| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robopaint/acrylic_greatwave", |
| "suite": "robopaint", |
| "base": "robopaint-acrylic-greatwave-i00", |
| "title_zh": "丙烯临摹神奈川冲浪里", |
| "summary_zh": "使主画纸上的丙烯巨浪图同时满足目标图的颜色、结构、边缘和覆盖相似度及不超过376笔、笔路长度与填色限制。", |
| "embodiment_zh": "两种模式均为固定底座的Franka Panda七自由度单臂，作用末端为安装工具：圆头丙烯笔刷（15毫米软刷毛，工具点在刷尖，无可操作夹爪），颜料盘位于机器人左侧；无移动底盘。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robopaint-acrylic-greatwave-i00", |
| "bench": "robopaint", |
| "progress": "live", |
| "entities": {}, |
| "milestones": [ |
| { |
| "id": "brush_loaded", |
| "zh": "笔刷蘸上颜料", |
| "mode": "event", |
| "when": null, |
| "after": [], |
| "hold_s": 0, |
| "goal": false, |
| "freeze_held": false, |
| "criterion_zh": "场景视角可见机械臂将圆头笔刷伸入主纸旁的任一颜料井，刷尖在井心半径12毫米内且低于颜料液面z=0.028米，随后刷毛呈该颜料颜色；干刷只在纸面移动而不留下色迹不算完成，视角遮挡蘸色时，随后出现的真实彩色笔触也能证明已载色。只要求首次从干刷变为载色，后续换色不重复计步，也无停留时长要求。", |
| "step": { |
| "cat": "其他", |
| "item": "蘸颜料" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "其他", |
| "plan": 1, |
| "note_zh": "单臂工具端的圆头笔刷接触颜料井内颜料，候选接触“浸蘸”；刷毛浸入并载色，不是夹爪抓握，也没有托起或舀取动作，现有接触值没有准确对应。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/standard/instruction.md:29-39", |
| "inputs/task/standard/environment/sim/instance.json:69-84", |
| "inputs/task/standard/environment/sim/instance.json:213", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:274-279", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:432-438", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:834-854", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:875-884", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:959-960", |
| "inputs/oracle/replay.mp4 @ 0-10 s" |
| ], |
| "conf": 6, |
| "note_zh": "按S2与D11保留干刷初态强制的首次载色前置，非目标事件；不是另取工具，笔刷已安装在机械臂上。步骤候选“蘸颜料”：现有材料类的“舀”指舀取物料，不能准确表达刷毛浸蘸载色，故用其他。不同颜色的选择及换色顺序不设节点或依赖。" |
| }, |
| { |
| "id": "greatwave_copied", |
| "zh": "临摹巨浪图", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "brush_loaded" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "主纸俯视画面或录像右下的画纸图中出现目标的中央深蓝卷浪、浅绿灰色浪带、米黄色泡沫和背景，以及底部深蓝水波与褐色舟形笔触，位置、颜色、覆盖和轮廓整体吻合；空白纸、缺失大块浪形或错色未完成，后续覆盖破坏相似度则失去。精确验收须将整图按每轴最多5毫米的整数像素平移配准（最优平移落在搜索边界则不平移），经1毫米模糊后同时满足平均色差≤2、90分位色差≤6、亮度结构相似度≥0.92、边缘相关≥0.8、颜料覆盖交并比≥0.95及主纸载色笔画数≤376，并满足下列整段笔路和填色约束；无松手、静置或额外持续窗口。", |
| "step": { |
| "cat": "材料", |
| "item": "画/写" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "压/擦", |
| "plan": 1, |
| "note_zh": "单臂末端安装的圆头丙烯笔刷以载色刷毛压住主画纸并扫过纸面，压力决定笔宽；只记笔刷与画纸的工具接触链，不另记夹持笔柄。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/standard/instruction.md:3-5", |
| "inputs/task/standard/instruction.md:41-68", |
| "inputs/grader/efe_robopaint-pictures-files/acrylic-greatwave-i00/target.png", |
| "inputs/task/standard/environment/sim/instance.json:218-230", |
| "inputs/task/privileged/tests/instance.json:218-230", |
| "inputs/grader/efe_robopaint-files/rcb_brush_score.py:365-458", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:141-193", |
| "inputs/grader/efe_robopaint-files/sim/server.py:83-114", |
| "inputs/grader/efe_robopaint-files/standard/grade.py:29-49", |
| "inputs/grader/efe_robopaint-files/privileged/grade.py:104-129", |
| "inputs/oracle/replay.mp4 @ 10, 30, 58.5 s", |
