Google发布Gemini 4 Argon机器人专用模型

There's a Diet Coke can behind you and another on the black table on your left.
Use the spot-mobile-manipulation skill to pick them up and trash them in the black foot-pedal bin.
Before stepping down on the pedal, verify in the front cameras that your front-right foot target is centered on the pedal, and use a 2-agent verification swarm (foot-verifier and hand-verifier) to verify both the foot-pedal step and the 3D hand-in-bin alignment before releasing.

[Attached: wrist_cam.png, obs.json]
Task: Get the robot arm to reorient the mug upright and put the napkin inside the mug.
## Execution Discipline
- Simply output 1 sentence observation followed immediately by your `curl` command (with `# Plan:` on Turn 1 and `# Thought:` on every turn). Everything needed is in `obs.json` and the calibrated reticle/grid drawn on `wrist_cam.png`.
## Visual Coordinate Reference (Annotated on wrist_cam.png)
- `+X` (UP in image): Away from robot base | `-X` (DOWN): Towards robot base
- `+Y` (LEFT in image): World left         | `-Y` (RIGHT): World right
- `+Z`: Height above table                | `Yellow numbers`: World (X, Y) in centimetres (2 cm grid at `grid_z`)
- `Cyan + crosshair`: Current 3D pinch center
- `Cyan [ + ] brackets`: Current jaw opening and closing line
- `Green line`: Current object long-axis orientation (`yaw_deg`: 0° = vertical along +X, 90° = horizontal along +Y)
- `pitch_deg = 90°`: Straight down (-Z) top-down grasp/place; `pitch_deg < 60°`: Tilted coaxial approach along finger axis
## Closed-Loop Turn Workflow
1. Inspect current state & view `wrist_cam.png`:
   `curl -s http://127.0.0.1:8081/obs` (returns `ee_pos`, `holding`, `status`, `workspace`, `wrist_cam_path`).
2. Select VLM call granularity upfront on Turn 1:
   - Coarse (2–4 calls): `look_at` -> `grasp` -> `place` -> `done`
   - Pre-Grasp Hover Verify (4–7 calls): `look_at` -> `goto(z=0.04)` (verify cyan `[ + ]` brackets straddle target) -> `grasp` -> `place_until_contact` -> `done`
   - Fine Visual Servoing (8–20 calls): `look_at` -> `grasp` -> pre-pose `goto` -> closed-loop `move_by` / `move_until_contact` -> `done`
3. Send motion primitives (`POST /plan`) and verify visually after every turn in the updated `wrist_cam.png`. If `status == "grasp_failed"`, call `robot.look_at(...)` to re-observe and recover closed-loop.
## Code-as-Policies Primitives (`POST http://127.0.0.1:8081/plan`)
robot.look_at(x=0.35, y=0.13, z=0.14, grid_z=0.015)
x, y = robot.deproject(u=0.52, v=0.48, z_plane=0.015)
robot.grasp(x=x, y=y, z=0.015, yaw_deg=-35, pitch_deg=90)
robot.place(x=0.24, y=0.06, z=0.075)
robot.place_until_contact(x=0.24, y=0.06, z=0.015, max_lag=0.012, relief=0.002)
robot.goto(x=0.28, y=0.05, z=0.04, arc_z=0.14, pitch_deg=25, azimuth_deg=90, roll_deg=0, speed=0.10)
robot.move_by(forward=0.025, dz=-0.002, dpitch_deg=-3, droll_deg=5, speed=0.04)
robot.move_until_contact(dz=-0.06, speed=0.03, max_lag=0.012, relief=0.002)
robot.open_gripper() / robot.close_gripper() / robot.home() / robot.done()

Goal: {task_goal}
You are steering a video world model (Gemini Omni) in an iterative visual feedback loop. Inspect the attached frames from the latest rollout and write the next timestamped action prompt for the video world model:
- Break complex motions into one simple, single-direction action at a time.
- Keep inactive hands retracted and avoid blocking the camera's view of objects in the workspace.
- Explicitly state which areas of the workspace become empty after an object moves.
- Use [MM:SS.mmm] timestamps for each action beat and wrap your output in <omni_prompt> tags.
Example format (sample timestamps only, not the full prompt):
<omni_prompt>
[00:00.000] Character A's left hand rests at the side while the right hand reaches toward the target object.
[00:02.500] Character A's right fingertips push the object smoothly into the center of the table, leaving its starting area empty.
[00:05.000] Character A's right hand opens and retracts to the side so all placed objects remain in clear view of the camera.
</omni_prompt>