| { |
| "schema": "efe-task-dag/1", |
| "taxonomy": "v2", |
| "taskKey": "robopaint/acrylic_vision", |
| "suite": "robopaint", |
| "base": "robopaint-acrylic-vision-i00", |
| "title_zh": "丙烯临摹布道幻景", |
| "summary_zh": "干笔蘸色后在主纸临摹目标整幅丙烯画，使整体颜色、结构、边缘和覆盖达标，并满足笔数、着色路径和涂填比例限制。", |
| "embodiment_zh": "两种模式均为固定底座的七自由度Franka Panda单臂，末端是安装工具：带15毫米软刷毛的圆丙烯画笔，无可操作夹爪；刷尖为工具中心点，控制20赫兹、物理100赫兹，底座不移动。", |
| "task_class": "compositional", |
| "analysis_level": "step", |
| "spec": { |
| "version": "1.2", |
| "task": "robopaint-acrylic-vision-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": "机械臂末端圆画笔的刷尖进入左侧调色盘任一颜料孔，距孔中心小于12毫米且低于颜料面（世界高度0.028米），刷毛带上该孔颜色；侧视图可见下探，随后主纸或练习纸出现有色笔迹也能佐证已蘸色。仅悬在孔上方、刷尖仍干燥或干笔划过纸张而不留颜色均未完成。", |
| "step": { |
| "cat": "其他", |
| "item": "蘸颜料" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "其他", |
| "plan": 1, |
| "note_zh": "安装在机械臂末端的圆画笔刷毛浸入颜料孔的颜料；候选接触名“浸蘸”，现有抓握、压/擦、托/舀均不能准确表达刷毛浸入液体并载色。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:12-15", |
| "inputs/task/privileged/environment/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:856-884", |
| "inputs/oracle/replay.mp4:0.0-1.0" |
| ], |
| "conf": 6, |
| "note_zh": "干笔载色是每条合法绘画路线的前置世界状态，按S2及D11默认保留，首次载色后锁存，不按颜色或每次换色重复建点。步骤候选名“蘸颜料”：现有材料类没有载色项；放入只描述刷尖位于孔内，不能表达离孔后仍带颜料的结果，因此用其他并说明词汇缺口。画笔已安装，不增加工具拿取节点。" |
| }, |
| { |
| "id": "painting_copied", |
| "zh": "主纸临摹完成", |
| "mode": "state", |
| "when": null, |
| "after": [ |
| "brush_loaded" |
| ], |
| "hold_s": 0, |
| "goal": true, |
| "freeze_held": false, |
| "criterion_zh": "主纸俯视图及视频右下方的精确画布视图呈现目标图的整体构图：上部朱红背景、横贯的棕色斜带、左下深色块和下部米白灰色形块，其位置、轮廓、色彩与目标一致；空白、明显漏色、形块错位或继续覆盖使整体相似度不达标时均未完成或失去。评分先以不旋转不缩放的整张图整数像素平移对齐（各轴搜索不超过5毫米，最佳点在搜索边界则用零平移），两图按标准差1毫米模糊后，在任一有颜料区域并向外扩2毫米的范围内平均色差≤2.0、九十分位色差≤6.0，亮度结构相似度≥0.92（窗口标准差1.5毫米）、边缘相关≥0.8、颜料覆盖≥0.5的区域交并比≥0.95，同时整次绘画须符合最多390笔、总着色路径≤32300毫米及最终涂填路径占比≤0.1的约束。", |
| "step": { |
| "cat": "材料", |
| "item": "画/写" |
| }, |
| "contact": [ |
| { |
| "who": "手持工具", |
| "how": "压/擦", |
| "plan": 1, |
| "note_zh": "机械臂末端安装的圆画笔刷毛压在主纸上扫出丙烯笔触，以按压深度改变笔触宽度；标注刷毛与纸面的接触，不重复标注机械臂对画笔的连接。" |
| } |
| ], |
| "optional": false, |
| "verify_zh": null, |
| "sources": [ |
| "inputs/task/privileged/instruction.md:26-34", |
| "inputs/task/privileged/environment/instance.json:215-230", |
| "inputs/grader/efe_robopaint-files/rcb_brush_score.py:365-395", |
| "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:888-914", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:140-193", |
| "inputs/oracle/replay.mp4:5.0-58.6", |
| "inputs/oracle/run.json:reward" |
| ], |
| "conf": 6, |
| "note_zh": "整幅图是一个目标，色差、结构、边缘、覆盖和笔画上限均为验收，不能拆成区域、颜色或390个节点；画面相似度是活状态，后续涂改可使它失去。原生评分也计入尚未抬起的有色笔触，无独立松手、静置或回到初始位姿要求，故hold_s为0且关闭持物冻结。过程限制属于整体轨迹约束，不用执行手段定义绘画结果。" |
| } |
| ], |
| "constraints": [ |
| { |
| "id": "stroke_cap_exceeded", |
| "zh": "主纸笔数超限", |
| "never": null, |
| "criterion_zh": "主纸上的有颜料连续接触累计超过390笔即超限；练习纸笔触和干笔接触不计，终点仍按在画的有色接触计数，不要求抬笔。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:4", |
