{ "schema": "efe-task-dag/1", "taxonomy": "v2", "taskKey": "robopaint/acrylic_vision", "suite": "robopaint", "base": "robopaint-acrylic-vision-i00", "title_zh": "丙烯临摹讲道后的幻象", "summary_zh": "将目标图临摹到主画纸，使颜色、结构和漆区覆盖同时达到图像阈值，且不超过390笔、32300毫米带漆路径及0.1的绕填路径占比。", "embodiment_zh": "两种模式均为固定底座的七自由度Franka Panda单臂，末端为安装工具：刚性笔杆及15毫米软刷毛的圆头丙烯笔刷，替代夹爪、无开合手指；privileged可重置与查询画纸和评分，standard仅通过相机及本体反馈控制同一画笔。", "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": "笔刷蘸颜料", "mode": "event", "when": null, "after": [], "hold_s": 0, "goal": false, "criterion_zh": "场景视角中，笔尖降入主纸旁双排颜料孔的任意一孔，刷毛随后带色或能在纸上留下有色笔迹；对应加载条件为笔尖到该孔中心的平面距离小于12毫米且世界高度低于0.028米。仅在调色盘上方经过、未进入颜料面且仍不能留下色迹时未完成，首次成功加载后本步骤保持已完成。", "step": { "cat": "其他", "item": "蘸颜料" }, "contact": [ { "who": "手持工具", "how": "其他", "note_zh": "单臂末端固定圆头笔刷的刷毛浸入颜料孔中的颜料，候选接触为浸蘸；液体加载不属于抓握、压擦或从下方托舀，词表暂无合适条目。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:10-15", "inputs/task/standard/instruction.md:26-32", "inputs/grader/efe_robopaint-files/rcb_brush.py:432-438 干笔复位", "inputs/grader/efe_robopaint-files/rcb_brush.py:274-279 色孔内且低于液面", "inputs/grader/efe_robopaint-files/rcb_brush.py:875-885 加载颜料", "inputs/task/privileged/tests/instance.json:59-84 颜料面与首个色孔", "inputs/oracle/replay.mp4 @ 0.0-0.4 s 干净画纸至首个有色笔迹", "inputs/grader/efe_robopaint-files/rcb_brush.py:1479-1493 固定底座与替代夹爪的安装笔刷" ], "conf": 7, "note_zh": "干笔初态强制先加载颜料，按DECISIONS.md D11当前行为保留此前提；不要求特定颜色先蘸，也不把每次换色拆成步骤。蘸颜料是笔刷的材料加载状态，现有画/写和舀均不准确，使用其他并保留类型缺口；笔刷已固定安装，不建拿起笔刷节点。" }, { "id": "painting_copied", "zh": "临摹目标画", "mode": "state", "when": null, "after": [ "brush_loaded" ], "hold_s": 0, "freeze_held": false, "goal": true, "criterion_zh": "主纸俯视图（成功录像右下格）呈现目标的红橙底色、左上至右中的棕色斜带、下部浅灰白弧形与黑色块及右上黑色形状，整体颜色、位置和笔触接近目标；验收在每轴最多5毫米的整像素平移配准后进行，最优移位落在搜索边界则不用平移，两图以1毫米标准差模糊，任一图有漆的区域外扩2毫米后平均CIELAB色差不大于2、色差90百分位不大于6，亮度结构相似度不小于0.92（窗口标准差1.5毫米）、边缘相关不小于0.8、覆盖率至少0.5的漆区交并比不小于0.95，且主纸带漆接触不超过390笔、带漆压纸总路径不超过32300毫米、长度除以至少10毫米的包围盒对角线大于2.5的笔画所占路径比例不超过0.1。空白纸、仅画出部分底色或主要形状缺失均未完成，后续覆盖导致任一验收条件不成立时失去完成状态；无需松笔、退开、回初位或持续静置。", "step": { "cat": "材料", "item": "画/写" }, "contact": [ { "who": "手持工具", "how": "压/擦", "note_zh": "单臂末端固定圆头丙烯笔刷的带漆刷毛压住主画纸并扫过纸面，按压深度改变笔触宽度。", "plan": 1 } ], "optional": false, "verify_zh": null, "sources": [ "inputs/task/privileged/instruction.md:26-53", "inputs/task/standard/instruction.md:40-65", "inputs/task/privileged/tests/instance.json:215-230 固定成功阈值", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:365-395 全纸平移配准", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:398-458 图像指标与成功条件", "inputs/grader/efe_robopaint-files/rcb_brush.py:1323-1332 未抬笔的当前笔画也计分", "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:74-91 路径与包围盒", "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:140-193 过程规则及联合成功", "inputs/oracle/replay.mp4 @ 5.0,15.0,25.0,35.0,45.0,55.0,58.6 s 成画过程及终态", "inputs/oracle/run.json:reward 成功时各项指标", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:332-350 目标图及原始覆盖率掩模" ], "conf": 6, "note_zh": "整幅图是一个语义目标；隐藏的300笔四层程序只是示范方案，390是上限而非要求重复390次，不按笔数、颜色、层或图像指标建节点。