集后缀 |
|---|---|---|
| 01 | Pick and Place抓取与放置 Task01_Pick-and-Place | task01_pickplace_big_50 |
| 02 | Switch Pushing拨动开关 Task02_Switch Pushing | task03_switch_A_50 |
| 03 | Trajectory Pushing轨迹推动 Task03_Trajectory-Pushing | task10_trajectory |
| 04 | Plate Loading托盘装载 Task04_Plate-Loading | task06_plate_A_50 |
| 05 | Cup Hanging挂杯 Task05_Cup-Hanging | task07_cup_A_50 |
| 06 | Block Stacking积木堆叠 Task06_Block-Stacking | task02_2_stacking |
| 07 | Drawer Placement抽屉放置 Task07_Drawer-Placement | task04_drawer_A_50 |
| 08 | Cylinder Insertion圆柱体插入 Task08_Cylinder-Insertion | task08_cylinder_insertion_50 |
Prepare the parts and quantities listed in the task object list.按任务物品清单中的物品与数量准备零件。
Match the checkpoint, task instruction and scene images to the intended task. The existing ACT/XVLA cylinder evaluation templates describe cylinder stacking; edit them for Cylinder Insertion and use a matching checkpoint before running Task 08.所用模型、任务指令与场景图应对应具体任务。现有 ACT/XVLA 圆柱体评测模板的指令描述圆柱体堆叠；运行任务 08「圆柱体插入」前，应修改为插入任务设置并使用匹配的模型。
Scene references场景参考
Camera installation references are in BREE/camera_reference/. The repository now includes five raw ID scene images per task set under outputs/id_ood_benchmark_pairs/. See the ID reference gallery for task-to-folder mapping and the switch variants. OOD scene images are not included yet.相机安装参考位于 BREE/camera_reference/。仓库已在 outputs/id_ood_benchmark_pairs/ 下提供每组 5 张 ID 场景原图。任务与仓库目录的对应关系、开关变体见ID 参考图库；OOD 场景图尚未收录。
BREE/camera_reference/tasks/YOUR_TASK/
├── pic1.jpg
├── pic2.jpg
└── pic3.jpgFor a directory, the recorder selects sequential picN image files. A single explicit image path also works. Keep the reference set fixed for comparable runs; save its version with each run configuration. See Data Collection for the recording setup.使用目录时，录制器顺序读取 picN 图片文件；也可指定单张图片的完整路径。可比实验应固定参考图集合，并将其版本与每次运行配置一同保存。录制设置见数据采集。
Success criteria and trial records成功判据与试验记录
Define the measurable success condition for the chosen variant before running trials. The cloned scripts identify tasks and run policies; they do not provide a complete machine-readable success definition for every task. Log success/failure for every trial and report episode limits, scene conditions, seeds and checkpoint alongside the result.开始试验前，为所选变体明确可度量的成功条件。克隆中的脚本提供任务标识与策略执行入口，但没有为每个任务提供完整的机器可读成功定义。逐次记录成功或失败，并在结果中同时报告回合时间限制、场景条件、seed 与模型版本。