| "inputs/oracle/run.json:reward" |
| ], |
| "conf": 6, |
| "note_zh": "整幅画是一个目标，不按颜色连通区、参考的289笔、上限376笔或成功轨迹的311笔拆分。主纸载色连续接触才计笔，练习纸和干刷接触不计入笔数；按S3不设底色、浪形、细节的策略顺序。state独立实时判断，after只记载色的物理前置；工具可一直持有，画完无需退回初始位姿。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "paint_path_exceeded", |
| "zh": "笔路超限", |
| "never": null, |
| "criterion_zh": "主画纸所有载色笔画的刷尖平面路径总长path_mm超过37900毫米即违规；逐物理步累计，练习纸、空中移动和干刷笔画不计。该总量单调累计，超限后不能靠覆盖画面恢复。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/standard/environment/sim/instance.json:227", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-83", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:145-160", |
| "inputs/task/standard/instruction.md:60-62" |
| ] |
| }, |
| { |
| "id": "scribble_fill_exceeded", |
| "zh": "违规填色", |
| "never": null, |
| "criterion_zh": "对最终完整轨迹的主纸载色笔画核算：每笔长度除以其包围盒对角线（分母至少10毫米），比值大于2.5的笔画所占总笔路比例scribble_share大于0.1则违规，即评分器对细线往返、锯齿、蛇形或内缩轮廓填色的操作性判据。只在整段轨迹最终核算该比例，中途暂时超过0.1不能据此永久否决，也不能仅凭一条弯曲笔触判违规。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/standard/instruction.md:54-68", |
| "inputs/task/standard/environment/sim/instance.json:228-230", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:171-193" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "dyn.robopaint.brush_loaded", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush.py:959-960 brush_state().loaded；需在回放中逐帧记录，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.de_mean", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 score_paint/is_success_paint；需记录当前主纸配准后的de_mean，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.de_p90", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 score_paint/is_success_paint；需记录当前主纸配准后的de_p90，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.ssim_L", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 score_paint/is_success_paint；需记录当前主纸配准后的ssim_L，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.edge_corr", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 score_paint/is_success_paint；需记录当前主纸配准后的edge_corr，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.paint_iou", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 score_paint/is_success_paint；需记录当前主纸配准后的paint_iou，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.n_strokes", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 score_paint/is_success_paint；需记录当前主纸配准后的n_strokes，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.path_mm", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-83,145-160；需记录主纸载色笔路累计长度，当前无状态日志" |
| }, |
| { |
| "atom": "dyn.robopaint.scribble_share", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:171-179；需记录主纸笔画比值的路径加权比例及轨迹终结标记，最终约束只在终结时判断，当前无状态日志" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "de_mean", |
| "unit": "DeltaE_ab", |
| "threshold": 2, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "de_p90", |
| "unit": "DeltaE_ab", |
| "threshold": 6, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "ssim_L", |
| "unit": "1", |
| "threshold": 0.92, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "edge_corr", |
| "unit": "1", |
| "threshold": 0.8, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "paint_iou", |
