{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "robopaint/acrylic_greatwave", "suite": "robopaint", "base": "robopaint-acrylic-greatwave-i00", "title_zh": "丙烯临摹神奈川巨浪", "summary_zh": "主画纸上的巨浪临摹达到目标图的颜色、结构、边缘和覆盖阈值，并满足376笔上限及笔触路径、涂填比例规则。", "embodiment_zh": "两种模式均为固定底座的七自由度Franka Panda单臂，作用端为安装工具：圆头丙烯笔刷（15毫米软刷毛），无二指夹爪、无移动底盘；标准模式通过服务控制，特权模式可在本地仿真重置。", "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, "criterion_zh": "机械臂末端笔尖进入左侧调色盘的任一颜料井，水平距井心小于12毫米且低于颜料面（世界高度0.028米），笔刷由干燥变为载有该色；场景视角可见笔尖降入彩色井，随后在练习纸或主纸留下有色笔迹也可确认已蘸料。只在井上方悬停、未入颜料或仍不能留下有色笔迹时未完成；首次完成后记为已发生，后续换色不另计步骤。", "step": { "cat": "其他", "item": "蘸料" }, "contact": [ { "who": "手持工具", "how": "其他", "plan": 1, "note_zh": "安装在单臂末端的圆头笔刷以刷毛浸入颜料井内的颜料；候选接触名为“浸蘸”，现有抓握、托/舀和压/擦均不能准确表示刷毛浸入液面取料。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:29-32 干刷与蘸料规则", "inputs/task/privileged/environment/instance.json:213 初始干刷", "inputs/grader/efe_robopaint-files/rcb_brush.py:274-279 井内且低于液面", "inputs/grader/efe_robopaint-files/rcb_brush.py:432-438 重置为未载料", "inputs/grader/efe_robopaint-files/rcb_brush.py:856-885 MyPaint载料与颜色", "inputs/grader/efe_robopaint-files/rcb_brush.py:959-960 载料状态", "inputs/oracle/replay.mp4 @ 0.0-3.5 s 练习纸逐渐出现彩色笔迹" ], "conf": 6, "note_zh": "干刷必须先载料才能作画；遵循DECISIONS.md D11保留这一前置步骤，首次蘸任何颜色均可，不限定井号、换色次数或先画的区域。步骤类型采用其他·蘸料：刷毛吸附颜料不是舀取物料，词表尚无准确条目；工具开局已经固定安装，不设拿起笔刷节点。" }, { "id": "greatwave_copied", "zh": "完成巨浪临摹", "mode": "state", "when": null, "after": [ "brush_loaded" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "俯视主纸与右下方无机械臂遮挡的画纸视图中，出现与目标一致的米灰背景、中央上卷的青绿浪头和深蓝浪腹、浅色浪花及下方斜向船形笔迹；白纸、缺失大片颜色或布局明显错位未完成，后续覆盖使整体偏离目标则失去。精确验收为整张纸在各轴不超过5毫米的整数像素平移配准后（最优值在搜索边界则不平移），以1毫米模糊比较满足平均色差≤2.0、色差第90百分位≤6.0、亮度结构相似度≥0.92、边缘相关≥0.8、颜料覆盖交并比≥0.95且主纸有色连续接触≤376笔；整项成功还需累计主纸有色接触路径≤37900毫米，长度除以包围盒对角线（对角线最少按10毫米）大于2.5的笔触占总路径长度的比例≤0.1，精确数值须依据评分结果而不能由低分辨率视频估算。", "step": { "cat": "材料", "item": "画/写" }, "contact": [ { "who": "手持工具", "how": "压/擦", "plan": 1, "note_zh": "单臂末端固定的圆头丙烯笔刷以刷毛压触主画纸并扫出有色笔触；刷毛与纸面接触为同一工具链，不另列握持笔柄。" } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/standard/instruction.md:4-5 整体临摹及笔数上限", "inputs/task/standard/instruction.md:47-48 图像验收", "inputs/task/standard/instruction.md:50-68 笔触过程规则", "inputs/task/privileged/environment/instance.json:218-230 全部固定阈值", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:365-397 单次全局平移配准", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:400-447 图像指标与主纸笔数", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:454-458 图像判定", "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:157-193 过程规则与最终合取", "inputs/grader/efe_robopaint-pictures-files/acrylic-greatwave-i00/target.png", "inputs/oracle/replay.mp4 @ 0.0, 10.0, 30.0, 55.0, 58.8 s 白纸到完整画面" ], "conf": 6, "note_zh": "临摹只有一个整体图像目标；颜色区域、各色切换和每一笔均不单列，376是上限而非要求完成的重复数。after只记录干刷必须先载料的物理前置，不规定各区域先后；无松手、笔刷归位或静置验收，freeze_held=false。图像指标及笔数接受整体临摹，路径与涂填比例是整项成功的方式限制，不另设节点；当前无日志，success=null，判据列出其完整合取。" } ], "constraints": [ { "id": "stroke_cap_exceeded", "zh": "主纸笔数超限", "never": null, "criterion_zh": "最后一次清空后的这条被评轨迹，主纸上有颜料的连续接触累计超过376笔；练习纸及干刷接触不计，已发生的有色笔触不会因后来覆盖而取消，超限后即使终图正确仍不通过。", "consequence": "历史否决", "sources": [ "inputs/task/privileged/environment/instance.json:226", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:439-447", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:454-456" ] }, { "id": "paint_path_exceeded", "zh": "作画路径超限", "never": null, "criterion_zh": "主纸上载料笔尖压触纸面时的累计水平路径长度超过37900毫米；按100赫兹物理采样累加，练习纸、干刷及悬空移动不计，超限后即使终图正确仍不通过。", "consequence": "历史否决", "sources": [ "inputs/task/privileged/environment/instance.json:227", "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-92", "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:145-160", "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:193" ] } ], "success": null, "atoms": [ { "atom": "brush_loaded", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush.py:959-960 