| "inputs/grader/efe_robopaint-files/rcb_brush_score.py:440-458", |
| "inputs/grader/efe_robopaint-files/rcb_brush.py:1329-1332" |
| ] |
| }, |
| { |
| "id": "paint_path_exceeded", |
| "zh": "着色路径超限", |
| "never": null, |
| "criterion_zh": "整次轨迹主纸上带颜料且压纸时的刷尖平面路径累计超过32300毫米，画面再相似也失败；路径由100赫兹物理样本累计，练习纸不计。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:42-44", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-92", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:145-160" |
| ] |
| }, |
| { |
| "id": "scribble_share_exceeded", |
| "zh": "涂填比例超限", |
| "never": null, |
| "criterion_zh": "结束时回看整次主纸着色轨迹：每笔路径长度除以该笔平面包围盒对角线与10毫米二者的较大者，得到涂填比；比值大于2.5的笔触所占路径比例最终超过0.1才否决，不能以中途某个前缀的比例超限提前判失败。", |
| "consequence": "历史否决", |
| "sources": [ |
| "inputs/task/privileged/instruction.md:36-53", |
| "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:171-193" |
| ] |
| } |
| ], |
| "success": null, |
| "atoms": [ |
| { |
| "atom": "brush_loaded", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush.py:959-960；需新增逐帧记录 dyn.brush_loaded 和 dyn.brush_color，现无状态日志。" |
| }, |
| { |
| "atom": "paint_match", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:365-458；需新增逐帧记录 dyn.de_mean、dyn.de_p90、dyn.ssim_L、dyn.edge_corr、dyn.paint_iou 及配准量，沿用评分器算法和阈值。" |
| }, |
| { |
| "atom": "main_stroke_count", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:440-446 与 rcb_brush.py:1329-1332；需新增逐帧记录 dyn.n_strokes，包括当前未结束的有色主纸接触。" |
| }, |
| { |
| "atom": "paint_path_mm", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-92,145-160；需新增记录 dyn.path_mm 和原始未舍入总长度或原生 dyn.path_budget_ok。" |
| }, |
| { |
| "atom": "scribble_share", |
| "level": "new_code", |
| "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:171-181；需新增终点记录 dyn.scribble_share 或原生 dyn.scribble_ok，不能对中间比例做历史锁存。" |
| } |
| ] |
| }, |
| "native_metrics": [ |
| { |
| "name": "de_mean", |
| "unit": "DeltaE_ab", |
| "threshold": 2.0, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "de_p90", |
| "unit": "DeltaE_ab", |
| "threshold": 6.0, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "ssim_L", |
| "unit": "ratio", |
| "threshold": 0.92, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "edge_corr", |
| "unit": "correlation", |
| "threshold": 0.8, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "paint_iou", |
| "unit": "ratio", |
| "threshold": 0.95, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "n_strokes", |
| "unit": "count", |
| "threshold": 390, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "path_mm", |
| "unit": "mm", |
| "threshold": 32300.0, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "scribble_share", |
| "unit": "ratio", |
| "threshold": 0.1, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "final_reward", |
| "unit": "ratio", |
| "threshold": null, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "de_mean_coarse", |
