diff --git a/task_2/task_2.py b/task_2/task_2.py
index 2ca0bbf..e2f1b9d 100644
--- a/task_2/task_2.py
+++ b/task_2/task_2.py
@@ -140,9 +140,8 @@ class AsyncArrowDetector:
             return self.left_count, self.right_count
 
 def run_task_2(ctrl, msg, xy_flag=False):
-    go_to_xy(ctrl, msg, 0.8, 5, speed=0.5, observe=True)
-
-    return 'right'
+    # go_to_xy(ctrl, msg, 0.8, 5, speed=0.5, observe=True)
+    # return 'right'
     # 微调 xy 和角度
     go_to_xy_v2(ctrl, msg, 0.9, 0.25, speed=0.5, observe=True)
     turn_degree_v2(ctrl, msg, 0.8, absolute=True)
diff --git a/task_2_5/task_2_5.py b/task_2_5/task_2_5.py
index c0e0516..f2e8ea5 100644
--- a/task_2_5/task_2_5.py
+++ b/task_2_5/task_2_5.py
@@ -26,12 +26,12 @@ def run_task_2_5(Ctrl, msg, direction='left'):
         target_distance=0.2,
         detect_func_version=3,
         pass_align=True,
-        radius=0.6,
+        radius=0.55,
         observe=observe,
         no_end_reset=True,
     )
 
-    go_straight(Ctrl, msg, distance=0.1, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
     section('任务2.5-2：第二次旋转', "移动")
 
 def run_task_2_5_back(Ctrl, msg, direction='left'):
diff --git a/task_3/task_3.py b/task_3/task_3.py
index 4ed45a3..4d97b16 100644
--- a/task_3/task_3.py
+++ b/task_3/task_3.py
@@ -97,7 +97,7 @@ def pass_up_down(ctrl, msg):
         
         climb_speed_threshold = 0.05  # 检测到开始爬坡的速度阈值
         max_iterations = 450  # 最大循环次数，作为安全保障
-        y_target = 7.8  # 目标y坐标，达到此值时停止
+        y_target = 9.3  # 目标y坐标，达到此值时停止
 
         # 阶段控制
         climbing_detected = False  # 是否检测到正在爬坡
@@ -142,7 +142,7 @@ def pass_up_down(ctrl, msg):
 
     section('任务3-2：x = 2', "开始")
     turn_degree_v2(ctrl, msg, 90, absolute=True)
-    go_lateral(ctrl, msg, distance=0.2, speed=0.5, observe=True)
+    go_lateral(ctrl, msg, distance=0.1, speed=0.5, observe=True)
     center_on_dual_tracks(ctrl, msg, max_deviation=10.0, observe=False, detect_height=0.3)
     go_straight(ctrl, msg, distance=0.6, speed=0.5, observe=True)
     time.sleep(1)
@@ -205,7 +205,7 @@ def pass_up_down(ctrl, msg):
         max_iterations = 200  # 最大循环次数，作为安全保障
         start_height = ctrl.odo_msg.xyz[2]  # 记录起始高度
         start_y = ctrl.odo_msg.xyz[1]  # 记录起始y坐标
-        y_target = 10.0  # 目标y坐标，达到此值时停止
+        y_target = 11.6  # 目标y坐标，达到此值时停止
         
         # 阶段控制
         descending_detected = False  # 是否检测到正在下坡
@@ -427,7 +427,7 @@ def run_task_3(ctrl, msg, time_sleep=5000):
     go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3)
     
     # 原地站立3秒
-    section("原地站立3秒", "站立")
+    section("原地站立5秒", "站立")
     msg.mode = 12
     msg.gait_id = 0
     msg.duration = 0
@@ -436,7 +436,7 @@ def run_task_3(ctrl, msg, time_sleep=5000):
     msg.life_count += 1
     ctrl.Send_cmd(msg)
     
-    info("开始原地站立3秒", "站立")
+    info("开始原地站立5秒", "站立")
     time.sleep(time_sleep / 1000)
     info("完成原地站立", "站立")
     
@@ -445,7 +445,7 @@ def run_task_3_back(ctrl, msg, time_sleep=5000):
     go_until_yellow_area(ctrl, msg, yellow_ratio_threshold=0.15, speed=0.3)
 
     # 原地站立3秒
-    section("原地站立3秒", "站立")
+    section("原地站立5秒", "站立")
     msg.mode = 12
     msg.gait_id = 0
     msg.duration = 0
@@ -454,7 +454,7 @@ def run_task_3_back(ctrl, msg, time_sleep=5000):
     msg.life_count += 1
     ctrl.Send_cmd(msg)
     
-    info("开始原地站立3秒", "站立")
+    info("开始原地站立5秒", "站立")
     time.sleep(time_sleep / 1000)
     info("完成原地站立", "站立")