过程规则是本步验收；笔数和路径一旦超限不可撤销，另列历史否决约束；涂画路径占比可随新增合规笔画下降，只在终局验收，不作历史否决。结果在笔刷仍接触纸面时也可成立，故freeze_held为false。" } ], "constraints": [ { "id": "stroke_budget_exceeded", "zh": "超过笔数上限", "never": null, "criterion_zh": "主画纸累计带漆连续接触超过390笔；练习纸和干笔接触不计，仍压在纸上的当前带漆笔画也计入。一旦超过上限，本回合不能通过后续加画恢复。", "consequence": "历史否决", "sources": [ "inputs/task/privileged/instruction.md:4", "inputs/task/privileged/tests/instance.json:226", "inputs/grader/efe_robopaint-files/rcb_brush_score.py:440-456", "inputs/grader/efe_robopaint-files/rcb_brush.py:1329-1332" ] }, { "id": "paint_path_budget_exceeded", "zh": "超过画迹路径上限", "never": null, "criterion_zh": "主画纸所有带漆压纸笔画的笔尖平面路径长度之和超过32300毫米，按100赫兹物理采样累加；练习纸、空中移笔和干笔不计。累计长度不可减少，超限后该回合被否决。", "consequence": "历史否决", "sources": [ "inputs/task/privileged/instruction.md:42-44", "inputs/task/privileged/tests/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" ] } ], "success": null, "atoms": [ { "atom": "brush_loaded", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush.py:960 MyPaintPainter.brush_state()[loaded]; log dyn.brush_loaded per frame" }, { "atom": "de_mean", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[de_mean]; log dyn.de_mean per frame; no state logs provided" }, { "atom": "de_p90", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[de_p90]; log dyn.de_p90 per frame; no state logs provided" }, { "atom": "ssim_L", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[ssim_L]; log dyn.ssim_L per frame; no state logs provided" }, { "atom": "edge_corr", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[edge_corr]; log dyn.edge_corr per frame; no state logs provided" }, { "atom": "paint_iou", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[paint_iou]; log dyn.paint_iou per frame; no state logs provided" }, { "atom": "n_strokes", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[n_strokes]; log dyn.n_strokes per frame; no state logs provided" }, { "atom": "path_mm", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[path_mm]; log dyn.path_mm per frame; no state logs provided" }, { "atom": "scribble_share", "level": "new_code", "source": "inputs/grader/efe_robopaint-files/rcb_brush_strict.py:209-232 Session.score()[scribble_share]; log dyn.scribble_share per frame; no state