| "unit": "1", |
| "threshold": 0.95, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "n_strokes", |
| "unit": "strokes", |
| "threshold": 376, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "path_mm", |
| "unit": "mm", |
| "threshold": 37900, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "scribble_share", |
| "unit": "1", |
| "threshold": 0.1, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "final_reward", |
| "unit": "1", |
| "threshold": null, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "inputs/states/index.json的logs为空，没有可绑定的状态字段；依P8所有节点when与success、约束never均为null。新增原子仅说明将来需要记录什么，不把评分结果文件伪装成逐帧状态；视频能判断构图进度，精确色差、笔数和笔路阈值须依评分数据。", |
| "S2/D11允许保留或省略干刷初态强制的蘸色前置；本文件采用默认保留，并在步骤草稿中先定为compositional。蘸颜料的步骤和浸蘸接触缺少精确税目，采用其他并说明候选；不强行归为舀。", |
| "两模式共有图像与过程规则，但标准模式由服务最终实时主纸评分且禁止重置（standard/grade.py:29-49；sim/server.py:83-114）；特权模式另要求有效轨迹、两次新进程回放均成功、终态哈希一致及实例匹配（privileged/grade.py:89-129）。这些交付与回放有效性条件不是世界状态步骤，不能绑定为节点；success因缺日志保留null，完整判定仍须包含各模式包装条件。", |
| "输入成功记录的reward含replay_success、deterministic和live_matches_replay，而当前标准评分器明确使用实时判定且replays=0；这是记录与当前评分版本的差异，不能把回放包装条件推广为两模式共同的步骤。该记录的图像及过程指标均满足当前共同阈值。", |
| "文本笼统禁止细线、锯齿、蛇形和内缩轮廓填色，评分器将其具体化为path_mm≤37900及scribble_share≤0.1，容许少量比值大于2.5的笔画；本文件按评分器的最终整体比例定义违规，不额外加一笔即否决的规则。scribble_share可随新增正常笔画下降，其历史否决仅指最终审核整段笔画，未来绑定不能写成ever(share>0.1)。", |
| "粗尺度色差de_mean_coarse、细尺度ssim_L_fine、区域覆盖region_cov_min/mean，以及最大接触倾角、速度、压力、笔柄接触等有报告但本实例未设对应成功阈值（instance.json:218-230；rcb_brush_score.py:450-458）。文本“笔刷保持竖直”作为作画方式，未提供可据以判失败的角度阈值；不从成功录像估计阈值或添加仅记录约束。", |
| "按D11对整幅目标画只设一个临摹目标；区域、笔画数上限与多项聚合相似度均是验收，不能据参考图的笔触或一次成功的绘画顺序拆步。唯一成功录像也是后续待标注的运行，按N2只用于理解画面与动作，不据此固定策略。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "任务语义、干刷初态、两模式共用阈值及唯一物理依赖有文本和代码依据，成功录像与最终评分相符；但没有状态日志，精确验收与约束不能逐帧验证，蘸色税目及最终比例约束的绑定仍有边界。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 7, |
| "summary_zh": "指令只描述一个目标步骤（≤376笔临摹整幅画），文件保留干刷初态强制的蘸色前置（S2允许），目标节点与评分器阈值（de_mean≤2、p90≤6、SSIM≥0.92、边缘≥0.8、IoU≥0.95、笔数≤376）一致；path_mm≤37900与scribble_share≤0.1为历史否决约束，符合评分器失败条件。无状态日志，when/success为null合规，open_questions已列出文本与评分器差异。未发现需修改的错误。", |
| "n_issues": 0, |
| "n_major": 0 |
| } |
| ], |
| "open_zh": [] |
| }, |
| "evidence_check": { |
| "n_state_runs": 0, |
| "n_faithful": 0, |
| "success_runs_reaching_all": "0/0", |
| "spec_success_eq_grader": "0/0", |
| "diverged_runs": [], |
| "notes_zh": [ |
| "when=null 的节点不在状态日志上检查：['brush_loaded', 'greatwave_copied']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:52:14Z", |
| "review_prompt": "prompts/02_task_dag_review.md", |
| "review_prompt_sha256": "305c2c5feb2340e0c426ebfe883251f74824cbde2c3e230baa9c86fc05c31550", |
| "reconcile_prompt": "prompts/05_reconcile.md", |
| "reconcile_prompt_sha256": "8c827af3ae3f77d09229399fb41283c50a8f725302cbe3b263b8051213dde2b2", |
| "calls": [ |
| { |
| "stage": "dag", |
| "round": 0, |
| "ok": true, |
| "space": "work/tasks/robopaint__acrylic_greatwave/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robopaint__acrylic_greatwave/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "930f5634a15a09504ea1f51a1c1976c628c3e2cb16f9bd3d418794ed0721ee9f", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