| "unit": "DeltaE_ab", |
| "threshold": null, |
| "direction": "lower_better" |
| }, |
| { |
| "name": "ssim_L_fine", |
| "unit": "ratio", |
| "threshold": null, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "region_cov_min", |
| "unit": "ratio", |
| "threshold": null, |
| "direction": "higher_better" |
| }, |
| { |
| "name": "region_cov_mean", |
| "unit": "ratio", |
| "threshold": null, |
| "direction": "higher_better" |
| } |
| ], |
| "open_questions_zh": [ |
| "无状态日志：inputs/states/index.json的logs为空，因此两节点when、约束never和success均为null（P8）；新增记录所需量列在atoms，不能把run.json的终点评分当成逐帧日志，精确图像阈值需结合评分输出判断。", |
| "粒度读法（S2、D11、P17）：保留干笔必须蘸色的前置步骤，加整幅临摹共两步，故按步骤清单判为compositional；D11亦明确允许省略蘸色节点，不按十种颜色或目标图的92个评分区域拆点。“蘸颜料”及其“浸蘸”接触暂无准确分类，暂用其他。", |
| "模式差异：图像与过程规则相同；特权评分器要求两个新进程回放都成功、终态哈希相同且场景匹配（privileged/grade.py:104-129），标准模式评分实况终点且模拟错误导致失败（standard/grade.py:29-49，sim/server.py:83-118），这些交付与复现条件不作为世界状态节点；无日志时success无法表达这部分，也不能用未记录的最终裁决替代。", |
| "过程规则按整次轨迹判定（rcb_brush_strict.py:140-193）：笔数和路径累计超限不可逆，涂填占比则只按最终完整路径计算；一个前缀的占比大于0.1可能被后续合法笔触降低，约束不得提前锁存这种暂时超限。", |
| "仅报告而非额外门槛：de_mean_coarse、ssim_L_fine、region_cov_min、region_cov_mean在本实例success配置中无阈值（instance.json:218-230，rcb_brush_score.py:450-458）；max_tilt_deg_in_contact、max_press_m、handle_contact_samples等为诊断量，无受评倾角或压力上限（rcb_brush.py:888-896,1361-1365），不据此添加约束或步骤。文本要求保持竖直是操作方式，不增加稳住或对齐节点。", |
| "成功参考只有一条且亦为后续待标注运行（N2；oracle.json）；已查看0、0.2、0.5、1、5至55秒各阶段及58秒末帧，画面由空白逐渐形成目标构图，终点评分平均色差1.977、结构相似度0.946942、边缘相关0.95023、交并比0.986555、385笔、路径12997.86毫米、涂填比例0，佐证可行性但不据此规定色序、笔画路线或完成时间。" |
| ], |
| "conf": 6, |
| "conf_reason_zh": "步骤来自描述及明确干笔初态，唯一边是载色先于绘画的物理必要关系；全部阈值有评分代码与实例来源，成功参考吻合。缺少任何逐帧状态日志，精确图像验收无法单凭低分辨率视频重算，且蘸色的粒度与分类有已注明的规则边界。", |
| "review": { |
| "status": "agreed", |
| "rounds": 1, |
| "reviewers": [ |
| { |
| "engine": "claude", |
| "model": "claude-sonnet-5-5", |
| "round": 1, |
| "verdict": "agree", |
| "conf": 6, |
| "summary_zh": "无状态日志；两步（蘸色前置+整幅临摹）符合描述与S2/D11，阈值与评分代码一致，三条过程约束为历史否决，success为null合理。painting_copied的criterion_zh同时重复了过程约束文字，属措辞问题，不要求改动。", |
| "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', 'painting_copied']" |
| ] |
| }, |
| "provenance": { |
| "prompt": "prompts/01_task_dag.md", |
| "prompt_sha256": "b8e79c84b73950529a4fa6b988412b2d221d5df4e052adafcd9605afac64aa25", |
| "engine": "codex", |
| "model": "gpt-6.1-sol", |
| "effort": "high", |
| "created": "2026-10-29T11:25:45Z", |
| "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_vision/01_dag" |
| }, |
| { |
| "stage": "dag_review", |
| "round": 1, |
| "ok": true, |
| "space": "work/tasks/robopaint__acrylic_vision/02_review_r1" |
| } |
| ], |
| "review_engine": "claude", |
| "review_model": "claude-sonnet-5-5", |
| "inputs_manifest_sha256": "92937f2c02e4e67d2ed89fb3f65bd2330a26ab1f7011f3c03a90ad64f29f3eb1", |
| "repo_commit": "80cac7a5a227db930c659c3307a1e79c2a84bc53" |
| } |
| } |
|
|