logs provided" } ] }, "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": "stroke", "threshold": 390, "direction": "lower_better" }, { "name": "path_mm", "unit": "mm", "threshold": 32300, "direction": "lower_better" }, { "name": "scribble_share", "unit": "1", "threshold": 0.1, "direction": "lower_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的logs为空，无逐帧状态日志；所有节点when、约束never及success均为null，不能把run.json的终局reward当成逐帧状态字段。需新增记录笔刷加载和原生绘画指标，才能自动核验。视频能判断主要色块和未完成状态，不能单独精确确认接近阈值的色差或累计路径。", "按DECISIONS.md D11保留干笔首次蘸料这一必要前提，蘸料与成画可暂停分开，故从文字及明确初态得到两个步骤并依P17判为compositional；保留或省略蘸料均已获允许。蘸颜料及其浸蘸接触无准确词表项，分别使用其他·蘸颜料和手持工具×其他，不将吸附颜料解释为舀。", "按D6与D11将整幅图作为一个临摹步骤；隐藏笔画程序、四个绘制层及每种颜色不是文本要求的独立结果，390笔是上限，不是计数目标。", "模式差异：共同物理验收均为is_success_paint与strict_ok。privileged评分器还要求合法轨迹在默认两个独立进程重放均成功、最终状态哈希相同且固定实例匹配（inputs/grader/efe_robopaint-files/privileged/grade.py:89-129）；standard评分实际回合终态，并检查已终结、有live判决、无基础设施错误和模拟器错误（standard/grade.py:29-49，sim/server.py:86-118）。这些交付及重放有效性条件没有可绑定状态日志，记录在此，不增加语义步骤，success保留null。两次重放不是独立任务场景。", "文本要求保持笔刷竖直，但评分器只记录max_tilt_deg_in_contact而没有成功或失败阈值；按S13不把倾角、按压深度、接触速度、蘸料次数或操作成本记录建成约束。de_mean_coarse、ssim_L_fine及region_cov_min/mean也只是报告值，本实例target.success未启用这些附加阈值（rcb_brush_score.py:413-458）。", "scribble_share以终局总路径为分母，中途高于0.1仍可能通过新增合规笔画降回阈值，故只作为画面目标的终局验收；不将任何一次中途超比例误标为历史否决。笔数和总路径上限单调累加，超限才作为历史否决约束。", "唯一成功示范为inputs/oracle/oracle.json所选tvzr6sk，亦是后续待标轨迹（is_labelled_run=true），无独立成功或状态日志可交叉验证；只用其画面与终局指标确认目标外观和可行性，不从其颜色顺序、385笔或触笔方案增加边。", "漆区交并比使用目标truth_alpha.npz中的原始覆盖率掩模（rcb_brush_score.py:332-350），不是直接从目标图颜色估出的掩模；本次输入未提供该二进制真值，不能仅凭截图重算精确交并比。" ], "conf": 6, "conf_reason_zh": "文字、目标图、固定初态和两模式评分代码支持蘸料后完成整幅临摹，阈值均有来源，成功录像及终局指标相符；但没有逐帧状态日志，全部条件需视频判读，精确图像及路径阈值无法自动核验，蘸料类型仍有词表缺口。", "review": { "status": "agreed", "rounds": 1, "reviewers": [ { "engine": "claude", "model": "claude-sonnet-5-5", "round": 1, "verdict": "agree", "conf": 7, "summary_zh": "文本只描述临摹整幅画（含390笔上限与过程规则）；干笔蘸料按D11可保留，两节点、边brush_loaded→painting_copied物理必要，整幅图为一个步骤，符合D6/D11。成功阈值（ΔE≤2、p90≤6、SSIM≥0.92、边缘≥0.8、IoU≥0.95、390笔、路径≤32300、scribble_share≤0.1）与指令及评分器一致；无状态日志故when/never/success为null并已在open_questions_zh说明。笔数与路径作为历史否决约束，同时写在验收文字内，属可接受的重复，不影响节点集合。无需修改。", "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": "1142cdb56758062bbd0ff585ad99f3fefe07a96377b61614dc4f50b2d16600b7", "engine": "codex", "model": "gpt-6.1-sol", "effort": "high", "created": "2026-10-29T01:47:37Z", "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_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": "643edf63c090ac28c9fd1c01210c07b7bd9102919daae163be3bb77a90e02800", "repo_commit": "4c6d01b9990e3b78ddb620bbd237932b3696f60e" } }