feat(vla): add SmolVLA conditioning and experiment artifacts

2026-07-31 10:11:04 +08:00
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+<h2>新任务场景草图：双臂空中穿环插入</h2>
+<p class="subtitle">保持双 Diana + 同一张桌子；左侧放环状木块，右侧放长条木块，先各自抓起，再在空中完成穿孔插入。</p>
+
+<div class="split">
+  <div class="mockup">
+    <div class="mockup-header">俯视布局（初始）</div>
+    <div class="mockup-body">
+      <div style="position:relative;height:340px;background:#f3f4f6;border-radius:16px;border:1px solid #d1d5db;overflow:hidden;">
+        <div style="position:absolute;left:12%;top:18%;width:22%;height:64%;border:2px dashed #60a5fa;border-radius:18px;background:rgba(96,165,250,.08);display:flex;align-items:flex-start;justify-content:center;padding-top:8px;font-weight:700;">左臂采样区（环）</div>
+        <div style="position:absolute;right:12%;top:18%;width:22%;height:64%;border:2px dashed #f59e0b;border-radius:18px;background:rgba(245,158,11,.08);display:flex;align-items:flex-start;justify-content:center;padding-top:8px;font-weight:700;">右臂采样区（长条）</div>
+        <div style="position:absolute;left:50%;top:50%;transform:translate(-50%,-50%);width:120px;height:120px;border:10px solid #ef4444;background:white;box-sizing:border-box;display:flex;align-items:center;justify-content:center;font-weight:700;color:#ef4444;">环块</div>
+        <div style="position:absolute;left:72%;top:50%;transform:translate(-50%,-50%) rotate(0deg);width:110px;height:22px;background:#10b981;border:2px solid #065f46;border-radius:6px;display:flex;align-items:center;justify-content:center;color:white;font-size:12px;font-weight:700;">长条</div>
+        <div style="position:absolute;left:50%;top:12%;transform:translateX(-50%);padding:6px 10px;background:#111827;color:white;border-radius:999px;font-size:12px;">桌面中心 / 空中插入区上方</div>
+      </div>
+    </div>
+  </div>
+  <div class="mockup">
+    <div class="mockup-header">任务阶段</div>
+    <div class="mockup-body">
+      <div class="section">
+        <div class="label">Phase 1</div>
+        <h3>左右臂分别接近目标</h3>
+        <p>左臂只抓环状木块，右臂只抓长条木块。两物体初始姿态固定，只随机平面位置。</p>
+      </div>
+      <div class="section">
+        <div class="label">Phase 2</div>
+        <h3>同时抓起并离桌</h3>
+        <p>两个物体都需要离开桌面后，才允许触发最终成功奖励。</p>
+      </div>
+      <div class="section">
+        <div class="label">Phase 3</div>
+        <h3>空中对齐并插入</h3>
+        <p>在桌面上方的会合区完成对齐，让长条沿自身长轴穿过环孔；一旦穿孔成功即判成功。</p>
+      </div>
+    </div>
+  </div>
+</div>
+
+<div class="section">
+  <h3>奖励草案（总分 5）</h3>
+  <div class="cards">
+    <div class="card"><div class="card-body"><h3>+1</h3><p>左臂碰到环块</p></div></div>
+    <div class="card"><div class="card-body"><h3>+1</h3><p>右臂碰到长条</p></div></div>
+    <div class="card"><div class="card-body"><h3>+1</h3><p>环块离桌</p></div></div>
+    <div class="card"><div class="card-body"><h3>+1</h3><p>长条离桌</p></div></div>
+    <div class="card"><div class="card-body"><h3>+1</h3><p>两者离桌时，长条穿过环孔</p></div></div>
+  </div>
+</div>