diff --git a/task_3/task_3.py b/task_3/task_3.py
index f4f01ba..0e64fee 100644
--- a/task_3/task_3.py
+++ b/task_3/task_3.py
@@ -494,25 +494,25 @@ def run_task_3(ctrl, msg):
     section('任务3：上下坡', "启动")
     info('开始执行任务3...', "启动")
 
-    # turn_degree_v2(ctrl, msg, 90, absolute=True)
-    # go_lateral(ctrl, msg, distance=0.2, speed=0.1, observe=True)  # TEST
+    turn_degree_v2(ctrl, msg, 90, absolute=True)
+    go_lateral(ctrl, msg, distance=0.2, speed=0.1, observe=True)  # TEST
 
-    # section('任务3-1：up', "开始")
-    # pass_up_down(ctrl, msg)
+    section('任务3-1：up', "开始")
+    pass_up_down(ctrl, msg)
 
     turn_degree_v2(ctrl, msg, 90, absolute=True)
     center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False)
 
-    # section('任务3-2：yellow stop', "开始")
+    section('任务3-2：yellow stop', "开始")
     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")
-    msg.mode = 11  # Locomotion模式
-    msg.gait_id = 26  # 自变频步态
-    msg.duration = 0  # wait next cmd
-    msg.step_height = [0.06, 0.06]  # 抬腿高度
-    msg.vel_des = [0, 0, 0]  # 零速度，原地站立
+    msg.mode = 12
+    msg.gait_id = 0
+    msg.duration = 0
+    msg.step_height = [0.06, 0.06]
+    msg.vel_des = [0, 0, 0]
     msg.life_count += 1
     ctrl.Send_cmd(msg)
     
diff --git a/task_4/task_4.py b/task_4/task_4.py
index 9388bed..48edd47 100644
--- a/task_4/task_4.py
+++ b/task_4/task_4.py
@@ -16,6 +16,7 @@ from utils.detect_track import detect_horizontal_track_edge
 from utils.detect_dual_track_lines import detect_dual_track_lines
 from base_move.move_base_hori_line import calculate_distance_to_line
 from task_4.pass_bar import pass_bar
+from base_move.center_on_dual_tracks import center_on_dual_tracks
 
 # 创建本模块特定的日志记录器
 logger = get_logger("任务4")
@@ -48,7 +49,7 @@ def run_task_4_back(ctrl, msg):
         image_processor: 可选的图像处理器实例
     """
     turn_degree_v2(ctrl, msg, degree=-90, absolute=True)
-    # center_on_dual_tracks(ctrl, msg, max_time=30, observe=False, stone_path_mode=False)
+    center_on_dual_tracks(ctrl, msg, max_time=30, observe=False)
 
     # 向右移动0.5秒
     section('任务4-回程：向右移动', "移动")
diff --git a/task_5/task_5.py b/task_5/task_5.py
index 368dab5..53af4db 100644
--- a/task_5/task_5.py
+++ b/task_5/task_5.py
@@ -19,6 +19,8 @@ from base_move.move_base_hori_line import (
 from base_move.center_on_dual_tracks import center_on_dual_tracks
 # from base_move.follow_dual_tracks import follow_dual_tracks
 
+SLEEP_TIME = 3000
+
 
 def go_straight_to_horizontal_line_with_qr(ctrl, msg, target_distance=0.5, speed=0.5, 
                                            max_distance=10, detect_func_version=2,
@@ -210,7 +212,6 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
     """
     走向卸货
     """
-    center_on_dual_tracks(ctrl, msg, max_time=15, max_deviation=10.0, observe=False)
     section('任务5-1：直线移动并扫描二维码', "移动")
     
     # 最大移动距离为8米
@@ -238,22 +239,22 @@ def run_task_5(ctrl, msg, direction='left', observe=False):
         move_to_hori_line(ctrl, msg, target_distance=2, observe=observe, detect_func_version=4)
 
     section('任务5-3：卸货', "卸货")
-    ctrl.base_msg.lie_down(wait_time=3000)
+    ctrl.base_msg.lie_down(wait_time=SLEEP_TIME)
     ctrl.base_msg.stand_up()
 
     section('任务5-4：返回', "移动")
     go_straight(ctrl, msg, distance=-1, speed=0.5, observe=observe)
-    move_to_hori_line(ctrl, msg, target_distance=1.3, observe=observe)
+    move_to_hori_line(ctrl, msg, target_distance=1.35, observe=observe)
 
     section('任务5-5：转弯', "转弯")
     turn_degree_v2(ctrl, msg, degree=90)
-    go_straight(ctrl, msg, distance=1.2, speed=0.5, observe=observe)
+    go_straight(ctrl, msg, distance=1.2, speed=0.6, observe=observe)
 
     section('任务5-6：转弯', "转弯")
     arc_turn_around_hori_line(ctrl, msg, angle_deg=-90, target_distance=0.3, observe=observe)
 
     section('任务5-5：上货', "卸货")
-    ctrl.base_msg.lie_down(wait_time=3000)
+    ctrl.base_msg.lie_down(wait_time=SLEEP_TIME)
     ctrl.base_msg.stand_up()
 
     section('任务5-7：返回', "移动")