brush_state().loaded; log as dyn.brush_loaded" }, { "atom": "de_mean", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:436 score_paint().de_mean; log as dyn.de_mean" }, { "atom": "de_p90", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:436 score_paint().de_p90; log as dyn.de_p90" }, { "atom": "ssim_L", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:437 score_paint().ssim_L; log as dyn.ssim_L" }, { "atom": "edge_corr", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:424-425 score_paint().edge_corr; log as dyn.edge_corr" }, { "atom": "paint_iou", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:438 score_paint().paint_iou; log as dyn.paint_iou" }, { "atom": "n_strokes", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_score.py:439-447 main inked strokes including finalized current contact; log as dyn.n_strokes" }, { "atom": "path_mm", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-92,145-160 process_metrics().path_mm and path_budget_ok; log exact unrounded total as dyn.path_mm" }, { "atom": "scribble_share", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:171-180 process_metrics().scribble_share and scribble_ok; log exact unrounded share as dyn.scribble_share" } ] }, "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": "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": "count", "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" }, { "name": "de_mean_coarse", "unit": "DeltaE_ab", "threshold": null, "direction": "lower_better" }, { "name": "ssim_L_fine", "unit": "1", "threshold": null, "direction": "higher_better" }, { "name": "region_cov_min", "unit": "1", "threshold": null, "direction": "higher_better" }, { "name": "region_cov_mean", "unit": "1", "threshold": null, "direction": "higher_better" } ], "open_questions_zh": [ "inputs/states/index.json为空，未提供任何逐帧状态日志；依P8，两个when、所有never与success均为null。精确图像阈值不能仅凭低分辨率录像核验；需新增逐帧载料状态、主纸评分指标及笔触统计提取，不能把run.json的最终评分伪作逐帧状态。", "DECISIONS.md D11：干刷蘸料作为必经前置可保留也可省略；本次依现行保留做法，文本步骤表含蘸料与整体临摹，因此按P17记compositional。蘸料类型仍开放，本次为其他·蘸料，接触为手持工具×其他（浸蘸）；刷毛吸附不等同于舀取，词表无精确对应。", "过程限制放在整项成功验收：图像成功与path_mm≤37900及scribble_share≤0.1相与。累计路径和笔数超限不可恢复，列历史否决约束；scribble_share为最终总路径比例，中途超过0.1可以被后续合规路径稀释，不能建成任一历史时刻超限即失败的约束，也不能拆成步骤。", "模式差异：标准评分器对实时主纸评分且要求正常终结、无仿真错误（standard/grade.py:29-49；sim/server.py:83-119）；特权评分器要求交付轨迹的两次新进程重放均成功、最终状态哈希一致及实例重建匹配（privileged/grade.py:104-125）。这些交付和重放有效性条件不作为世界状态节点；无可表达它们的状态日志，success保持null。共同世界目标及阈值一致。", "文本要求笔刷保持竖直，但评分器只记录max_tilt_deg_in_contact，不设竖直角度合格阈值；成功样例记录最大倾斜约24.41度。它是作画方式而非独立世界状态步骤，不能从样例发明角度阈值或额外失败约束（rcb_brush.py:894；rcb_brush_score.py:454-458）。", "仅报告而不决定通过的连续量包括de_mean_coarse、ssim_L_fine、region_cov_min和region_cov_mean；它们在本实例success配置中无阈值，不新增区域节点或约束。final_reward只用于连续得分，不另设通过门槛。", "成功样例来自旧版标准评分：run.json.reward带replay_success、deterministic、live_matches_replay，且该次任务文本说记录轨迹后重放；当前standard/grade.py只评分实时画纸。共同图像与过程阈值一致，样例用于验证结果外观与可行性，不能将旧版重放流程强加为共同节点。" ], "conf": 6, "conf_reason_zh": "两步来自文本与已核实的干刷初态，唯一边为先载料才能作画；阈值均有实例及评分代码依据，成功样例最终指标与画面相符。无状态日志，无法做逐帧绑定或自动成功一致性核验；蘸料类型与任务粒度依D11当前读法，故置信度为6。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "两节点（蘸料→整体临摹）符合 D11 现行读法；成功合取（图像阈值、376笔、路径、涂填比例）完整列入判据，两条历史否决约束合理，无日志故 when/success 为 null 并已在 open_questions_zh 说明。未发现需改内容的错误。", "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": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T01:50:53Z", "review_prompt": "prompts/02_task_dag_review.md", "review_prompt_sha256": "65812ffc3cb33aaeb10dbe28c925ffe5535a356f8132ec431dcf58b59c2a0b85", "reconcile_prompt": "prompts/05_reconcile.md", "reconcile_prompt_sha256": "b3cd3803cf22f21db996e7ab1145811f823e92c7728c6f21d3b6649cc1ed0e83", "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": "81e421bccce4448700c678ea6ee04b6dceb93e6c02ec282449410b8aadab6a86", "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" } }